def __init__(self, config):
WriterInterface.__init__(self, config)
self.rgb_output_key = self.config.get_string("rgb_output_key", "colors")
self._supercategory = self.config.get_string("supercategory", "coco_annotations")
self.segmap_output_key = self.config.get_string("segmap_output_key", "segmap")
self.segcolormap_output_key = self.config.get_string("segcolormap_output_key", "segcolormap")
self.mask_encoding_format = self.config.get_string("mask_encoding_format", "rle")
self._append_to_existing_output = self.config.get_bool("append_to_existing_output", False)
def __init__(self, config):
WriterInterface.__init__(self, config)
# Create CameraWriter to write camera attibutes, use OpenCV coordinates
self._camera_writer = CameraStateWriter(config)
self._camera_writer.destination_frame = ["X", "-Y", "-Z"]
# Parse configuration.
self.dataset = self.config.get_string("dataset", "")
self.append_to_existing_output = self.config.get_bool(
"append_to_existing_output", False)
# Save world to camera transformation
self._save_world2cam = self.config.get_bool("save_world2cam", True)
# Distance in meteres to object after which it is ignored. Mostly due to failed physics.
self._ignore_dist_thres = self.config.get_float(
"ignore_dist_thres", 100.)
# Number of frames saved in each chunk.
self.frames_per_chunk = 1000
# Multiply the output depth image with this factor to get depth in mm.
self.depth_scale = self.config.get_float("depth_scale", 1.0)
# Output translation gt in mm
self._scale = 1000. if self.config.get_bool("m2mm", True) else 1.
# Format of the depth images.
depth_ext = '.png'
# Output paths.
base_path = self._determine_output_dir(False)
self.dataset_dir = os.path.join(base_path, 'bop_data', self.dataset)
self.chunks_dir = os.path.join(self.dataset_dir, 'train_pbr')
self.camera_path = os.path.join(self.dataset_dir, 'camera.json')
self.rgb_tpath = os.path.join(self.chunks_dir, '{chunk_id:06d}', 'rgb',
'{im_id:06d}' + '{im_type}')
self.depth_tpath = os.path.join(self.chunks_dir, '{chunk_id:06d}',
'depth', '{im_id:06d}' + depth_ext)
self.chunk_camera_tpath = os.path.join(self.chunks_dir,
'{chunk_id:06d}',
'scene_camera.json')
self.chunk_gt_tpath = os.path.join(self.chunks_dir, '{chunk_id:06d}',
'scene_gt.json')
# Create the output directory structure.
if not os.path.exists(self.dataset_dir):
os.makedirs(self.dataset_dir)
os.makedirs(self.chunks_dir)
elif not self.append_to_existing_output:
raise Exception("The output folder already exists: {}.".format(
self.dataset_dir))
def __init__(self, config):
WriterInterface.__init__(self, config)
self._avoid_rendering = config.get_bool("avoid_rendering", False)
self.rgb_output_key = self.config.get_string("rgb_output_key", "colors")
self._supercategory = self.config.get_string("supercategory", "coco_annotations")
self.segmap_output_key = self.config.get_string("segmap_output_key", "segmap")
self.segcolormap_output_key = self.config.get_string("segcolormap_output_key", "segcolormap")
self._coco_data_dir = os.path.join(self._determine_output_dir(False), 'coco_data')
if not os.path.exists(self._coco_data_dir):
os.makedirs(self._coco_data_dir)
def __init__(self, config):
WriterInterface.__init__(self, config)
# Parse configuration.
self.dataset = self.config.get_string("dataset")
self.append_to_existing_output = self.config.get_bool("append_to_existing_output", False)
# Distance in meteres to object after which it is ignored. Mostly due to failed physics.
self._ignore_dist_thres = self.config.get_float("ignore_dist_thres", 5.)
# Number of frames saved in each chunk.
self.frames_per_chunk = 1000
# Multiply the output depth image with this factor to get depth in mm.
self.depth_scale = 0.1
# Format of the depth images.
depth_ext = '.png'
# Output paths.
base_path = self._determine_output_dir(False)
self.dataset_dir = os.path.join(base_path, 'bop_data', self.dataset)
self.chunks_dir = os.path.join(self.dataset_dir, 'train_pbr')
self.camera_path = os.path.join(self.dataset_dir, 'camera.json')
self.rgb_tpath = os.path.join(
self.chunks_dir, '{chunk_id:06d}', 'rgb', '{im_id:06d}' + '{im_type}')
self.depth_tpath = os.path.join(
self.chunks_dir, '{chunk_id:06d}', 'depth', '{im_id:06d}' + depth_ext)
self.chunk_camera_tpath = os.path.join(
self.chunks_dir, '{chunk_id:06d}', 'scene_camera.json')
self.chunk_gt_tpath = os.path.join(
self.chunks_dir, '{chunk_id:06d}', 'scene_gt.json')
