def generate_octomap_samples(octomap_file, query_positions, tmp_dir):
if not os.path.exists(tmp_dir): os.makedirs(tmp_dir)
tmp_query_positions_hdf5_file = os.path.join(tmp_dir, "_tmp_query_positions.hdf5")
tmp_octomap_samples_hdf5_file = os.path.join(tmp_dir, "_tmp_octomap_samples.hdf5")
with h5py.File(tmp_query_positions_hdf5_file, "w") as f: f.create_dataset("dataset", data=query_positions)
current_source_path = path_utils.get_current_source_file_path(frame=inspect.currentframe())
cpp_bin = os.path.abspath(os.path.join(current_source_path, "..", "..", "cpp", "bin", "generate_octomap_samples"))
cmd = \
cpp_bin + \
" --octomap_file=" + octomap_file + \
" --query_positions_file=" + tmp_query_positions_hdf5_file + \
" --output_file=" + tmp_octomap_samples_hdf5_file + \
" --silent"
# print("")
# print(cmd)
# print("")
retval = os.system(cmd)
assert retval == 0
with h5py.File(tmp_octomap_samples_hdf5_file, "r") as f: octomap_samples = matrix(f["dataset"][:]).A1
return octomap_samples
def process_scene(s, args):
scene_name = s["name"]
scene_dir = os.path.abspath(os.path.join(dataset_scenes_dir, scene_name))
if args.use_python_reference_implementation:
use_python_reference_implementation_str = "--use_python_reference_implementation"
else:
use_python_reference_implementation_str = ""
current_source_file_path = path_utils.get_current_source_file_path(
frame=inspect.currentframe())
cwd = os.getcwd()
os.chdir(current_source_file_path)
cmd = \
_system_config.python_bin + " scene_generate_camera_trajectories_random_walk.py" + \
" --scene_dir " + scene_dir + \
" " + use_python_reference_implementation_str
print("")
print(cmd)
print("")
retval = os.system(cmd)
assert retval == 0
os.chdir(cwd)
def process_scene(s, args):
scene_name = s["name"]
scene_dir = os.path.abspath(os.path.join(dataset_scenes_dir, scene_name))
detail_dir = os.path.abspath(os.path.join(scene_dir, "_detail"))
asset_export_dir = os.path.abspath(os.path.join(scene_dir,
"_asset_export"))
in_file = os.path.abspath(
os.path.join(asset_export_dir, in_scene_fileroot + ".obj"))
out_dir = os.path.abspath(os.path.join(detail_dir, "mesh"))
current_source_file_path = path_utils.get_current_source_file_path(
frame=inspect.currentframe())
cwd = os.getcwd()
os.chdir(current_source_file_path)
cmd = \
_system_config.python_bin + " generate_mesh_from_obj.py" + \
" --in_file " + in_file + \
" --out_dir " + out_dir
print("")
print(cmd)
print("")
retval = os.system(cmd)
assert retval == 0
os.chdir(cwd)
def generate_octomap(mesh_vertices, mesh_faces_vi, start_camera_positions, octomap_min, octomap_max, n_rays, n_iters, n_voxel_size, n_ray_nearest_neighbors, octomap_file, tmp_dir):
if not os.path.exists(tmp_dir): os.makedirs(tmp_dir)
tmp_mesh_vertices_hdf5_file = os.path.join(tmp_dir, "_tmp_mesh_vertices.hdf5")
tmp_mesh_faces_vi_hdf5_file = os.path.join(tmp_dir, "_tmp_mesh_faces_vi.hdf5")
tmp_start_camera_positions_hdf5_file = os.path.join(tmp_dir, "_tmp_start_camera_positions.hdf5")
tmp_ray_directions_hdf5_file = os.path.join(tmp_dir, "_tmp_ray_directions.hdf5")
tmp_ray_neighbor_indices_hdf5_file = os.path.join(tmp_dir, "_tmp_ray_neighbor_indices.hdf5")
tmp_octomap_min_hdf5_file = os.path.join(tmp_dir, "_tmp_octomap_min.hdf5")
tmp_octomap_max_hdf5_file = os.path.join(tmp_dir, "_tmp_octomap_max.hdf5")
tmp_free_space_min_hdf5_file = os.path.join(tmp_dir, "_tmp_free_space_min.hdf5")
tmp_free_space_max_hdf5_file = os.path.join(tmp_dir, "_tmp_free_space_max.hdf5")
# compute ray directions
ray_directions = sphere_sampling_utils.generate_evenly_distributed_samples_on_sphere(n_rays)
# compute ray neighbor indices
pset = ray_directions.astype(float64)
ckdtree = scipy.spatial.cKDTree(pset, balanced_tree=False)
d,i = ckdtree.query(pset, k=n_ray_nearest_neighbors)
ray_neighbor_indices = i
with h5py.File(tmp_mesh_vertices_hdf5_file, "w") as f: f.create_dataset("dataset", data=mesh_vertices)
with h5py.File(tmp_mesh_faces_vi_hdf5_file, "w") as f: f.create_dataset("dataset", data=mesh_faces_vi)
with h5py.File(tmp_start_camera_positions_hdf5_file, "w") as f: f.create_dataset("dataset", data=start_camera_positions)
with h5py.File(tmp_ray_directions_hdf5_file, "w") as f: f.create_dataset("dataset", data=ray_directions)
with h5py.File(tmp_ray_neighbor_indices_hdf5_file, "w") as f: f.create_dataset("dataset", data=ray_neighbor_indices)
with h5py.File(tmp_octomap_min_hdf5_file, "w") as f: f.create_dataset("dataset", data=octomap_min)
with h5py.File(tmp_octomap_max_hdf5_file, "w") as f: f.create_dataset("dataset", data=octomap_max)
current_source_path = path_utils.get_current_source_file_path(frame=inspect.currentframe())
cpp_bin = os.path.abspath(os.path.join(current_source_path, "..", "..", "cpp", "bin", "generate_octomap"))
cmd = \
cpp_bin + \
" --mesh_vertices_file=" + tmp_mesh_vertices_hdf5_file + \
" --mesh_faces_vi_file=" + tmp_mesh_faces_vi_hdf5_file + \
" --start_camera_positions_file=" + tmp_start_camera_positions_hdf5_file + \
" --ray_directions_file=" + tmp_ray_directions_hdf5_file + \
" --ray_neighbor_indices_file=" + tmp_ray_neighbor_indices_hdf5_file + \
