def test_tub_augment(tub):
"""Tub with augmented images which only differ slightly."""
import numpy as np
index = tub.get_index(shuffled=False)
img_arr_before = [tub.get_record(ix)['cam/image_array'] for ix in index]
tub.augment_images()
img_arr_after = [tub.get_record(ix)['cam/image_array'] for ix in index]
total_change = 0
for img_arr_b, img_arr_a in zip(img_arr_before, img_arr_after):
assert img_arr_a.shape == img_arr_b.shape, 'image size broken'
img_a = arr_to_img(img_arr_a)
img_b = arr_to_img(img_arr_b)
diff = ImageChops.difference(img_a, img_b)
diff_arr = img_to_arr(diff)
# normalise this number
num_pixel_channel = np.prod(diff_arr.shape)
avg_change = diff_arr.sum() / num_pixel_channel
# check that the augmented image is different if not totally black
if img_arr_b.max() > 0:
assert avg_change != 0, "Augmentation didn't do anything"
# change per chanel can be maximally 255 in 8-bit
total_change += avg_change
# An average change of 1 (per 255) would be already too big on the moving
# square images. Empirically we see changes in the order of 0.1
assert total_change / len(img_arr_before) < 1.0, \
'The augmented pictures differ too much.'
def run(self, img, path):
if type(img) is numpy.ndarray:
stacked_img = numpy.stack((img, ) * 3, axis=-1)
img = arr_to_img(stacked_img)
draw = ImageDraw.Draw(img)
self.plot_path(path, draw)
return img
def run(self, img_arr):
if img_arr is None:
return None
try:
image = arr_to_img(img_arr)
jpg = img_to_binary(image)
return jpg
except:
return None
def run(self, img, waypoints):
if type(img) is numpy.ndarray:
stacked_img = numpy.stack((img, ) * 3, axis=-1)
img = arr_to_img(stacked_img)
draw = ImageDraw.Draw(img)
for waypt in waypoints:
self.plot_wp(waypt, draw, color=self.color)
return img
def run(self, img, path):
if type(img) is numpy.ndarray:
stacked_img = numpy.stack((img, ) * 3, axis=-1)
img = arr_to_img(stacked_img)
draw = ImageDraw.Draw(img)
color = (255, 0, 0)
for iP in range(0, len(path) - 1):
ax, ay = path[iP]
bx, by = path[iP + 1]
self.plot_line(ax * self.scale + self.offset[0],
ay * self.scale + self.offset[1],
bx * self.scale + self.offset[0],
by * self.scale + self.offset[1], draw, color)
return img
def augment_images(self):
# Get all record's index
index = self.get_index(shuffled=False)
# Go through index
count = 0
for ix in index:
data = self.get_record(ix)
for key, val in data.items():
typ = self.get_input_type(key)
if typ == 'image_array':
# here val is an img_arr
img = arr_to_img(val)
# then augment and denormalise
img_aug = augment_pil_image(img)
name = self.make_file_name(key, ext='.jpg', ix=ix)
try:
img_aug.save(os.path.join(self.path, name))
count += 1
except IOError as err:
print(err)
print('Augmenting', count, 'images in', self.path)
def run(self, map_bytes):
np_arr = np.array(map_bytes).reshape(self.resolution)
return arr_to_img(np_arr)
