def main():
"""Main Function"""
parser = argparse.ArgumentParser()
parser.add_argument("-i",
"--image_dataset_file",
required=True,
type=str,
help="Path to image dataset file to split")
parser.add_argument("-c",
"--category",
required=True,
type=str,
help="category to separate out")
parser.add_argument("-s",
"--score_thresh",
default=0.0,
type=float,
help="minimum score")
args = parser.parse_args()
assert osp.isfile(args.image_dataset_file
), '{} either do not exist or not a file'.format(
args.image_dataset_file)
print('Loading image dataset from {}'.format(args.image_dataset_file))
image_datset = ImageDataset.from_json(args.image_dataset_file)
print(image_datset)
num_of_objects = sum([
len(img_info['object_infos'])
for img_info in image_datset.image_infos()
])
print("total number of objects = {}".format(num_of_objects))
new_image_infos = []
print('selecting object_infos with category {}'.format(args.category))
for im_info in tqdm(image_datset.image_infos()):
new_im_info = OrderedDict()
for im_info_field in ['image_file', 'segm_file']:
if im_info_field in im_info:
new_im_info[im_info_field] = im_info[im_info_field]
for im_info_field in ['image_size', 'image_intrinsic']:
if im_info_field in im_info:
new_im_info[im_info_field] = NoIndent(im_info[im_info_field])
W = im_info['image_size'][0]
H = im_info['image_size'][1]
new_obj_infos = []
for obj_id, obj_info in enumerate(im_info['object_infos']):
if obj_info['category'] != args.category:
continue
if obj_info['score'] < args.score_thresh:
continue
new_obj_info = OrderedDict()
if 'id' not in obj_info:
obj_info['id'] = obj_id + 1
vbbx = np.array(obj_info['bbx_visible'])
assert_bbx(vbbx)
vbbx = clip_bbx_by_image_size(vbbx, W, H)
assert_bbx(vbbx)
new_obj_info['bbx_visible'] = NoIndent(vbbx.tolist())
for obj_info_field in ['id', 'category']:
if obj_info_field in obj_info:
new_obj_info[obj_info_field] = obj_info[obj_info_field]
for obj_info_field in [
'viewpoint', 'bbx_amodal', 'center_proj', 'dimension'
]:
if obj_info_field in obj_info:
new_obj_info[obj_info_field] = NoIndent(
obj_info[obj_info_field])
for obj_info_field in [
'center_dist', 'occlusion', 'truncation', 'shape_file',
'score'
]:
if obj_info_field in obj_info:
new_obj_info[obj_info_field] = obj_info[obj_info_field]
new_obj_infos.append(new_obj_info)
if new_obj_infos:
new_im_info['object_infos'] = new_obj_infos
new_image_infos.append(new_im_info)
new_dataset = ImageDataset(
name="{}_{}".format(image_datset.name(), args.category))
new_dataset.set_image_infos(new_image_infos)
new_dataset.set_rootdir(image_datset.rootdir())
num_of_objects = sum([
len(img_info['object_infos'])
for img_info in new_dataset.image_infos()
])
metainfo = OrderedDict()
metainfo['total_num_of_objects'] = num_of_objects
metainfo['categories'] = NoIndent([args.category])
metainfo['score_thresh'] = args.score_thresh
new_dataset.set_metainfo(metainfo)
print(new_dataset)
print("new number of objects = {}".format(num_of_objects))
new_dataset.write_data_to_json(new_dataset.name() + ".json")
def main():
"""main function"""
root_dir_default = osp.join(_init_paths.root_dir, 'data', 'kitti', 'KITTI-Object')
splits_file_default = osp.join(_init_paths.root_dir, 'data', 'kitti', 'splits', 'trainval.txt')
all_categories = ['Car', 'Van', 'Truck', 'Pedestrian', 'Person_sitting', 'Cyclist', 'Tram']
parser = argparse.ArgumentParser()
parser.add_argument("-r", "--root_dir", default=root_dir_default, help="Path to KITTI Object directory")
parser.add_argument("-s", "--split_file", default=splits_file_default, help="Path to split file")
parser.add_argument("-c", "--categories", type=str, nargs='+', default=['Car'], choices=all_categories, help="Object type (category)")
args = parser.parse_args()
print "------------- Config ------------------"
for arg in vars(args):
print "{} \t= {}".format(arg, getattr(args, arg))
assert osp.exists(args.root_dir), 'KITTI Object dir "{}" does not exist'.format(args.root_dir)
assert osp.exists(args.split_file), 'Path to split file does not exist: {}'.format(args.split_file)
image_names = [x.rstrip() for x in open(args.split_file)]
num_of_images = len(image_names)
print 'Using Split {} with {} images'.format(osp.basename(args.split_file), num_of_images)
root_dir = osp.join(args.root_dir, 'training')
label_dir = osp.join(root_dir, 'label_2_updated')
image_dir = osp.join(root_dir, 'image_2')
calib_dir = osp.join(root_dir, 'calib')
assert osp.exists(root_dir)
assert osp.exists(label_dir)
assert osp.exists(image_dir)
assert osp.exists(calib_dir)
dataset_name = 'kitti_' + osp.splitext(osp.basename(args.split_file))[0]