" --octomap_min_file=" + tmp_octomap_min_hdf5_file + \
" --octomap_max_file=" + tmp_octomap_max_hdf5_file + \
" --n_iters=" + str(n_iters) + \
" --n_voxel_size=" + str(n_voxel_size) + \
" --octomap_file=" + octomap_file + \
" --free_space_min_file=" + tmp_free_space_min_hdf5_file + \
" --free_space_max_file=" + tmp_free_space_max_hdf5_file
# " --silent"
print("")
print(cmd)
print("")
retval = os.system(cmd)
assert retval == 0
with h5py.File(tmp_free_space_min_hdf5_file, "r") as f: free_space_min = matrix(f["dataset"][:]).A1
with h5py.File(tmp_free_space_max_hdf5_file, "r") as f: free_space_max = matrix(f["dataset"][:]).A1
return free_space_min, free_space_max
def generate_ray_intersections(vertices, faces, ray_positions, ray_directions,
tmp_dir):
if not os.path.exists(tmp_dir): os.makedirs(tmp_dir)
tmp_vertices_hdf5_file = os.path.join(tmp_dir, "_tmp_vertices.hdf5")
tmp_faces_hdf5_file = os.path.join(tmp_dir, "_tmp_faces.hdf5")
tmp_ray_positions_hdf5_file = os.path.join(tmp_dir,
"_tmp_ray_positions.hdf5")
tmp_ray_directions_hdf5_file = os.path.join(tmp_dir,
"_tmp_ray_directions.hdf5")
tmp_output_ray_hit_data_float_hdf5_file = os.path.join(
tmp_dir, "_tmp_output_ray_hit_data_float.hdf5")
tmp_output_ray_hit_data_int_hdf5_file = os.path.join(
tmp_dir, "_tmp_output_ray_hit_data_int.hdf5")
with h5py.File(tmp_vertices_hdf5_file, "w") as f:
f.create_dataset("dataset", data=vertices)
with h5py.File(tmp_faces_hdf5_file, "w") as f:
f.create_dataset("dataset", data=faces)
with h5py.File(tmp_ray_positions_hdf5_file, "w") as f:
f.create_dataset("dataset", data=ray_positions)
with h5py.File(tmp_ray_directions_hdf5_file, "w") as f:
f.create_dataset("dataset", data=ray_directions)
current_source_path = path_utils.get_current_source_file_path(
frame=inspect.currentframe())
generate_ray_intersections_bin = os.path.abspath(
os.path.join(current_source_path, "..", "..", "cpp", "bin",
"generate_ray_intersections"))
cmd = \
generate_ray_intersections_bin + \
" --vertices_file=" + tmp_vertices_hdf5_file + \
" --faces_file=" + tmp_faces_hdf5_file + \
" --ray_positions_file=" + tmp_ray_positions_hdf5_file + \
" --ray_directions_file=" + tmp_ray_directions_hdf5_file + \
" --output_ray_hit_data_float_file=" + tmp_output_ray_hit_data_float_hdf5_file + \
" --output_ray_hit_data_int_file=" + tmp_output_ray_hit_data_int_hdf5_file + \
" --silent"
# print("")
# print(cmd)
# print("")
retval = os.system(cmd)
assert retval == 0
with h5py.File(tmp_output_ray_hit_data_float_hdf5_file, "r") as f:
ray_hit_data_float = f["dataset"][:]
with h5py.File(tmp_output_ray_hit_data_int_hdf5_file, "r") as f:
ray_hit_data_int = f["dataset"][:]
intersection_distances = matrix(ray_hit_data_float[:, 0]).A1
intersection_normals = matrix(ray_hit_data_float[:, 1:4]).A
prim_ids = matrix(ray_hit_data_int[:, 0]).A1
return intersection_distances, intersection_normals, prim_ids
def generate_oriented_bounding_box_3d(points, n_epsilon, n_point_samples,
n_grid_size, n_diam_opt_loops,
n_grid_search_opt_loops, tmp_dir):
if not os.path.exists(tmp_dir): os.makedirs(tmp_dir)
tmp_points_hdf5_file = os.path.join(tmp_dir, "_tmp_points.hdf5")
tmp_output_bounding_box_center_hdf5_file = os.path.join(
tmp_dir, "_tmp_output_bounding_box_center.hdf5")
tmp_output_bounding_box_extent_hdf5_file = os.path.join(
tmp_dir, "_tmp_output_bounding_box_extent.hdf5")
tmp_output_bounding_box_orientation_hdf5_file = os.path.join(
tmp_dir, "_tmp_output_bounding_box_orientation.hdf5")
with h5py.File(tmp_points_hdf5_file, "w") as f:
f.create_dataset("dataset", data=points)
current_source_path = path_utils.get_current_source_file_path(
frame=inspect.currentframe())
cpp_bin = os.path.abspath(
os.path.join(current_source_path, "..", "..", "cpp", "bin",
"generate_oriented_bounding_box"))
cmd = \
cpp_bin + \
" --points_file=" + tmp_points_hdf5_file + \
" --n_epsilon=" + str(n_epsilon) + \
" --n_point_samples=" + str(n_point_samples) + \
" --n_grid_size=" + str(n_grid_size) + \
" --n_diam_opt_loops=" + str(n_diam_opt_loops) + \
" --n_grid_search_opt_loops=" + str(n_grid_search_opt_loops) + \
" --output_bounding_box_center_file=" + tmp_output_bounding_box_center_hdf5_file + \
" --output_bounding_box_extent_file=" + tmp_output_bounding_box_extent_hdf5_file + \
" --output_bounding_box_orientation_file=" + tmp_output_bounding_box_orientation_hdf5_file
# " --silent"
print("")
print(cmd)
print("")
retval = os.system(cmd)
assert retval == 0
with h5py.File(tmp_output_bounding_box_center_hdf5_file, "r") as f:
bounding_box_center = matrix(f["dataset"][:]).A1
with h5py.File(tmp_output_bounding_box_extent_hdf5_file, "r") as f:
bounding_box_extent = matrix(f["dataset"][:]).A1
with h5py.File(tmp_output_bounding_box_orientation_hdf5_file, "r") as f:
bounding_box_orientation = matrix(f["dataset"][:]).A
assert bounding_box_extent[0] >= bounding_box_extent[1]
assert bounding_box_extent[1] >= bounding_box_extent[2]
assert isclose(linalg.det(bounding_box_orientation), 1)
return bounding_box_center, bounding_box_extent, bounding_box_orientation
def build_sympy_modules():
print "flashlight.quadrotor_2d: Constructing sympy expressions..."
