def render_from_file(meta_data, max_indx=5):
clear_env()
car_shape, car_rot, car_trans, cam_location, cam_rotation, img_fov, img_size, kpt_dict = load_meta_data(
meta_data)
request('vset /camera/1/location {:.6f} {:.6f} {:.6f}'.format(
cam_location[0], cam_location[1], cam_location[2]))
request('vset /camera/1/rotation {:.6f} {:.6f} {:.6f}'.format(
cam_rotation[0], cam_rotation[1], cam_rotation[2]))
request('vset /camera/1/fov {:.6f}'.format(img_fov))
car_group = Car_Manager()
if max_indx <= 0:
max_indx = max_indx + len(car_shape)
car_color = [[i, 0, 0] for i in range(len(car_trans))]
print(len(car_shape))
for i, shape in enumerate(car_shape):
if i >= max_indx:
break
car_group.add_car(shape)
car_group.trans_car(car_trans[i], "car{}".format(i))
#car_group.trans_car([0,0,0], "car{}".format(i))
car_group.rot_car(car_rot[i], "car{}".format(i))
car_group.annotate_car(car_color[i], "car{}".format(i))
car_group.flush()
cwd_root, _ = os.path.split(meta_data)
base_dir = join(cwd_root, "render_res")
if DEBUG: print("Finished write object pose data ")
time.sleep(0.1)
if DEBUG: print("Acquiring image ...")
img = read_png(request('vget /camera/1/lit png'))
cv2.imwrite(join(base_dir, "car_arrangment.png"), img[:, :, 2::-1])
mask = read_png(request('vget /camera/1/object_mask png'))
cv2.imwrite(join(base_dir, "car_mask.png"), mask[:, :, 2::-1])
png = read_png(request('vget /camera/0/lit png'))
cv2.imwrite(join(base_dir, "overview.png"), png[:, :, 2::-1])
for i in range(len(car_color)):
obj_mask = udb.get_mask(mask, car_color[i])
[ys, xs] = np.where(obj_mask)
bbox = [min(xs), max(xs), min(ys), max(ys)]
print(bbox)
obj_img = udb.mask_img(img, obj_mask)
bbox_img = img[min(ys):max(ys), min(xs):max(xs), :]
cv2.imwrite(join(base_dir, "car%d_seg.png" % i), obj_img[:, :, 2::-1])
cv2.imwrite(join(base_dir, "car%d_bbox.png" % i), bbox_img[:, :,
2::-1])
if DEBUG: print("Finished write image to files")
return True
def main(args):
udb.connect('localhost', 9900)
global_animal = args.animal
# reset the program
map_name = 'AnimalDataCapture'
udb.client.request('vset /action/game/level {map_name}'.format(**locals()))
udb.client.request('vset /camera/0/location 500 0 300')
udb.client.request('vset /camera/0/rotation -20 180 0')
val2017_dir = os.path.abspath(args.random_texture_path)
bg_path_list = glob_images(val2017_dir)
texture_path_list = glob_images(val2017_dir)
render_params = load_render_params(global_animal)
random.shuffle(render_params)
obj_id = 'tiger'
animal = udb.CvAnimal(obj_id)
animal.spawn()
# acquire offset
obj_loc = udb.client.request('vget /object/tiger/location')
obj_loc = [float(v) for v in obj_loc.split(' ')]
offset = obj_loc[2]
r, g, b = 155, 168, 157
animal.set_mask_color(r, g, b)
if global_animal == 'tiger':
animal.set_mesh(udb.asset.MESH_TIGER)
elif global_animal == 'horse':
animal.set_mesh(udb.asset.MESH_HORSE)
elif global_animal == 'domestic_sheep':
animal.set_mesh(udb.asset.MESH_DOMESTIC_SHEEP)
elif global_animal == 'hellenic_hound':
animal.set_mesh(udb.asset.MESH_HELLENIC_HOUND)
elif global_animal == 'elephant':
animal.set_mesh(udb.asset.MESH_ELEPHANT)
env = udb.CvEnv()
output_dir = args.output_path
if not os.path.isdir(output_dir): os.makedirs(output_dir)
img_idx = 0
for i, param in enumerate(tqdm(render_params)):
mesh, anim, ratio, dist, az, el = param
filename = make_filename(img_idx, mesh, anim, ratio, dist, az, el)
sky_texture = random.choice(bg_path_list)
floor_texture = random.choice(bg_path_list)
animal_texture = random.choice(texture_path_list)
# Update the scene
env.set_random_light()
env.set_floor(floor_texture)
env.set_sky(sky_texture)
if args.use_random_texture:
animal.set_texture(animal_texture)
animal.set_animation(anim, ratio)
