def preprocess(list_of_demonstrations): camera = constants.CAMERA for demonstration in list_of_demonstrations: PATH_TO_ANNOTATION = constants.PATH_TO_DATA + constants.ANNOTATIONS_FOLDER + demonstration + "_" + camera + ".p" start, end = parser.get_start_end_annotations(PATH_TO_ANNOTATION) OLD_FRM_PATH = constants.PATH_TO_DATA + "frames_unprocessed/" + demonstration + "_" + camera + "/" NEW_FRM_PATH = constants.PATH_TO_DATA + constants.NEW_FRAMES_FOLDER + demonstration + "_" + camera + "/" command = "mkdir " + NEW_FRM_PATH print command os.mkdir(NEW_FRM_PATH) for frm in range(start, end + 1): OLD_FRM_NAME = utils.get_full_image_path(OLD_FRM_PATH, frm) NEW_FRM_NAME = utils.get_full_image_path(NEW_FRM_PATH, frm) NEW_FRM_NAME_UNSCALED = utils.get_full_image_path(NEW_FRM_PATH + "unscaled_", frm) command = "ffmpeg -i " + OLD_FRM_NAME + " -filter:v " + constants.CROP_PARAMS[camera] + " " + NEW_FRM_NAME_UNSCALED print command os.system(command) command = "ffmpeg -i " + NEW_FRM_NAME_UNSCALED + " -vf scale=640:480 " + NEW_FRM_NAME print command os.system(command) command = "rm " + NEW_FRM_NAME_UNSCALED print command os.system(command)
def preprocess(list_of_demonstrations):
camera = constants.CAMERA
for demonstration in list_of_demonstrations:
PATH_TO_ANNOTATION = constants.PATH_TO_DATA + constants.ANNOTATIONS_FOLDER + demonstration + "_" + camera + ".p"
start, end = utils.get_start_end_annotations(PATH_TO_ANNOTATION)
OLD_FRM_PATH = constants.PATH_TO_DATA + "frames_unprocessed/" + demonstration + "_" + camera + "/"
NEW_FRM_PATH = constants.PATH_TO_DATA + constants.NEW_FRAMES_FOLDER + demonstration + "_" + camera + "/"
command = "mkdir " + NEW_FRM_PATH
print command
os.mkdir(NEW_FRM_PATH)
for frm in range(start, end + 1):
OLD_FRM_NAME = utils.get_full_image_path(OLD_FRM_PATH, frm)
NEW_FRM_NAME = utils.get_full_image_path(NEW_FRM_PATH, frm)
NEW_FRM_NAME_UNSCALED = utils.get_full_image_path(
NEW_FRM_PATH + "unscaled_", frm)
command = "ffmpeg -i " + OLD_FRM_NAME + " -filter:v " + constants.CROP_PARAMS[
camera] + " " + NEW_FRM_NAME_UNSCALED
print command
os.system(command)
command = "ffmpeg -i " + NEW_FRM_NAME_UNSCALED + " -vf scale=640:480 " + NEW_FRM_NAME
print command
os.system(command)
command = "rm " + NEW_FRM_NAME_UNSCALED
print command
os.system(command)
def process_individual_frames(self, PATH_TO_DATA, annotations, list_of_layers, sampling_rate, LCD):
i = 0
label_map = {}
frm_map = {}
X = {}
map_index_data = pickle.load(open(annotations, "rb"))
for index in map_index_data:
segments = map_index_data[index]
print "Processing images for label " + str(index)
for seg in segments:
print str(seg)
frm_num = seg[0]
while frm_num <= seg[1]:
print frm_num
frm_map[i] = frm_num
label_map[i] = index
im = caffe.io.load_image(utils.get_full_image_path(PATH_TO_DATA, frm_num))
self.net.blobs['data'].data[...] = self.transformer.preprocess('data', im)
out = self.net.forward()
for layer in list_of_layers:
if layer == 'input':
data = cv2.imread(full_image_path)
else:
data = self.net.blobs[layer].data[0]
data = utils.flatten(data)
utils.dict_insert(layer, data, X)
frm_num += sampling_rate
i += 1
return X, label_map, frm_map
def process_individual_frames(self, PATH_TO_DATA, annotations,
list_of_layers, sampling_rate):
X = {}
map_index_data = pickle.load(open(annotations, "rb"))
segments = utils.get_chronological_sequences(map_index_data)
for seg in segments:
print str(seg)
frm_num = seg[0]
while frm_num <= seg[1]:
print frm_num, annotations
im = caffe.io.load_image(
utils.get_full_image_path(PATH_TO_DATA, frm_num))
self.net.blobs['data'].data[...] = self.transformer.preprocess(
'data', im)
out = self.net.forward()
for layer in list_of_layers:
if layer == 'input':
data = cv2.imread(full_image_path)
else:
data = self.net.blobs[layer].data[0]
data = utils.flatten(data)
utils.dict_insert(layer, data, X)
frm_num += sampling_rate
return X
def featurize_sift(list_of_demonstrations, kinematics, sr):
"""
Extracts SIFT features for all frames in list_of_demonstrations.