sys_time_begin = time.time()
# manipulator matrices
H_expr,C_expr,G_expr,B_expr = construct_manipulator_matrix_expressions()
# expressions to solve for df_dx and df_du
q_dot_dot_expr = H_expr.inv()*(B_expr*u_expr - (C_expr*q_dot_expr + G_expr))
x_dot_expr = sympy_utils.construct_matrix_from_block_matrix( sympy.Matrix( [ [q_dot_expr], [q_dot_dot_expr] ] ) )
df_dx_expr = x_dot_expr.jacobian(x_expr)
df_du_expr = x_dot_expr.jacobian(u_expr)
# expressions to solve for g_dynamics, given x_current x_next u_current dt_current
# x_dot_current_expr = x_dot_expr.subs( dict( zip(x_expr,x_current_expr) + zip(u_expr,u_current_expr) ) )
# g_dynamics_ti_expr = x_next_expr - (x_current_expr + x_dot_current_expr*dt_current_expr)
# dgdynamicsti_dxcurrent_expr = g_dynamics_ti_expr.jacobian(x_current_expr)
# dgdynamicsti_dxnext_expr = g_dynamics_ti_expr.jacobian(x_next_expr)
# dgdynamicsti_ducurrent_expr = g_dynamics_ti_expr.jacobian(u_current_expr)
# dgdynamicsti_ddtcurrent_expr = g_dynamics_ti_expr.diff(dt_current_expr)
sys_time_end = time.time()
print "flashlight.quadrotor_2d: Finished constructing sympy expressions (%.03f seconds)." % (sys_time_end - sys_time_begin)
print "flashlight.quadrotor_2d: Building sympy modules..."
sys_time_begin = time.time()
current_source_file_path = path_utils.get_current_source_file_path()
sympy_utils.build_module_autowrap( expr=H_expr, syms=const_and_x_syms, module_name="quadrotor_2d_H", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor_2d", dummify=True, build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
sympy_utils.build_module_autowrap( expr=C_expr, syms=const_and_x_syms, module_name="quadrotor_2d_C", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor_2d", dummify=True, build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
sympy_utils.build_module_autowrap( expr=G_expr, syms=const_and_x_syms, module_name="quadrotor_2d_G", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor_2d", dummify=True, build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
sympy_utils.build_module_autowrap( expr=B_expr, syms=const_and_x_syms, module_name="quadrotor_2d_B", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor_2d", dummify=True, build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
sympy_utils.build_module_autowrap( expr=x_dot_expr, syms=const_and_x_and_u_syms, module_name="quadrotor_2d_x_dot", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor_2d", dummify=True, build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
sympy_utils.build_module_autowrap( expr=df_dx_expr, syms=const_and_x_and_u_syms, module_name="quadrotor_2d_df_dx", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor_2d", dummify=True, build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
sympy_utils.build_module_autowrap( expr=df_du_expr, syms=const_and_x_and_u_syms, module_name="quadrotor_2d_df_du", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor_2d", dummify=True, build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
# sympy_utils.build_module_autowrap( expr=g_dynamics_ti_expr, syms=const_and_xcurrent_and_xnext_and_ucurrent_and_dtcurrent_syms, module_name="quadrotor2d_g_dynamics_ti", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor2d", build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
# sympy_utils.build_module_autowrap( expr=dgdynamicsti_dxcurrent_expr, syms=const_and_xcurrent_and_xnext_and_ucurrent_and_dtcurrent_syms, module_name="quadrotor2d_dgdynamicsti_dxcurrent", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor2d", build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
# sympy_utils.build_module_autowrap( expr=dgdynamicsti_dxnext_expr, syms=const_and_xcurrent_and_xnext_and_ucurrent_and_dtcurrent_syms, module_name="quadrotor2d_dgdynamicsti_dxnext", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor2d", build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
# sympy_utils.build_module_autowrap( expr=dgdynamicsti_ducurrent_expr, syms=const_and_xcurrent_and_xnext_and_ucurrent_and_dtcurrent_syms, module_name="quadrotor2d_dgdynamicsti_ducurrent", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor2d", build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
# sympy_utils.build_module_autowrap( expr=dgdynamicsti_ddtcurrent_expr, syms=const_and_xcurrent_and_xnext_and_ucurrent_and_dtcurrent_syms, module_name="quadrotor2d_dgdynamicsti_ddtcurrent", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor2d", build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
sys_time_end = time.time()
print "flashlight.quadrotor_2d: Finished building sympy modules (%.03f seconds)." % (sys_time_end - sys_time_begin)
def load_exr_file(filename, tmp_dir):
if not os.path.exists(tmp_dir): os.makedirs(tmp_dir)
tmp_output_file_prefix = os.path.join(tmp_dir, "_tmp_output")
tmp_output_header_csv_file = os.path.join(tmp_dir,
"_tmp_output.header.csv")
tmp_output_channels_csv_file = os.path.join(tmp_dir,
"_tmp_output.channels.csv")