# if global_animal=='horse':
# # set different original textures
# _, animal_texture = random.choice(list(udb.asset.animal.horse_material.items()))
# _, animal_texture_fur = random.choice(list(udb.asset.animal.horse_material.items()))
# animal.set_material(0, animal_texture)
# animal.set_material(1, animal_texture_fur)
# Capture data
animal.set_tracking_camera(dist, az, el)
img = animal.get_img()
seg = animal.get_seg()
depth = animal.get_depth()
mask = udb.get_mask(seg, [r, g, b])
# get kpts
## get cam_loc and cam_rot
cam_loc, cam_rot = get_camera_params()
cam_loc = [float(item) for item in cam_loc.split(' ')]
cam_rot = [float(item) for item in cam_rot.split(' ')]
## transform keypoints
kp_3d_array = parse_kpts(filename, offset)
kpts, kpts_z = transform_kpts(cam_loc, cam_rot, kp_3d_array, depth)
## transform images and kpts
#TODO get rid of PIL
img = Image.fromarray(img[:, :, :3])
seg_mask = np.zeros((mask.shape[0], mask.shape[1]), dtype=np.uint8)
seg_mask[mask == False] = 0 # tiger/horse
seg_mask[mask == True] = 255 # tiger/horse
# # save imgs
if global_animal == 'tiger':
kp_18_id = [
2679, 2753, 2032, 1451, 1287, 3085, 1632, 229, 1441, 1280,
2201, 1662, 266, 158, 270, 152, 219, 129
]
elif global_animal == 'horse':
kp_18_id = [
1718, 1684, 1271, 1634, 1650, 1643, 1659, 925, 392, 564, 993,
726, 1585, 1556, 427, 1548, 967, 877
]
elif global_animal == 'domestic_sheep':
kp_18_id = [
2046, 1944, 1267, 1875, 1900, 1868, 1894, 687, 173, 1829, 1422,
821, 624, 580, 622, 575, 1370, 716
]
elif global_animal == 'hellenic_hound':
kp_18_id = [
2028, 2580, 912, 878, 977, 1541, 1734, 480, 799, 1575, 1446,
602, 755, 673, 780, 1580, 466, 631
]
elif global_animal == 'elephant':
kp_18_id = [
1980, 2051, 1734, 2122, 2155, 2070, 2166, 681, 923, 1442, 1041,
1528, 78, 599, 25, 595, 171, 570
]
if sum(kpts[kp_18_id, 2]) >= 6:
imageio.imwrite(os.path.join(output_dir, filename + '_img.png'),
img)
imageio.imwrite(os.path.join(output_dir, filename + '_seg.png'),
seg_mask)
np.save(os.path.join(output_dir, filename + '_depth.npy'), depth)
np.save(os.path.join(output_dir, filename + '_kpts.npy'), kpts)
np.save(os.path.join(output_dir, filename + '_kpts_z.npy'), kpts_z)
img_idx += 1
if img_idx > args.num_imgs - 1:
break
def retrieve(animal, num_images, use_random_texture):
udb.connect('localhost', 9900)
# reset the program
map_name = 'AnimalDataCapture'
udb.client.request('vset /action/game/level {map_name}'.format(**locals()))
udb.client.request('vset /camera/0/location 500 0 300')
udb.client.request('vset /camera/0/rotation -20 180 0')
random_texture_path = "val2017"
# this path needs to be on the server!!
val2017_dir = "/export/home/ffeldman/git/Learning-from-Synthetic-Animals/data_generation/" + random_texture_path # os.path.abspath(random_texture_path)
beautiful_textures = "/export/home/ffeldman/git/Learning-from-Synthetic-Animals/data_generation/texture_images/"
bg_path_list = glob_images(val2017_dir)
texture_path_list = glob_images(val2017_dir)
beautiful_textures_path_list = glob_images(beautiful_textures)
output_path = f"synthetic_animals_triplet/{animal}/"
global_animal = animal
render_params = load_render_params(global_animal)
random.shuffle(render_params)
obj_id = 'tiger'
animal = udb.CvAnimal(obj_id)
animal.spawn()
# acquire offset
obj_loc = udb.client.request('vget /object/tiger/location')
obj_loc = [float(v) for v in obj_loc.split(' ')]
offset = obj_loc[2]
r, g, b = 155, 168, 157
animal.set_mask_color(r, g, b)
if global_animal == 'tiger':
animal.set_mesh(udb.asset.MESH_TIGER)
elif global_animal == 'horse':
animal.set_mesh(udb.asset.MESH_HORSE)
elif global_animal == 'domestic_sheep':
animal.set_mesh(udb.asset.MESH_DOMESTIC_SHEEP)
elif global_animal == 'hellenic_hound': # Dog
animal.set_mesh(udb.asset.MESH_HELLENIC_HOUND)
elif global_animal == 'elephant':
animal.set_mesh(udb.asset.MESH_ELEPHANT)