"""
data_X_xy = {}
data_X_x = {}
for demonstration in list_of_demonstrations:
print "SIFT for ", demonstration
PATH_TO_ANNOTATION = constants.PATH_TO_DATA + constants.ANNOTATIONS_FOLDER + demonstration + "_" + str(
constants.CAMERA) + ".p"
Z = []
start, end = utils.get_start_end_annotations(PATH_TO_ANNOTATION)
for frm in range(start, end + 1):
PATH_TO_IMAGE = constants.PATH_TO_DATA + constants.NEW_FRAMES_FOLDER + demonstration + "_" + constants.CAMERA + "/"
Z.append(
sift.run_surf_frame(
utils.get_full_image_path(PATH_TO_IMAGE, frm)))
Z = np.array(Z)
Z = Z.reshape(Z.shape[0], 1)
W = kinematics[demonstration]
W_onlyx = utils.only_X(W)
X = np.concatenate((W, Z), axis=1)
X_onlyx = np.concatenate((W_onlyx, Z), axis=1)
data_X_xy[demonstration] = X
data_X_x[demonstration] = X_onlyx
pickle.dump(data_X_xy, open(PATH_TO_FEATURES + "SIFT_xy.p", "wb"))
pickle.dump(data_X_x, open(PATH_TO_FEATURES + "SIFT_x.p", "wb"))
def featurize_sift(list_of_demonstrations, kinematics, sr):
"""
Extracts SIFT features for all frames in list_of_demonstrations.
"""
data_X_xy = {}
data_X_x = {}
for demonstration in list_of_demonstrations:
print "SIFT for ", demonstration
PATH_TO_ANNOTATION = constants.PATH_TO_DATA + constants.ANNOTATIONS_FOLDER + demonstration + "_" + str(constants.CAMERA) + ".p"
Z = []
start, end = utils.get_start_end_annotations(PATH_TO_ANNOTATION)
for frm in range(start, end + 1):
PATH_TO_IMAGE = constants.PATH_TO_DATA + constants.NEW_FRAMES_FOLDER + demonstration + "_" + constants.CAMERA + "/"
Z.append(sift.run_surf_frame(utils.get_full_image_path(PATH_TO_IMAGE, frm)))
Z = np.array(Z)
Z = Z.reshape(Z.shape[0],1)
W = kinematics[demonstration]
W_onlyx = utils.only_X(W)
X = np.concatenate((W, Z), axis = 1)
X_onlyx = np.concatenate((W_onlyx, Z), axis = 1)
data_X_xy[demonstration] = X
data_X_x[demonstration] = X_onlyx
pickle.dump(data_X_xy, open(PATH_TO_FEATURES + "SIFT_xy.p", "wb"))
pickle.dump(data_X_x, open(PATH_TO_FEATURES + "SIFT_x.p", "wb"))
def process_batch(self, PATH_TO_DATA, annotations, list_of_layers, sampling_rate, batch_size, LCD):
i = 0
label_map = {}
frm_map = {}
X = {}
map_index_data = pickle.load(open(annotations, "rb"))
for index in map_index_data:
segments = map_index_data[index]
# print "Processing images for label " + str(index)
for seg in segments:
# print str(seg)
frm_num = seg[0]
b = 1 #Running count of num frames in batch
batch_data = {}
while frm_num <= (seg[1] + batch_size):
# Initialize Batch
if b == 1:
label_map[i] = index
frm_map[i] = frm_num
# Process frames and build up features in batches
im = caffe.io.load_image(utils.get_full_image_path(PATH_TO_DATA, frm_num))
self.net.blobs['data'].data[...] = self.transformer.preprocess('data', im)
out = self.net.forward()
for layer in list_of_layers:
if LCD:
if layer == 'input':
print "ERROR: Cannot do LCD on input layer"
sys.exit()
data = self.net.blobs[layer].data[0]
data = lcd.LCD(data)
utils.dict_insert(layer, data, batch_data, axis = 0)
else:
if layer == 'input':
data = cv2.imread(full_image_path)
else:
data = self.net.blobs[layer].data[0]
data = utils.flatten(data)
utils.dict_insert(layer, data, batch_data, axis = 1)
if b == batch_size:
print("Batch %3d" % i)
b = 0
i += 1
# Concatenate with main data dictionary
for layer in list_of_layers:
data = encoding.encode_VLAD(batch_data[layer] , 5)
utils.dict_insert(layer, data, X)
batch_data = {}
b += 1
frm_num += sampling_rate
return X, label_map, frm_map
def run_sift_images():
list_of_demonstrations = ["Suturing_E001",]
for demonstration in list_of_demonstrations:
print "SIFT for ", demonstration
PATH_TO_ANNOTATION = constants.PATH_TO_DATA + constants.ANNOTATIONS_FOLDER + demonstration + "_" + str(constants.CAMERA) + ".p"
start, end = utils.get_start_end_annotations(PATH_TO_ANNOTATION)
for frm in range(start, end + 1):
if ((frm % 3) == 0):
PATH_TO_IMAGE = utils.get_full_image_path(constants.PATH_TO_DATA + constants.NEW_FRAMES_FOLDER + demonstration + "_" + constants.CAMERA + "/", frm)
print PATH_TO_IMAGE
img = cv2.imread(PATH_TO_IMAGE)
sift = cv2.SIFT(nfeatures = 50)
kp, des = sift.detectAndCompute(img, None)
img = cv2.drawKeypoints(img, kp)
cv2.imshow('sift',img)
cv2.imwrite('../sift_images/' + str(frm) +".jpg",img)
def plot_interactive():
results = pickle.load(open("pickle_files/Suturing_E001_changepoints_Z2.p", "rb"))
jackknife_index = 3
demonstration = "Suturing_E001"
changepoints = results[demonstration]['changepoints'][jackknife_index]
labels = results[demonstration]['plot_labels_automatic']
PATH_TO_ANNOTATION = constants.PATH_TO_DATA + constants.ANNOTATIONS_FOLDER + demonstration + "_" + str(constants.CAMERA) + ".p"
start_d, end_d = utils.get_start_end_annotations(PATH_TO_ANNOTATION)
changepoints_processed = []
for elem in changepoints:
changepoints_processed.append((elem[0] - start_d)/12)
labels_processed = []
for elem in labels:
labels_processed.append((elem[0] - start_d)/12)
total_frames = [int(elem[0]) for elem in changepoints]
total_frames += [int(elem[0]) for elem in labels]
total_frames.sort()
for end_frame in total_frames:
# Frame
ax1 = plt.subplot(121)
PATH_TO_FIGURE = constants.PATH_TO_DATA + constants.NEW_FRAMES_FOLDER + demonstration + "_" + str(constants.CAMERA) + "/"
im = mpimg.imread(utils.get_full_image_path(PATH_TO_FIGURE, end_frame))
ax1.set_title(str(end_frame))
ax1.xaxis.set_visible(False)
ax1.yaxis.set_visible(False)
ax1.imshow(im)
# AlexNet
ax2 = plt.subplot(122)
data = pickle.load(open("pickle_files/Suturing_E001_AlexNet_dimred.p", "rb"))
ax2.set_title('AlexNet')
ax2.set_ylim([-0.1, 1.1])
ax2.set_xlim([-0.1, 1.1])
ax2.xaxis.set_visible(False)
ax2.yaxis.set_visible(False)
plot_AlexNet(data, demonstration, changepoints = changepoints_processed, plotter = ax2, labels = labels_processed, plot_tsne = True, end_frame = (end_frame - start_d)/12, interactive_mode = True)
def process_individual_frames_2(self, PATH_TO_DATA, annotations, list_of_layers, sampling_rate):
X = {}