current_source_path = path_utils.get_current_source_file_path(
frame=inspect.currentframe())
generate_hdf5_from_exr_bin = os.path.abspath(
os.path.join(current_source_path, "..", "..", "cpp", "bin",
"generate_hdf5_from_exr"))
cmd = \
generate_hdf5_from_exr_bin + \
" --input_file=" + filename + \
" --output_file=" + tmp_output_file_prefix + \
" --silent"
# print("")
# print(cmd)
# print("")
retval = os.system(cmd)
assert retval == 0
df_header = pd.read_csv(tmp_output_header_csv_file)
df_channels = pd.read_csv(tmp_output_channels_csv_file)
channels = {}
for dfi in df_channels.itertuples():
params = df_channels.loc[dfi.Index].copy()
channel_name = params["channel_name"]
tmp_output_channel_hdf5_file = tmp_output_file_prefix + "." + channel_name + ".hdf5"
with h5py.File(tmp_output_channel_hdf5_file, "r") as f:
channel = f["dataset"][:]
channels[channel_name] = channel
return df_header, df_channels, channels
def process_scene(s, args):
scene_name = s["name"]
scene_dir = os.path.abspath(os.path.join(dataset_scenes_dir, scene_name))
current_source_file_path = path_utils.get_current_source_file_path(frame=inspect.currentframe())
cwd = os.getcwd()
os.chdir(current_source_file_path)
cmd = \
_system_config.python_bin + " scene_generate_octomap.py" + \
" --scene_dir " + scene_dir
print("")
print(cmd)
print("")
retval = os.system(cmd)
assert retval == 0
os.chdir(cwd)
def generate_camera_trajectory_random_walk(
mesh_vertices, mesh_faces_vi, octomap_file, octomap_free_space_min,
octomap_free_space_max, start_camera_position,
start_camera_orientation, n_width_pixels, n_height_pixels, n_fov_x,
n_samples_random_walk, n_samples_octomap_query,
n_samples_camera_pose_candidates, n_voxel_size,
n_query_half_extent_relative_to_current,
n_query_half_extent_relative_to_start, tmp_dir):
if not os.path.exists(tmp_dir): os.makedirs(tmp_dir)
tmp_mesh_vertices_hdf5_file = os.path.join(tmp_dir,
"_tmp_mesh_vertices.hdf5")
tmp_mesh_faces_vi_hdf5_file = os.path.join(tmp_dir,
"_tmp_mesh_faces_vi.hdf5")
tmp_octomap_free_space_min_hdf5_file = os.path.join(
tmp_dir, "_tmp_octomap_free_space_min.hdf5")
tmp_octomap_free_space_max_hdf5_file = os.path.join(
tmp_dir, "_tmp_octomap_free_space_max.hdf5")
tmp_start_camera_position_hdf5_file = os.path.join(
tmp_dir, "_tmp_start_camera_position.hdf5")
tmp_start_camera_orientation_hdf5_file = os.path.join(
tmp_dir, "_tmp_start_camera_orientation.hdf5")
tmp_camera_rays_hdf5_file = os.path.join(tmp_dir, "_tmp_camera_rays.hdf5")
tmp_camera_rays_distances_to_center_hdf5_file = os.path.join(
tmp_dir, "_tmp_camera_rays_distances_to_center.hdf5")
tmp_n_query_half_extent_relative_to_start_hdf5_file = os.path.join(
tmp_dir, "_tmp_n_query_half_extent_relative_to_start.hdf5")
tmp_n_query_half_extent_relative_to_current_hdf5_file = os.path.join(
tmp_dir, "_tmp_n_query_half_extent_relative_to_current.hdf5")
tmp_output_camera_look_from_positions_hdf5_file = os.path.join(
tmp_dir, "_tmp_output_camera_look_from_positions.hdf5")
tmp_output_camera_look_at_positions_hdf5_file = os.path.join(
tmp_dir, "_tmp_output_camera_look_at_positions.hdf5")
tmp_output_camera_orientations_hdf5_file = os.path.join(
tmp_dir, "_tmp_output_camera_orientations.hdf5")
tmp_output_intersection_distances_hdf5_file = os.path.join(
tmp_dir, "_tmp_output_intersection_distances.hdf5")
tmp_output_prim_ids_hdf5_file = os.path.join(tmp_dir,
"_tmp_output_prim_ids.hdf5")
fov_y = 2.0 * arctan(n_height_pixels * tan(n_fov_x / 2) / n_width_pixels)
uv_min = -1.0
uv_max = 1.0
half_du = 0.5 * (uv_max - uv_min) / n_width_pixels
half_dv = 0.5 * (uv_max - uv_min) / n_height_pixels
u, v = meshgrid(
linspace(uv_min + half_du, uv_max - half_du, n_width_pixels),
linspace(uv_min + half_dv, uv_max - half_dv, n_height_pixels)[::-1])
ray_offset_x = u * tan(n_fov_x / 2.0)
ray_offset_y = v * tan(fov_y / 2.0)
ray_offset_z = -ones_like(ray_offset_x)
rays_cam = dstack((ray_offset_x, ray_offset_y, ray_offset_z))
V_cam = matrix(rays_cam.reshape(-1, 3)).T
half_dx = 0.5
half_dy = 0.5
pixel_center = array([(n_width_pixels + 1) / 2.0,
(n_height_pixels + 1) / 2.0])
pixel_x, pixel_y = meshgrid(
linspace(half_dx, n_width_pixels + half_dx, n_width_pixels),
linspace(half_dy, n_height_pixels + half_dy, n_height_pixels))
pixels = dstack((pixel_x, pixel_y)).reshape(-1, 2)
center_to_pixels = pixels - pixel_center
center_to_pixels_distances = linalg.norm(center_to_pixels, axis=1)
with h5py.File(tmp_mesh_vertices_hdf5_file, "w") as f:
f.create_dataset("dataset", data=mesh_vertices)
with h5py.File(tmp_mesh_faces_vi_hdf5_file, "w") as f:
f.create_dataset("dataset", data=mesh_faces_vi)
with h5py.File(tmp_octomap_free_space_min_hdf5_file, "w") as f:
f.create_dataset("dataset", data=octomap_free_space_min)
with h5py.File(tmp_octomap_free_space_max_hdf5_file, "w") as f:
f.create_dataset("dataset", data=octomap_free_space_max)
with h5py.File(tmp_start_camera_position_hdf5_file, "w") as f:
f.create_dataset("dataset", data=start_camera_position)
with h5py.File(tmp_start_camera_orientation_hdf5_file, "w") as f:
f.create_dataset("dataset", data=start_camera_orientation)
with h5py.File(tmp_camera_rays_hdf5_file, "w") as f:
f.create_dataset("dataset", data=V_cam.T)
with h5py.File(tmp_camera_rays_distances_to_center_hdf5_file, "w") as f:
f.create_dataset("dataset", data=center_to_pixels_distances)
with h5py.File(tmp_n_query_half_extent_relative_to_start_hdf5_file,
"w") as f:
f.create_dataset("dataset", data=n_query_half_extent_relative_to_start)
with h5py.File(tmp_n_query_half_extent_relative_to_current_hdf5_file,
"w") as f:
f.create_dataset("dataset",
data=n_query_half_extent_relative_to_current)
current_source_path = path_utils.get_current_source_file_path(
frame=inspect.currentframe())
generate_camera_trajectory_random_walk_bin = os.path.abspath(
os.path.join(current_source_path, "..", "..", "cpp", "bin",
"generate_camera_trajectory_random_walk"))
cmd = \
generate_camera_trajectory_random_walk_bin + \
" --mesh_vertices_file=" + tmp_mesh_vertices_hdf5_file + \
" --mesh_faces_vi_file=" + tmp_mesh_faces_vi_hdf5_file + \
" --start_camera_position_file=" + tmp_start_camera_position_hdf5_file + \
" --start_camera_orientation_file=" + tmp_start_camera_orientation_hdf5_file + \
" --camera_rays_file=" + tmp_camera_rays_hdf5_file + \
" --camera_rays_distances_to_center_file=" + tmp_camera_rays_distances_to_center_hdf5_file + \
" --octomap_file=" + octomap_file + \
" --octomap_free_space_min_file=" + tmp_octomap_free_space_min_hdf5_file + \
" --octomap_free_space_max_file=" + tmp_octomap_free_space_max_hdf5_file + \
" --n_samples_random_walk=" + str(n_samples_random_walk) + \
" --n_samples_octomap_query=" + str(n_samples_octomap_query) + \
" --n_samples_camera_pose_candidates=" + str(n_samples_camera_pose_candidates) + \
" --n_voxel_size=" + str(n_voxel_size) + \
" --n_query_half_extent_relative_to_start_file=" + tmp_n_query_half_extent_relative_to_start_hdf5_file + \
" --n_query_half_extent_relative_to_current_file=" + tmp_n_query_half_extent_relative_to_current_hdf5_file + \
" --output_camera_look_from_positions_file=" + tmp_output_camera_look_from_positions_hdf5_file + \
" --output_camera_look_at_positions_file=" + tmp_output_camera_look_at_positions_hdf5_file + \
" --output_camera_orientations_file=" + tmp_output_camera_orientations_hdf5_file + \
" --output_intersection_distances_file=" + tmp_output_intersection_distances_hdf5_file + \
" --output_prim_ids_file=" + tmp_output_prim_ids_hdf5_file
# " --silent"
print("")
print(cmd)
print("")
retval = os.system(cmd)
assert retval == 0 or retval == 256
if retval == 256:
print(
"[HYPERSIM: GENERATE_CAMERA_TRAJECTORY_RANDOM_WALK] WARNING: generate_camera_trajectory_random_walk DID NOT EXECUTE SUCCESSFULLY. GIVING UP."
)
return None, None, None, None, None
with h5py.File(tmp_output_camera_look_from_positions_hdf5_file, "r") as f:
camera_look_from_positions = f["dataset"][:]
with h5py.File(tmp_output_camera_look_at_positions_hdf5_file, "r") as f:
camera_look_at_positions = f["dataset"][:]
with h5py.File(tmp_output_camera_orientations_hdf5_file, "r") as f:
camera_orientations = f["dataset"][:]
with h5py.File(tmp_output_intersection_distances_hdf5_file, "r") as f:
intersection_distances = f["dataset"][:]
with h5py.File(tmp_output_prim_ids_hdf5_file, "r") as f:
prim_ids = f["dataset"][:]
intersection_distances = intersection_distances.reshape(
-1, n_height_pixels, n_width_pixels)
prim_ids = prim_ids.reshape(-1, n_height_pixels, n_width_pixels)
for j in range(n_samples_random_walk):
camera_orientations[j] = matrix(camera_orientations[j]).T.A
return camera_look_from_positions, camera_look_at_positions, camera_orientations, intersection_distances, prim_ids
def build_sympy_modules():
print "flashlight.quadrotor_2d: Constructing sympy expressions..."
sys_time_begin = time.time()
# manipulator matrices
H_expr, C_expr, G_expr, B_expr = construct_manipulator_matrix_expressions()
# expressions to solve for df_dx and df_du
q_dot_dot_expr = H_expr.inv() * (B_expr * u_expr -
(C_expr * q_dot_expr + G_expr))
x_dot_expr = sympy_utils.construct_matrix_from_block_matrix(
sympy.Matrix([[q_dot_expr], [q_dot_dot_expr]]))
df_dx_expr = x_dot_expr.jacobian(x_expr)
df_du_expr = x_dot_expr.jacobian(u_expr)
# expressions to solve for g_dynamics, given x_current x_next u_current dt_current
# x_dot_current_expr = x_dot_expr.subs( dict( zip(x_expr,x_current_expr) + zip(u_expr,u_current_expr) ) )
# g_dynamics_ti_expr = x_next_expr - (x_current_expr + x_dot_current_expr*dt_current_expr)
# dgdynamicsti_dxcurrent_expr = g_dynamics_ti_expr.jacobian(x_current_expr)
# dgdynamicsti_dxnext_expr = g_dynamics_ti_expr.jacobian(x_next_expr)
# dgdynamicsti_ducurrent_expr = g_dynamics_ti_expr.jacobian(u_current_expr)
# dgdynamicsti_ddtcurrent_expr = g_dynamics_ti_expr.diff(dt_current_expr)
sys_time_end = time.time()
print "flashlight.quadrotor_2d: Finished constructing sympy expressions (%.03f seconds)." % (
sys_time_end - sys_time_begin)
print "flashlight.quadrotor_2d: Building sympy modules..."