# from here todo!
elif global_animal == 'cat':
animal.set_mesh(udb.asset.MESH_CAT)
# elif global_animal=='zebra':
# animal.set_mesh(udb.asset.MESH_CAT)
# elif global_animal=='celtic_wolfhound': # Dog
# animal.set_mesh(udb.asset.MESH_CAT)
# elif global_animal=='pug': # mops -> dog
# animal.set_mesh(udb.asset.MESH_CAT)
# elif global_animal=='cane_corso': # a dog
# animal.set_mesh(udb.asset.MESH_CAT)
elif global_animal == 'scotland_cattle': # a scottish cow
animal.set_mesh(udb.asset.MESH_SCOTTLAND_CATTLE)
# elif global_animal=='longhorn_cattle': # a cow
# animal.set_mesh(udb.asset.MESH_CAT)
# elif global_animal=='longhorn_cattle_v2': # a cow
# animal.set_mesh(udb.asset.MESH_CAT)
env = udb.CvEnv()
output_dir = output_path
if not os.path.isdir(output_dir): os.makedirs(output_dir)
# masked_frames = []
# whitened_frames = []
# frame_names = []
# extracted_kpts = []
p0a0_frame_names = []
p0a1_frame_names = []
p1a1_frame_names = []
p1a0_frame_names = []
p0a0_extracted_kpts = []
p0a1_extracted_kpts = []
p1a1_extracted_kpts = []
p1a0_extracted_kpts = []
p0a0_list_whitened = []
p0a1_list_whitened = []
p1a1_list_whitened = []
p1a0_list_whitened = []
p0a0_list_masked = []
p0a1_list_masked = []
p1a1_list_masked = []
p1a0_list_masked = []
img_idx = 0
sky_texture = "/export/home/ffeldman/Masterarbeit/data/white.jpg" # random.choice(bg_path_list)
floor_texture = "/export/home/ffeldman/Masterarbeit/data/white.jpg" # random.choice(bg_path_list)
# random.choice(texture_path_list)
# process_params = random.choices(render_params, k=num_images)
random.shuffle(render_params)
for i, param in enumerate(tqdm(render_params)):
random_animal_texture = random.randint(
0,
len(beautiful_textures_path_list) - 1)
animal_texture = beautiful_textures_path_list[random_animal_texture]
animal.set_texture(animal_texture)
mesh, anim, ratio, dist, az, el = param
filename = make_filename(img_idx, mesh, anim, ratio, dist, az, el)
p0a0, p0a1, p1a1, p1a0 = False, False, False, False
p0a0_tried = False
goto_p1a1 = False
def check_triplet():
return p0a0 and p0a1 and p1a1 and p1a0
# Update the scene
env.set_random_light()
break_while = False
#print("Here before while.")
while not check_triplet():
print("Image idx:", img_idx)
appearance_zero = beautiful_textures_path_list[
random_animal_texture]
for triplet in ["p0a0", "p0a1", "p1a1", "p1a0"]:
print(triplet, p0a0, p0a1, p1a1, p1a0)
if triplet == "p0a0":
if p0a0_tried and p0a0:
goto_p1a1 = True
continue
p0a0_tried = True
elif triplet == "p0a1":
if (p0a0_tried and not p0a0):
# p0a0 was false so p0a1 will be false as well
# we set all of them true to break the while loop
p0a0, p0a1, p1a1, p1a0 = True, True, True, True
break_while = True
#print("Breaking the loop.")
