def perturb_writer(ID, idx, imgOrig, imgPatchOrig, imgPatchPert, HAB, pOrig,
tfRecFolder):
filename = str(ID) + "_" + str(idx)
fileID = [ID, idx]
tfrecord_io.tfrecord_writer(imgOrig, imgPatchOrig, imgPatchPert, pOrig,
HAB, tfRecFolder, filename, fileID)
return
def odometery_writer(ID, pclA, pclB, imgDepthA, imgDepthB, tMatTarget,
tfRecFolder):
'''
ID: python list with size 2
pclA, pclB: numpy matrix of size nx4, mx4
imgDepthA, imgDepthB: numpy matrix of size 128x512
tmatTarget: numpy matrix of size 4x4
tfRecFolder: folder name
'''
filename = str(ID[0]) + "_" + str(ID[1]) + "_" + str(ID[2])
tfrecord_io.tfrecord_writer(ID, pclA, pclB, imgDepthA, imgDepthB,
tMatTarget, tfRecFolder, filename)
return
def perturb_writer(ID, idx, imgOrig, imgPatchOrig, imgPatchPert, HAB, pOrig,
tfRecFolder):
##### original patch
#filename = filenameWrite.replace(".jpg", "_"+ str(idx) +"_orig.jpg")
#cv2.imwrite(patchFolder+filename, imgPatchOrig)
##### perturbed patch
#filename = filenameWrite.replace(".jpg", "_"+ str(idx) +"_pert.jpg")
#cv2.imwrite(patchFolder+filename, imgPatchPert)
##### HAB
#filename = filenameWrite.replace(".jpg", "_"+ str(idx) +"_HAB.csv")
#with open(HABFolder+filename, 'w', newline='') as f:
# writer = csv.writer(f)
# if (HAB.ndim > 1):
# writer.writerows(HAB)
# else:
# writer.writerow(HAB)
##### Original square
#filename = filenameWrite.replace(".jpg", "_"+ str(idx) +".csv")
#with open(squareFolder+filename, 'w', newline='') as f:
# writer = csv.writer(f)
# if (pOrig.ndim > 1):
# writer.writerows(pOrig)
# else:
# writer.writerow(pOrig)
# Tensorflow record
filename = str(ID) + "_" + str(idx)
fileID = [ID, idx]
tfrecord_io.tfrecord_writer(imgOrig, imgPatchOrig, imgPatchPert, pOrig,
HAB, tfRecFolder, filename, fileID)
#imgOp = image_process_subMean_divStd(imgPatchOrig)
#imgPp = image_process_subMean_divStd(imgPatchPert)
#tfrecord_writer(imgOp, imgPp, HAB, pOrig, tfRecFolder+filename)
# Tensorflow record in range -1 and 1
#filename = filenameWrite.replace(".jpg", "_"+ str(idx))
#imgOp = image_process_subMean_divStd_n1p1(imgPatchOrig)
#imgPp = image_process_subMean_divStd_n1p1(imgPatchPert)
#tfrecord_writer(imgOp, imgPp, HAB, pOrig, tfRecFolderN1P1+filename)
return