sys_time_begin = time.time()
current_source_file_path = path_utils.get_current_source_file_path()
sympy_utils.build_module_autowrap(expr=H_expr,
syms=const_and_x_syms,
module_name="quadrotor_2d_H",
tmp_dir="tmp",
out_dir=current_source_file_path +
"/data/quadrotor_2d",
dummify=True,
build_vectorized=True,
verbose=True,
request_delete_tmp_dir=True)
sympy_utils.build_module_autowrap(expr=C_expr,
syms=const_and_x_syms,
module_name="quadrotor_2d_C",
tmp_dir="tmp",
out_dir=current_source_file_path +
"/data/quadrotor_2d",
dummify=True,
build_vectorized=True,
verbose=True,
request_delete_tmp_dir=True)
sympy_utils.build_module_autowrap(expr=G_expr,
syms=const_and_x_syms,
module_name="quadrotor_2d_G",
tmp_dir="tmp",
out_dir=current_source_file_path +
"/data/quadrotor_2d",
dummify=True,
build_vectorized=True,
verbose=True,
request_delete_tmp_dir=True)
sympy_utils.build_module_autowrap(expr=B_expr,
syms=const_and_x_syms,
module_name="quadrotor_2d_B",
tmp_dir="tmp",
out_dir=current_source_file_path +
"/data/quadrotor_2d",
dummify=True,
build_vectorized=True,
verbose=True,
request_delete_tmp_dir=True)
sympy_utils.build_module_autowrap(expr=x_dot_expr,
syms=const_and_x_and_u_syms,
module_name="quadrotor_2d_x_dot",
tmp_dir="tmp",
out_dir=current_source_file_path +
"/data/quadrotor_2d",
dummify=True,
build_vectorized=True,
verbose=True,
request_delete_tmp_dir=True)
sympy_utils.build_module_autowrap(expr=df_dx_expr,
syms=const_and_x_and_u_syms,
module_name="quadrotor_2d_df_dx",
tmp_dir="tmp",
out_dir=current_source_file_path +
"/data/quadrotor_2d",
dummify=True,
build_vectorized=True,
verbose=True,
request_delete_tmp_dir=True)
sympy_utils.build_module_autowrap(expr=df_du_expr,
syms=const_and_x_and_u_syms,
module_name="quadrotor_2d_df_du",
tmp_dir="tmp",
out_dir=current_source_file_path +
"/data/quadrotor_2d",
dummify=True,
build_vectorized=True,
verbose=True,
request_delete_tmp_dir=True)
# sympy_utils.build_module_autowrap( expr=g_dynamics_ti_expr, syms=const_and_xcurrent_and_xnext_and_ucurrent_and_dtcurrent_syms, module_name="quadrotor2d_g_dynamics_ti", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor2d", build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
# sympy_utils.build_module_autowrap( expr=dgdynamicsti_dxcurrent_expr, syms=const_and_xcurrent_and_xnext_and_ucurrent_and_dtcurrent_syms, module_name="quadrotor2d_dgdynamicsti_dxcurrent", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor2d", build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
# sympy_utils.build_module_autowrap( expr=dgdynamicsti_dxnext_expr, syms=const_and_xcurrent_and_xnext_and_ucurrent_and_dtcurrent_syms, module_name="quadrotor2d_dgdynamicsti_dxnext", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor2d", build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
# sympy_utils.build_module_autowrap( expr=dgdynamicsti_ducurrent_expr, syms=const_and_xcurrent_and_xnext_and_ucurrent_and_dtcurrent_syms, module_name="quadrotor2d_dgdynamicsti_ducurrent", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor2d", build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
# sympy_utils.build_module_autowrap( expr=dgdynamicsti_ddtcurrent_expr, syms=const_and_xcurrent_and_xnext_and_ucurrent_and_dtcurrent_syms, module_name="quadrotor2d_dgdynamicsti_ddtcurrent", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor2d", build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
sys_time_end = time.time()
print "flashlight.quadrotor_2d: Finished building sympy modules (%.03f seconds)." % (
sys_time_end - sys_time_begin)
# sympy_utils.build_module_autowrap( expr=dgdynamicsti_dxnext_expr, syms=const_and_xcurrent_and_xnext_and_ucurrent_and_dtcurrent_syms, module_name="quadrotor2d_dgdynamicsti_dxnext", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor2d", build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
# sympy_utils.build_module_autowrap( expr=dgdynamicsti_ducurrent_expr, syms=const_and_xcurrent_and_xnext_and_ucurrent_and_dtcurrent_syms, module_name="quadrotor2d_dgdynamicsti_ducurrent", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor2d", build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
# sympy_utils.build_module_autowrap( expr=dgdynamicsti_ddtcurrent_expr, syms=const_and_xcurrent_and_xnext_and_ucurrent_and_dtcurrent_syms, module_name="quadrotor2d_dgdynamicsti_ddtcurrent", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor2d", build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
sys_time_end = time.time()
print "flashlight.quadrotor_2d: Finished building sympy modules (%.03f seconds)." % (
sys_time_end - sys_time_begin)
if build_sympy_modules_on_import:
build_sympy_modules()
print "flashlight.quadrotor_2d: Loading sympy modules..."
sys_time_begin = time.time()
current_source_file_path = path_utils.get_current_source_file_path()
H_autowrap = sympy_utils.import_anon_func_from_from_module_autowrap(
module_name="quadrotor_2d_H",
path=current_source_file_path + "/data/quadrotor_2d")
C_autowrap = sympy_utils.import_anon_func_from_from_module_autowrap(
module_name="quadrotor_2d_C",
path=current_source_file_path + "/data/quadrotor_2d")
G_autowrap = sympy_utils.import_anon_func_from_from_module_autowrap(
module_name="quadrotor_2d_G",
path=current_source_file_path + "/data/quadrotor_2d")
B_autowrap = sympy_utils.import_anon_func_from_from_module_autowrap(
module_name="quadrotor_2d_B",
path=current_source_file_path + "/data/quadrotor_2d")
x_dot_autowrap = sympy_utils.import_anon_func_from_from_module_autowrap(
def process_scene(s, args):
scene_name = s["name"]
tmp_dir = os.path.join(dataset_scenes_dir, scene_name, "_tmp")
detail_dir = os.path.join(dataset_scenes_dir, scene_name, "_detail")
images_dir = os.path.join(dataset_scenes_dir, scene_name, "images")
metadata_cameras_csv_file = os.path.join(detail_dir,
"metadata_cameras.csv")
df = pd.read_csv(metadata_cameras_csv_file)
if args.camera_names is not None:
cameras = [
c for c in df.to_records()
if fnmatch.fnmatch(c["camera_name"], args.camera_names)
]
else:
cameras = df.to_records()
for c in cameras:
camera_name = c["camera_name"]
print("[HYPERSIM: DATASET_GENERATE_HDF5_FROM_VRIMG] For scene " +
scene_name + ", generating HDF5 files for camera " +
camera_name + "...")