break
if goto_p1a1:
continue
# update the appearance but leave the pose as is
random_texture = random_animal_texture
while random_animal_texture == random_texture:
random_texture = random.randint(
0,
len(beautiful_textures_path_list) - 1)
animal_texture = beautiful_textures_path_list[
random_texture]
animal.set_texture(animal_texture)
elif triplet == "p1a1":
if p1a1:
continue
if break_while:
break
# update the pose but leave the appearance as is
# print("Setting new pose.")
param = random.choice(render_params)
mesh, anim, ratio, dist, az, el = param
elif triplet == "p1a0":
animal.set_texture(appearance_zero)
if break_while:
break
if not p1a1:
continue
env.set_floor(floor_texture)
env.set_sky(sky_texture)
animal.set_animation(anim, ratio)
# Capture data
animal.set_tracking_camera(dist, az, el)
shift_camera_animal(global_animal)
img = animal.get_img()
seg = animal.get_seg()
depth = animal.get_depth()
mask = udb.get_mask(seg, [r, g, b])
# get kpts
## get cam_loc and cam_rot
cam_loc, cam_rot = get_camera_params()
cam_loc = [float(item) for item in cam_loc.split(' ')]
cam_rot = [float(item) for item in cam_rot.split(' ')]
## transform keypoints
kp_3d_array = parse_kpts(filename, offset)
kpts, kpts_z = transform_kpts(cam_loc, cam_rot, kp_3d_array,
depth)
## transform images and kpts
img = Image.fromarray(img[:, :, :3])
seg_mask = np.zeros((mask.shape[0], mask.shape[1]),
dtype=np.uint8)
seg_mask[mask == False] = 0 # tiger/horse
seg_mask[mask == True] = 255 # tiger/horse
# # save imgs
if global_animal == 'tiger':
kp_18_id = [
2679, 2753, 2032, 1451, 1287, 3085, 1632, 229, 1441,
1280, 2201, 1662, 266, 158, 270, 152, 219, 129
]
elif global_animal == 'horse':
kp_18_id = [
1718, 1684, 1271, 1634, 1650, 1643, 1659, 925, 392,
564, 993, 726, 1585, 1556, 427, 1548, 967, 877
]
elif global_animal == 'domestic_sheep':
kp_18_id = [
2046, 1944, 1267, 1875, 1900, 1868, 1894, 687, 173,
1829, 1422, 821, 624, 580, 622, 575, 1370, 716
]
elif global_animal == 'hellenic_hound':
kp_18_id = [
2028, 2580, 912, 878, 977, 1541, 1734, 480, 799, 1575,
1446, 602, 755, 673, 780, 1580, 466, 631
]
elif global_animal == 'elephant':
kp_18_id = [
1980, 2051, 1734, 2122, 2155, 2070, 2166, 681, 923,
1442, 1041, 1528, 78, 599, 25, 595, 171, 570
]
else:
print(
"WARNING THIS ANIMAL HAS NO CORRECT KEYPOINTS YET - DO NOT USE!!"
)
kp_18_id = [
2028, 2580, 912, 878, 977, 1541, 1734, 480, 799, 1575,
1446, 602, 755, 673, 780, 1580, 466, 631
]
if not sum(kpts[kp_18_id, 2]) >= 4:
print(triplet, "Not enough keypoints.")
if sum(kpts[kp_18_id, 2]) >= 4:
arr = kpts[kp_18_id]
# set non visible points to zero
arr[arr[:, 2] == 0] = [0, 0, 0]
arr = arr[:, :2]
# create output folder for images e.g. synthetic_animals/{animal}/{video}
sequence_output_dir = output_dir
sequence_dir_filename = os.path.join(
sequence_output_dir,
filename.replace(".png", f"_{triplet}.png"))
filename_mask = filename.replace(".png",
f"_mask_{triplet}.png")
filename_mask_whitened = filename.replace(
".png", f"_mask_white_{triplet}.png")
sequence_dir_filename_mask = os.path.join(
sequence_output_dir, filename_mask)
sequence_dir_filename_mask_whitened = os.path.join(
sequence_output_dir, filename_mask_whitened)
if not os.path.isdir(sequence_output_dir):
os.makedirs(sequence_output_dir)
whitened_img = np.array(copy.deepcopy(img))
whitened_img[~mask] = 255
imageio.imwrite(sequence_dir_filename_mask, seg_mask)
imageio.imwrite(sequence_dir_filename_mask_whitened,
whitened_img)
imageio.imwrite(sequence_dir_filename, img)
if triplet == "p0a0":
p0a0 = True
p0a0_list_whitened.append(
os.path.join(sequence_output_dir,
filename_mask_whitened))