# Create the output directory structure.
if not os.path.exists(self.dataset_dir):
os.makedirs(self.dataset_dir)
os.makedirs(self.chunks_dir)
elif not self.append_to_existing_output:
raise Exception("The output folder already exists: {}.".format(
self.dataset_dir))
def __init__(self, config):
WriterInterface.__init__(self, config)
# Parse configuration.
self._dataset = self.config.get_string("dataset", "")
self._append_to_existing_output = self.config.get_bool(
"append_to_existing_output", False)
# Save world to camera transformation
self._save_world2cam = self.config.get_bool("save_world2cam", True)
# Distance in meteres to object after which it is ignored. Mostly due to failed physics.
self._ignore_dist_thres = self.config.get_float(
"ignore_dist_thres", 100.)
# Multiply the output depth image with this factor to get depth in mm.
self._depth_scale = self.config.get_float("depth_scale", 1.0)
# Output translation gt in mm
self._mm2m = self.config.get_bool("m2mm", True)
def __init__(self, config):
WriterInterface.__init__(self, config)
self._avoid_rendering = config.get_bool("avoid_rendering", False)
def __init__(self, config):
WriterInterface.__init__(self, config)
self.object_writer = ItemWriter(self._get_attribute)
def __init__(self, config):
WriterInterface.__init__(self, config)
def __init__(self, config):
WriterInterface.__init__(self, config)
self.object_writer = ItemWriter(WriterUtility.get_cam_attribute)
def __init__(self, config):
WriterInterface.__init__(self, config)
self._append_to_existing_output = self.config.get_bool("append_to_existing_output", False)
self._output_dir = self._determine_output_dir(False)
def __init__(self, config):
WriterInterface.__init__(self, config)
self.light_writer = ItemWriter(WriterUtility.get_light_attribute)
def __init__(self, config):
WriterInterface.__init__(self, config)
# Create CameraWriter to write camera attibutes, use OpenCV coordinates
self._camera_writer = CameraStateWriter(config)
self._camera_writer.destination_frame = ["X", "-Y", "-Z"]
# Parse configuration.
self.dataset = self.config.get_string("dataset", "")
self.append_to_existing_output = self.config.get_bool(
"append_to_existing_output", True)
# Save world to camera transformation
self._save_world2cam = self.config.get_bool("save_world2cam", True)
# Distance in meteres to object after which it is ignored. Mostly due to failed physics.
self._ignore_dist_thres = self.config.get_float(
"ignore_dist_thres", 100.)
# Multiply the output depth image with this factor to get depth in mm.
self.depth_scale = self.config.get_float("depth_scale", 1.0)
# Output translation gt in mm
self._scale = 1000. if self.config.get_bool("m2mm", False) else 1.
# Format of the depth images.
depth_ext = '.png'
# Debug mode flag
self._avoid_rendering = config.get_bool("avoid_rendering", False)
# Output paths.
base_path = self._determine_output_dir(False)
self.dataset_dir = os.path.join(base_path, 'data', self.dataset)
self.camera_path = os.path.join(self.dataset_dir, 'camera.json')
self.rgb_tpath = os.path.join(self.dataset_dir, '{chunk_id:06d}',
'rgb', '{im_id:06d}' + '{im_type}')
self.depth_tpath = os.path.join(self.dataset_dir, '{chunk_id:06d}',
'depth', '{im_id:06d}' + depth_ext)
self.chunk_camera_tpath = os.path.join(self.dataset_dir,
'{chunk_id:06d}',
'scene_camera.json')
self.foreground_background_objects_tpath = os.path.join(
self.dataset_dir, '{chunk_id:06d}', 'foreground_background.json')
self.segmentations_tpath = os.path.join(self.dataset_dir,
'{chunk_id:06d}',
'segmentation',
'{im_id:06d}' + '.png')
self.segmentations_labels_tpath = os.path.join(
self.dataset_dir, '{chunk_id:06d}', 'segmentation_labels.csv')
self.correspondances_tpath = os.path.join(
self.dataset_dir, '{chunk_id:06d}', 'correspondance',
'from_{im_id_from:06d}' + '_to_{im_id_to:06d}' + '.png')
self.semantic_map_tpath = os.path.join(
self.dataset_dir, '{chunk_id:06d}', 'correspondance_semantic_map',
'from_{im_id_from:06d}' + '_to_{im_id_to:06d}' + '.png')
# Create the output directory structure.
if not os.path.exists(self.dataset_dir):
os.makedirs(self.dataset_dir)
elif not self.append_to_existing_output:
raise Exception("The output folder already exists: {}.".format(
self.dataset_dir))