map_index_data = pickle.load(open(annotations, "rb"))
segments = utils.get_chronological_sequences(map_index_data)
for seg in segments:
print str(seg)
frm_num = seg[0]
while frm_num <= seg[1]:
print frm_num, annotations
im = caffe.io.load_image(utils.get_full_image_path(PATH_TO_DATA, frm_num))
self.net.blobs['data'].data[...] = self.transformer.preprocess('data', im)
out = self.net.forward()
for layer in list_of_layers:
if layer == 'input':
data = cv2.imread(full_image_path)
else:
data = self.net.blobs[layer].data[0]
data = utils.flatten(data)
utils.dict_insert(layer, data, X)
frm_num += sampling_rate
return X
def generate_sift_features():
list_of_demonstrations = ["plane_9",]
for demonstration in list_of_demonstrations:
print "SIFT for ", demonstration
PATH_TO_ANNOTATION = constants.PATH_TO_DATA + constants.ANNOTATIONS_FOLDER + demonstration + "_" + str(constants.CAMERA) + ".p"
X1 = None
X2 = None
n_features = 20
sift = cv2.SIFT(nfeatures = n_features)
start, end = utils.get_start_end_annotations(PATH_TO_ANNOTATION)
for frm in range(start, end + 1):
# if ((frm % 3) == 0):
PATH_TO_IMAGE = utils.get_full_image_path(constants.PATH_TO_DATA + constants.NEW_FRAMES_FOLDER + demonstration + "_" + constants.CAMERA + "/", frm)
print PATH_TO_IMAGE
img = cv2.imread(PATH_TO_IMAGE)
kp, des = sift.detectAndCompute(img, None)
img = cv2.drawKeypoints(img, kp)
cv2.imshow('sift',img)
cv2.imwrite('../sift_images/' + demonstration + "/" + str(frm) +".jpg",img)
vector1 = []
vector2 = []
kp.sort(key = lambda x: x.response, reverse = True)
for kp_elem in kp:
vector1 += [kp_elem.response, kp_elem.pt[0], kp_elem.pt[1], kp_elem.size, kp_elem.angle]
vector2 += [kp_elem.pt[0], kp_elem.pt[1]]
try:
X1 = utils.safe_concatenate(X1, utils.reshape(np.array(vector1[:n_features * 5])))
X2 = utils.safe_concatenate(X2, utils.reshape(np.array(vector2[:n_features * 2])))
except ValueError as e:
IPython.embed()
pickle.dump(X1, open("sift_features/SIFT_" + demonstration + "_1.p", "wb"))
pickle.dump(X2, open("sift_features/SIFT_" + demonstration + "_2.p", "wb"))
def generate_raw_image_pixels(list_of_demonstrations):
"""
PCA and t-SNE on raw image pixels
"""
# Design matrix of raw image pixels
X = None
for demonstration in list_of_demonstrations:
print "Raw image pixels ", demonstration
PATH_TO_ANNOTATION = constants.PATH_TO_DATA + constants.ANNOTATIONS_FOLDER + demonstration + "_" + str(constants.CAMERA) + ".p"
start, end = utils.get_start_end_annotations(PATH_TO_ANNOTATION)
for frm in range(start, end + 1):
if ((frm % 6) == 0):
PATH_TO_IMAGE = utils.get_full_image_path(constants.PATH_TO_DATA + constants.NEW_FRAMES_FOLDER + demonstration + "_" + constants.CAMERA + "/", frm)
print demonstration, str(frm)
img = utils.reshape(cv2.imread(PATH_TO_IMAGE).flatten())
X = utils.safe_concatenate(X, img)
X_pca = utils.pca(X, PC = 2)
X_tsne = utils.tsne(X)
data_dimred = [X_pca, X_tsne]
pickle.dump(X_tsne, open("raw_pixel_" + demonstration + "_dimred.p", "wb"))