p0a0_list_masked.append(
os.path.join(sequence_output_dir, filename_mask))
p0a0_frame_names.append(sequence_dir_filename)
p0a0_extracted_kpts.append(arr)
if triplet == "p0a1":
p0a1 = True
p0a1_list_whitened.append(
os.path.join(sequence_output_dir,
filename_mask_whitened))
p0a1_list_masked.append(
os.path.join(sequence_output_dir, filename_mask))
p0a1_frame_names.append(sequence_dir_filename)
p0a1_extracted_kpts.append(arr)
if triplet == "p1a1":
p1a1 = True
p1a1_list_whitened.append(
os.path.join(sequence_output_dir,
filename_mask_whitened))
p1a1_list_masked.append(
os.path.join(sequence_output_dir, filename_mask))
p1a1_frame_names.append(sequence_dir_filename)
p1a1_extracted_kpts.append(arr)
if triplet == "p1a0":
p1a0 = True
p1a0_list_whitened.append(
os.path.join(sequence_output_dir,
filename_mask_whitened))
p1a0_list_masked.append(
os.path.join(sequence_output_dir, filename_mask))
p1a0_frame_names.append(sequence_dir_filename)
p1a0_extracted_kpts.append(arr)
img_idx += 1
if img_idx == num_images:
# assert len(p0a0_list_whitened) == len(p0a0_list_masked) == len(p0a0_frame_names) == len(
# p0a0_extracted_kpts)
return p0a0_list_whitened, p0a0_list_masked, p0a0_frame_names, \
np.array(p0a0_extracted_kpts), p0a1_list_whitened, p0a1_list_masked, \
p0a1_frame_names, np.array(p0a1_extracted_kpts), p1a1_list_whitened, p1a1_list_masked, \
p1a1_frame_names, np.array(p1a1_extracted_kpts), p1a0_list_whitened, p1a0_list_masked, \
p1a0_frame_names, np.array(p1a0_extracted_kpts)
def main():
udb.connect('localhost', 9000)
# reset the program
map_name = 'AnimalDataCapture'
udb.client.request('vset /action/game/level {map_name}'.format(**locals()))
udb.client.request('vset /camera/0/location 400 0 300')
udb.client.request('vset /camera/0/rotation 0 180 0')
val2017_dir = '/data/qiuwch/val2017'
bg_path_list = glob_images(val2017_dir)
texture_path_list = glob_images(val2017_dir)
render_params = load_render_params()
# random.shuffle(render_params)
num_img = 0
obj_id = 'tiger'
animal = udb.CvAnimal(obj_id)
animal.spawn()
r, g, b = 155, 168, 157
animal.set_mask_color(r, g, b)
animal.set_mesh(udb.asset.MESH_TIGER)
env = udb.CvEnv()
# for delay in range(10):
for delay in [0]:
output_dir = os.path.join(str(delay), 'generated_data')
mask_dir = os.path.join(str(delay), 'masked')
if not os.path.isdir(output_dir): os.makedirs(output_dir)
if not os.path.isdir(mask_dir): os.makedirs(mask_dir)
for i, param in enumerate(tqdm(render_params)):
mesh, anim, ratio, dist, az, el = param
filename = make_filename(i, mesh, anim, ratio, dist, az, el)
# sky_texture = random.choice(bg_path_list)
# floor_texture = random.choice(bg_path_list)
# animal_texture = random.choice(texture_path_list)
# Update the scene
# env.set_floor(floor_texture)
# env.set_sky(sky_texture)
# animal.set_texture(animal_texture) # this will crash
animal.set_animation(anim, ratio)
# Capture data
animal.set_tracking_camera(dist, az, el)
img = animal.get_img()
seg = animal.get_seg()
depth = animal.get_depth()
mask = udb.get_mask(seg, [r, g, b])
obj_img = udb.mask_img(img, mask)
imageio.imwrite(os.path.join(output_dir, filename + '_img.png'),
img)
imageio.imwrite(os.path.join(output_dir, filename + '_seg.png'),
seg)
np.save(os.path.join(output_dir, filename + '_depth.npy'), depth)
imageio.imwrite(os.path.join(mask_dir, filename + '_mask.png'),
obj_img)
def render_from_file(meta_data, max_indx=5):
clear_env()
car_shape, car_rot, car_trans, cam_location, cam_rotation, img_fov, img_size, kpt_dict = load_meta_data(
meta_data)
request('vset /camera/1/location {:.6f} {:.6f} {:.6f}'.format(
cam_location[0], cam_location[1], cam_location[2]))