#
# generate HDF5 files for geometry render
#
if args.render_pass is None or args.render_pass == "geometry":
in_vrimg_files = '"' + os.path.abspath(
os.path.join(
images_dir, in_scene_fileroot + "_" + camera_name +
"_geometry", "*.vrimg")) + '"'
in_camera_trajectory_dir = os.path.abspath(
os.path.join(detail_dir, camera_name))
in_metadata_nodes_file = os.path.abspath(
os.path.join(detail_dir, "metadata_nodes.csv"))
in_metadata_scene_file = os.path.abspath(
os.path.join(detail_dir, "metadata_scene.csv"))
out_hdf5_dir = os.path.abspath(
os.path.join(
images_dir,
in_scene_fileroot + "_" + camera_name + "_geometry_hdf5"))
out_preview_dir = os.path.abspath(
os.path.join(
images_dir, in_scene_fileroot + "_" + camera_name +
"_geometry_preview"))
tmp_dir_ = os.path.abspath(tmp_dir)
current_source_file_path = path_utils.get_current_source_file_path(
frame=inspect.currentframe())
cwd = os.getcwd()
os.chdir(current_source_file_path)
cmd = \
_system_config.python_bin + " generate_hdf5_from_vrimg.py" + \
" --in_vrimg_files " + in_vrimg_files + \
" --in_camera_trajectory_dir " + in_camera_trajectory_dir + \
" --in_metadata_nodes_file " + in_metadata_nodes_file + \
" --in_metadata_scene_file " + in_metadata_scene_file + \
" --out_hdf5_dir " + out_hdf5_dir + \
" --out_preview_dir " + out_preview_dir + \
" --tmp_dir " + tmp_dir_ + \
" --render_pass geometry"
print("")
print(cmd)
print("")
retval = os.system(cmd)
assert retval == 0
os.chdir(cwd)
#
# generate HDF5 files for final render
#
if args.render_pass is None or args.render_pass == "final":
in_vrimg_files = '"' + os.path.abspath(
os.path.join(images_dir, in_scene_fileroot + "_" +
camera_name + "_final", "*.vrimg")) + '"'
out_hdf5_dir = os.path.abspath(
os.path.join(
images_dir,
in_scene_fileroot + "_" + camera_name + "_final_hdf5"))
out_preview_dir = os.path.abspath(
os.path.join(
images_dir,
in_scene_fileroot + "_" + camera_name + "_final_preview"))
tmp_dir_ = os.path.abspath(tmp_dir)
if args.denoise:
denoise_arg = " --denoise"
else:
denoise_arg = ""
current_source_file_path = path_utils.get_current_source_file_path(
frame=inspect.currentframe())
cwd = os.getcwd()
os.chdir(current_source_file_path)
cmd = \
_system_config.python_bin + " generate_hdf5_from_vrimg.py" + \
" --in_vrimg_files " + in_vrimg_files + \
" --out_hdf5_dir " + out_hdf5_dir + \
" --out_preview_dir " + out_preview_dir + \
" --tmp_dir " + tmp_dir_ + \
" --render_pass final" + \
denoise_arg
print("")
print(cmd)
print("")
retval = os.system(cmd)
assert retval == 0
os.chdir(cwd)
if args.scene_names is not None:
scenes = [ s for s in _dataset_config.scenes if fnmatch.fnmatch(s["name"], args.scene_names) ]
else:
scenes = _dataset_config.scenes
# NOTE: parameters need to match _deadline_post_task_script.py
hypersim_platform_when_submitting_key = "ExtraInfo0"
hypersim_dataset_dir_when_submitting_key = "ExtraInfo1"
hypersim_scene_name_key = "ExtraInfo2"
hypersim_camera_name_key = "ExtraInfo3"
hypersim_render_pass_key = "ExtraInfo4"
hypersim_output_file_root_key = "ExtraInfo5"
hypersim_output_file_ext_key = "ExtraInfo6"
hypersim_post_task_script = os.path.join(path_utils.get_current_source_file_path(frame=inspect.currentframe()), _system_config.cloud_post_task_script)
if args.render_pass == "geometry": output_file_ext = "vrimg"
if args.render_pass == "pre": output_file_ext = "jpg"
if args.render_pass == "final": output_file_ext = "vrimg"
output_file_root = "frame"
output_file = output_file_root + "." + output_file_ext
deadline_con = Deadline.DeadlineConnect.DeadlineCon(_system_config.cloud_server_hostname, _system_config.cloud_server_port)
assert deadline_con.Repository.GetDeadlineVersion().startswith("v")
# sympy_utils.build_module_autowrap( expr=dgdynamicsti_dxnext_expr, syms=const_and_xcurrent_and_xnext_and_ucurrent_and_dtcurrent_syms, module_name="quadrotor2d_dgdynamicsti_dxnext", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor2d", build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
# sympy_utils.build_module_autowrap( expr=dgdynamicsti_ducurrent_expr, syms=const_and_xcurrent_and_xnext_and_ucurrent_and_dtcurrent_syms, module_name="quadrotor2d_dgdynamicsti_ducurrent", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor2d", build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
# sympy_utils.build_module_autowrap( expr=dgdynamicsti_ddtcurrent_expr, syms=const_and_xcurrent_and_xnext_and_ucurrent_and_dtcurrent_syms, module_name="quadrotor2d_dgdynamicsti_ddtcurrent", tmp_dir="tmp", out_dir=current_source_file_path+"/data/quadrotor2d", build_vectorized=True, verbose=True, request_delete_tmp_dir=True )
sys_time_end = time.time()
print "flashlight.quadrotor_2d: Finished building sympy modules (%.03f seconds)." % (sys_time_end - sys_time_begin)
if build_sympy_modules_on_import:
build_sympy_modules()
print "flashlight.quadrotor_2d: Loading sympy modules..."