request('vset /camera/1/rotation {:.6f} {:.6f} {:.6f}'.format(
cam_rotation[0], cam_rotation[1], cam_rotation[2]))
request('vset /camera/1/fov {:.6f}'.format(img_fov))
car_group = Car_Manager()
# if max_indx <= 0:
# max_indx = max_indx + len(car_shape)
#num_obj = min([len(car_trans), max_indx, 2])
num_obj = 2
car_color = [[i, 0, 0] for i in range(num_obj)]
shape = car_shape[0]
# for i in range(num_obj):
# car_group.add_car(shape, shape_lib="ShapenetKeypoint")
# #car_group.trans_car(car_trans[i], "car{}".format(i))
# car_group.trans_car([0, 100*i,150*i+100], "car{}".format(i))
# car_group.rot_car([0,0,0], "car{}".format(i))
# car_group.annotate_car(car_color[i], "car{}".format(i))
with open("example/car_activity/render_shape.json", "r") as f:
data_render = json.load(f)
trans_model = data_render[shape]["trans"]
i = 0
car_group.add_car(shape, scale=(-1, 1, 1))
print(trans_model)
car_group.trans_car([
trans_model[0] * 500, trans_model[2] * 500, 200 + trans_model[1] * 500
], "car{}".format(i))
car_group.rot_car([0, 90, 0], "car{}".format(i))
car_group.annotate_car(car_color[i], "car{}".format(i))
i = 1
car_group.add_car(shape, shape_lib="ShapenetKeypoint")
car_group.trans_car([0, 0, 200], "car{}".format(i))
car_group.rot_car([0, 0, 0], "car{}".format(i))
car_group.annotate_car(car_color[i], "car{}".format(i))
car_group.flush()
cwd_root, _ = os.path.split(meta_data)
base_dir = join(cwd_root, "render_res")
if DEBUG: print("Finished write object pose data ")
time.sleep(0.1)
if DEBUG: print("Acquiring image ...")
img = read_png(request('vget /camera/1/lit png'))
cv2.imwrite(join(base_dir, "car_arrangment.png"), img[:, :, 2::-1])
mask = read_png(request('vget /camera/1/object_mask png'))
cv2.imwrite(join(base_dir, "car_mask.png"), mask[:, :, 2::-1])
png = read_png(request('vget /camera/0/lit png'))
cv2.imwrite(join(base_dir, "overview.png"), png[:, :, 2::-1])
for i in range(len(car_color)):
obj_mask = udb.get_mask(mask, car_color[i])
[ys, xs] = np.where(obj_mask)
bbox = [min(xs), max(xs), min(ys), max(ys)]
print(bbox)
obj_img = udb.mask_img(img, obj_mask)
bbox_img = img[min(ys):max(ys), min(xs):max(xs), :]
cv2.imwrite(join(base_dir, "car%d_seg.png" % i), obj_img[:, :, 2::-1])
cv2.imwrite(join(base_dir, "car%d_bbox.png" % i), bbox_img[:, :,
2::-1])
if DEBUG: print("Finished write image to files")
return True
udb.client.request('vset /action/game/level {map_name}'.format(**locals()))
udb.client.request('vset /camera/0/location 400 0 300')
udb.client.request('vset /camera/0/rotation 0 180 0')
obj_id = 'tiger'
animal = udb.CvAnimal(obj_id)
animal.spawn()
r, g, b = 155, 168, 157
animal.set_mask_color(r, g, b)
animal.set_mesh(udb.asset.MESH_TIGER)
animal.set_tracking_camera(350, 0, -5)
for i, param in enumerate(tqdm(params)):
anim, ratio, key = param
animal.set_animation(anim, ratio)
# animal.set_tracking_camera(350, 0, -5)
# time.sleep(5)
print(animal.get_animation_frames(anim))
img = animal.get_img()
seg = animal.get_seg()
depth = animal.get_depth()
mask = udb.get_mask(seg, [r, g, b])
obj_img = udb.mask_img(img, mask)
imageio.imwrite('%s_im.png' % key, img)
imageio.imwrite('%s_seg.png' % key, seg)
np.save('%s_depth.npy' % key, depth)
imageio.imwrite('%s_mask.png' % key, obj_img)
def retrieve(animal, num_videos, num_images, use_random_texture):
udb.connect('localhost', 9900)
# reset the program
map_name = 'AnimalDataCapture'
udb.client.request('vset /action/game/level {map_name}'.format(**locals()))
udb.client.request('vset /camera/0/location 500 0 300')
udb.client.request('vset /camera/0/rotation -20 180 0')
random_texture_path = "val2017"
# this path needs to be on the server!!
val2017_dir = "/export/home/ffeldman/git/Learning-from-Synthetic-Animals/data_generation/" + random_texture_path #os.path.abspath(random_texture_path)
beautiful_textures = "/export/home/ffeldman/git/Learning-from-Synthetic-Animals/data_generation/texture_images/"
bg_path_list = glob_images(val2017_dir)
texture_path_list = glob_images(val2017_dir)
beautiful_textures_path_list = glob_images(beautiful_textures)
output_path = f"synthetic_animals/{animal}/"
global_animal = animal
render_params = load_render_params(global_animal)
random.shuffle(render_params)
obj_id = 'tiger'
animal = udb.CvAnimal(obj_id)
animal.spawn()
# acquire offset
obj_loc = udb.client.request('vget /object/tiger/location')
obj_loc = [float(v) for v in obj_loc.split(' ')]
offset = obj_loc[2]
r, g, b = 155, 168, 157
animal.set_mask_color(r, g, b)
if global_animal == 'tiger':
animal.set_mesh(udb.asset.MESH_TIGER)
elif global_animal == 'horse':
animal.set_mesh(udb.asset.MESH_HORSE)
elif global_animal == 'domestic_sheep':
animal.set_mesh(udb.asset.MESH_DOMESTIC_SHEEP)
elif global_animal == 'hellenic_hound': #Dog
animal.set_mesh(udb.asset.MESH_HELLENIC_HOUND)
elif global_animal == 'elephant':
animal.set_mesh(udb.asset.MESH_ELEPHANT)
# from here todo!
elif global_animal == 'cat':
animal.set_mesh(udb.asset.MESH_CAT)
#elif global_animal=='zebra':
# animal.set_mesh(udb.asset.MESH_CAT)
#elif global_animal=='celtic_wolfhound': # Dog
# animal.set_mesh(udb.asset.MESH_CAT)
#elif global_animal=='pug': # mops -> dog
# animal.set_mesh(udb.asset.MESH_CAT)
#elif global_animal=='cane_corso': # a dog
# animal.set_mesh(udb.asset.MESH_CAT)
elif global_animal == 'scotland_cattle': # a scottish cow
animal.set_mesh(udb.asset.MESH_SCOTTLAND_CATTLE)
#elif global_animal=='longhorn_cattle': # a cow
# animal.set_mesh(udb.asset.MESH_CAT)
#elif global_animal=='longhorn_cattle_v2': # a cow
# animal.set_mesh(udb.asset.MESH_CAT)
env = udb.CvEnv()
output_dir = output_path
if not os.path.isdir(output_dir): os.makedirs(output_dir)
masked_frames = []
whitened_frames = []
frame_names = []
extracted_kpts = []
fid = [] # fram id for sequence dataset
vids = [] # list of video ids
vid = -1 # video id
for video in range(num_videos):
vid += 1
img_idx = 0
sky_texture = "/export/home/ffeldman/Masterarbeit/data/white.jpg" #random.choice(bg_path_list)
floor_texture = "/export/home/ffeldman/Masterarbeit/data/white.jpg" #random.choice(bg_path_list)
animal_texture = beautiful_textures_path_list[
video] # random.choice(texture_path_list)
if use_random_texture:
# Randomly sets the texture for a sequence of images
animal.set_texture(animal_texture)
#process_params = random.choices(render_params, k=num_images)
random.shuffle(render_params)
for i, param in enumerate(tqdm(render_params)):
mesh, anim, ratio, dist, az, el = param
filename = make_filename(img_idx, mesh, anim, ratio, dist, az, el)
# Update the scene
env.set_random_light()
env.set_floor(floor_texture)
env.set_sky(sky_texture)
animal.set_animation(anim, ratio)
# if global_animal=='horse':
# # set different original textures
# _, animal_texture = random.choice(list(udb.asset.animal.horse_material.items()))
# _, animal_texture_fur = random.choice(list(udb.asset.animal.horse_material.items()))
# animal.set_material(0, animal_texture)
# animal.set_material(1, animal_texture_fur)
# Capture data
animal.set_tracking_camera(dist, az, el)