sys_time_begin = time.time()
current_source_file_path = path_utils.get_current_source_file_path()
H_autowrap = sympy_utils.import_anon_func_from_from_module_autowrap( module_name="quadrotor_2d_H", path=current_source_file_path+"/data/quadrotor_2d" )
C_autowrap = sympy_utils.import_anon_func_from_from_module_autowrap( module_name="quadrotor_2d_C", path=current_source_file_path+"/data/quadrotor_2d" )
G_autowrap = sympy_utils.import_anon_func_from_from_module_autowrap( module_name="quadrotor_2d_G", path=current_source_file_path+"/data/quadrotor_2d" )
B_autowrap = sympy_utils.import_anon_func_from_from_module_autowrap( module_name="quadrotor_2d_B", path=current_source_file_path+"/data/quadrotor_2d" )
x_dot_autowrap = sympy_utils.import_anon_func_from_from_module_autowrap( module_name="quadrotor_2d_x_dot", path=current_source_file_path+"/data/quadrotor_2d" )
df_dx_autowrap = sympy_utils.import_anon_func_from_from_module_autowrap( module_name="quadrotor_2d_df_dx", path=current_source_file_path+"/data/quadrotor_2d" )
df_du_autowrap = sympy_utils.import_anon_func_from_from_module_autowrap( module_name="quadrotor_2d_df_du", path=current_source_file_path+"/data/quadrotor_2d" )
# g_dynamics_ti_autowrap = sympy_utils.import_anon_func_from_from_module_autowrap( module_name="quadrotor2d_g_dynamics_ti", path=current_source_file_path+"/data/quadrotor2d" )
# dgdynamicsti_dxcurrent_autowrap = sympy_utils.import_anon_func_from_from_module_autowrap( module_name="quadrotor2d_dgdynamicsti_dxcurrent", path=current_source_file_path+"/data/quadrotor2d" )
# dgdynamicsti_dxnext_autowrap = sympy_utils.import_anon_func_from_from_module_autowrap( module_name="quadrotor2d_dgdynamicsti_dxnext", path=current_source_file_path+"/data/quadrotor2d" )
# dgdynamicsti_ducurrent_autowrap = sympy_utils.import_anon_func_from_from_module_autowrap( module_name="quadrotor2d_dgdynamicsti_ducurrent", path=current_source_file_path+"/data/quadrotor2d" )
# dgdynamicsti_ddtcurrent_autowrap = sympy_utils.import_anon_func_from_from_module_autowrap( module_name="quadrotor2d_dgdynamicsti_ddtcurrent", path=current_source_file_path+"/data/quadrotor2d" )
"VRaySSS2.G",
"VRaySSS2.B",
"VRaySelfIllumination.R",
"VRaySelfIllumination.G",
"VRaySelfIllumination.B",
"VRayCaustics.R",
"VRayCaustics.G",
"VRayCaustics.B",
"VRayAtmosphere.R",
"VRayAtmosphere.G",
"VRayAtmosphere.B",
"VRayBackground.R",
"VRayBackground.G",
"VRayBackground.B" ]
current_source_path = path_utils.get_current_source_file_path(frame=inspect.currentframe())
generate_hdf5_from_exr_bin = os.path.abspath(os.path.join(current_source_path, "..", "..", "cpp", "bin", "generate_hdf5_from_exr"))
input_file = os.path.join(args.tmp_dir, "_tmp_frame.exr")
output_file = os.path.join(args.tmp_dir, "_tmp_frame")
output_channels_whitelist_args = " --o " + " --o ".join(output_channels_whitelist)
cmd = generate_hdf5_from_exr_bin + \
" --input_file " + input_file + \
" --output_file " + output_file + \
output_channels_whitelist_args
print("")
print(cmd)
print("")
retval = os.system(cmd)
assert retval == 0
def process_scene(s, args):
scene_name = s["name"]
detail_dir = os.path.join(dataset_scenes_dir, scene_name, "_detail")
metadata_cameras_csv_file = os.path.join(detail_dir,
"metadata_cameras.csv")
df = pd.read_csv(metadata_cameras_csv_file)
if args.camera_names is not None:
cameras = [
c for c in df.to_records()
if fnmatch.fnmatch(c["camera_name"], args.camera_names)
]
else:
cameras = df.to_records()
for c in cameras:
camera_name = c["camera_name"]
print(
"[HYPERSIM: DATASET_GENERATE_IMAGES_SEMANTIC_SEGMENTATION] For scene "
+ scene_name +
", generating semantic instance segmentation images for camera " +
camera_name + "...")
scene_dir = os.path.abspath(
os.path.join(dataset_scenes_dir, scene_name))
segmentation_type = "semantic_instance"
current_source_file_path = path_utils.get_current_source_file_path(
frame=inspect.currentframe())
cwd = os.getcwd()
os.chdir(current_source_file_path)
cmd = \
_system_config.python_bin + " scene_generate_images_semantic_segmentation.py" + \
" --scene_dir " + scene_dir + \
" --camera_name " + camera_name + \
" --segmentation_type " + segmentation_type
print("")
print(cmd)
print("")
retval = os.system(cmd)
assert retval == 0
os.chdir(cwd)
print(
"[HYPERSIM: DATASET_GENERATE_IMAGES_SEMANTIC_SEGMENTATION] For scene "
+ scene_name +
", generating semantic segmentation images for camera " +
camera_name + "...")
scene_dir = os.path.abspath(
os.path.join(dataset_scenes_dir, scene_name))
segmentation_type = "semantic"
current_source_file_path = path_utils.get_current_source_file_path(
frame=inspect.currentframe())
cwd = os.getcwd()
os.chdir(current_source_file_path)
cmd = \
_system_config.python_bin + " scene_generate_images_semantic_segmentation.py" + \
" --scene_dir " + scene_dir + \
" --camera_name " + camera_name + \
" --segmentation_type " + segmentation_type
print("")
print(cmd)
print("")
retval = os.system(cmd)
assert retval == 0
os.chdir(cwd)