shift_camera_animal(global_animal)
img = animal.get_img()
seg = animal.get_seg()
depth = animal.get_depth()
mask = udb.get_mask(seg, [r, g, b])
# get kpts
## get cam_loc and cam_rot
cam_loc, cam_rot = get_camera_params()
cam_loc = [float(item) for item in cam_loc.split(' ')]
cam_rot = [float(item) for item in cam_rot.split(' ')]
## transform keypoints
kp_3d_array = parse_kpts(filename, offset)
kpts, kpts_z = transform_kpts(cam_loc, cam_rot, kp_3d_array, depth)
## transform images and kpts
img = Image.fromarray(img[:, :, :3])
seg_mask = np.zeros((mask.shape[0], mask.shape[1]), dtype=np.uint8)
seg_mask[mask == False] = 0 # tiger/horse
seg_mask[mask == True] = 255 # tiger/horse
# # save imgs
if global_animal == 'tiger':
kp_18_id = [
2679, 2753, 2032, 1451, 1287, 3085, 1632, 229, 1441, 1280,
2201, 1662, 266, 158, 270, 152, 219, 129
]
elif global_animal == 'horse':
kp_18_id = [
1718, 1684, 1271, 1634, 1650, 1643, 1659, 925, 392, 564,
993, 726, 1585, 1556, 427, 1548, 967, 877
]
elif global_animal == 'domestic_sheep':
kp_18_id = [
2046, 1944, 1267, 1875, 1900, 1868, 1894, 687, 173, 1829,
1422, 821, 624, 580, 622, 575, 1370, 716
]
elif global_animal == 'hellenic_hound':
kp_18_id = [
2028, 2580, 912, 878, 977, 1541, 1734, 480, 799, 1575,
1446, 602, 755, 673, 780, 1580, 466, 631
]
elif global_animal == 'elephant':
kp_18_id = [
1980, 2051, 1734, 2122, 2155, 2070, 2166, 681, 923, 1442,
1041, 1528, 78, 599, 25, 595, 171, 570
]
else:
print(
"WARNING THIS ANIMAL HAS NO CORRECT KEYPOINTS YET - DO NOT USE!!"
)
kp_18_id = [
2028, 2580, 912, 878, 977, 1541, 1734, 480, 799, 1575,
1446, 602, 755, 673, 780, 1580, 466, 631
]
#if sum(kpts[kp_18_id,2]) < 6:
# print(kpts[kpts[:,2]>0].shape)
# #import pdb
# #pdb.set_trace()
if sum(kpts[kp_18_id, 2]) >= 4:
arr = kpts[kp_18_id]
# set non visible points to zero
arr[arr[:, 2] == 0] = [0, 0, 0]
arr = arr[:, :2]
# create output folder for images e.g. synthetic_animals/{animal}/{video}
sequence_output_dir = output_dir + str(video)
sequence_dir_filename = os.path.join(sequence_output_dir,
filename)
filename_mask = filename.replace(".png", "_mask.png")
filename_mask_whitened = filename.replace(
".png", "_mask_white.png")
sequence_dir_filename_mask = os.path.join(
sequence_output_dir, filename_mask)
sequence_dir_filename_mask_whitened = os.path.join(
sequence_output_dir, filename_mask_whitened)
if not os.path.isdir(sequence_output_dir):
os.makedirs(sequence_output_dir)
whitened_img = np.array(copy.deepcopy(img))
whitened_img[~mask] = 255
imageio.imwrite(sequence_dir_filename_mask, seg_mask)
imageio.imwrite(sequence_dir_filename_mask_whitened,
whitened_img)
imageio.imwrite(sequence_dir_filename, img)
masked_frames.append(
os.path.join(sequence_output_dir, filename_mask))
whitened_frames.append(
os.path.join(sequence_output_dir, filename_mask_whitened))
frame_names.append(sequence_dir_filename)
extracted_kpts.append(arr)
fid.append(img_idx)
vids.append(vid)
#imageio.imwrite(os.path.join(sequence_output_dir, filename), seg_mask)
#np.save(os.path.join(output_dir, filename + '_depth.npy'), depth)
#np.save(os.path.join(sequence_output_dir, filename + '_kpts.npy'), arr)
#np.save(os.path.join(output_dir, filename + '_kpts_z.npy'), kpts_z)
img_idx += 1
if img_idx > num_images - 1:
break
assert len(frame_names) == len(extracted_kpts) == len(fid) == len(vids)
return frame_names, masked_frames, whitened_frames, np.array(
extracted_kpts), np.array(fid), np.array(vids)