dataset = ImageDataset(dataset_name)
dataset.set_rootdir(root_dir)
# Using a slight harder settings thank standard kitti hardness
min_height = 20 # minimum height for evaluated groundtruth/detections
max_occlusion = 2 # maximum occlusion level of the groundtruth used for evaluation
max_truncation = 0.7 # maximum truncation level of the groundtruth used for evaluation
total_num_of_objects = 0
print 'Creating ImageDataset. May take long time'
for image_name in tqdm(image_names):
image_file_path = osp.join(image_dir, image_name + '.png')
label_file_path = osp.join(label_dir, image_name + '.txt')
calib_file_path = osp.join(calib_dir, image_name + '.txt')
assert osp.exists(image_file_path)
assert osp.exists(label_file_path)
assert osp.exists(calib_file_path)
objects = read_kitti_object_labels(label_file_path)
# filter the objects based on kitti hardness criteria
filtered_objects = {}
for obj_id, obj in enumerate(objects):
if obj['type'] not in args.categories:
continue
bbx = np.asarray(obj['bbox'])
too_hard = False
if (bbx[3] - bbx[1]) < min_height:
too_hard = True
if obj['occlusion'] > max_occlusion:
too_hard = True
if obj['truncation'] > max_truncation:
too_hard = True
if not too_hard:
filtered_objects[obj_id] = obj
if not filtered_objects:
continue
total_num_of_objects += len(filtered_objects)
image = cv2.imread(image_file_path)
W = image.shape[1]
H = image.shape[0]
calib_data = read_kitti_calib_file(calib_file_path)
P0 = calib_data['P0'].reshape((3, 4))
P2 = calib_data['P2'].reshape((3, 4))
K = P0[:3, :3]
assert np.all(P2[:3, :3] == K)
cam2_center = -np.linalg.inv(K).dot(P2[:, 3])
velo_T_cam0 = get_kitti_cam0_to_velo(calib_data)
velo_T_cam2 = velo_T_cam0 * Pose(t=cam2_center)
cam2_T_velo = get_kitti_velo_to_cam(calib_data, cam2_center)
assert np.allclose(velo_T_cam2.inverse().matrix(), cam2_T_velo.matrix())
annotation = OrderedDict()
annotation['image_file'] = osp.relpath(image_file_path, root_dir)
annotation['image_size'] = NoIndent([W, H])
annotation['image_intrinsic'] = NoIndent(K.astype(np.float).tolist())
obj_infos = []
for obj_id in sorted(filtered_objects):
obj = filtered_objects[obj_id]
obj_pose_cam2 = get_kitti_object_pose(obj, velo_T_cam0, cam2_center)
obj_pose_cam0 = get_kitti_object_pose(obj, velo_T_cam0, np.zeros(3))
assert np.allclose(obj_pose_cam0.t - obj_pose_cam2.t, cam2_center)
bbx_visible = np.array(obj['bbox'])
bbx_amodal = get_kitti_amodal_bbx(obj, K, obj_pose_cam2)
obj_origin_proj = project_point(K, obj_pose_cam2.t)
distance = np.linalg.norm(obj_pose_cam2.t)
delta_rot = rotation_from_two_vectors(obj_pose_cam2.t, np.array([0., 0., 1.]))
obj_rel_rot = np.matmul(delta_rot, obj_pose_cam2.R)
assert np.allclose(delta_rot.dot(obj_pose_cam2.t), np.array([0., 0., distance]))
viewpoint = viewpoint_from_rotation(obj_rel_rot)
R_vp = rotation_from_viewpoint(viewpoint)
assert np.allclose(R_vp, obj_rel_rot, rtol=1e-03), "R_vp = \n{}\nobj_rel_rot = \n{}\n".format(R_vp, obj_rel_rot)
assert np.allclose(np.matmul(delta_rot.T, R_vp), obj_pose_cam2.R, rtol=1e-04)
pred_alpha = get_kitti_alpha_from_object_pose(obj_pose_cam2, velo_T_cam2)
alpha_diff = wrap_to_pi(pred_alpha - obj['alpha'])
assert np.abs(alpha_diff) < 0.011, "{} vs {}. alpha_diff={}".format(pred_alpha, obj['alpha'], alpha_diff)
obj_info = OrderedDict()
obj_info['id'] = obj_id
obj_info['category'] = obj['type'].lower()
obj_info['dimension'] = NoIndent(obj['dimension'][::-1]) # [length, width, height]
obj_info['bbx_visible'] = NoIndent(bbx_visible.tolist())
obj_info['bbx_amodal'] = NoIndent(np.around(bbx_amodal, decimals=6).tolist())
obj_info['viewpoint'] = NoIndent(np.around(viewpoint, decimals=6).tolist())
obj_info['center_proj'] = NoIndent(np.around(obj_origin_proj, decimals=6).tolist())
obj_info['center_dist'] = round(float(distance), 6)
obj_infos.append(obj_info)
annotation['object_infos'] = obj_infos
dataset.add_image_info(annotation)
print 'Finished creating dataset with {} images and {} objects.'.format(dataset.num_of_images(), total_num_of_objects)
metainfo = OrderedDict()
metainfo['total_num_of_objects'] = total_num_of_objects
metainfo['categories'] = NoIndent([x.lower() for x in args.categories])
metainfo['min_height'] = min_height
metainfo['max_occlusion'] = max_occlusion
metainfo['max_truncation'] = max_truncation
dataset.set_metainfo(metainfo)
out_json_filename = dataset_name + '.json'
print 'Saving annotations to {}'.format(out_json_filename)
dataset.write_data_to_json(out_json_filename)
def main():
"""main function"""
root_dir_default = osp.join(_init_paths.root_dir, 'data', 'pascal3D',
'Pascal3D-Dataset')
split_choices = ['train', 'val', 'trainval', 'test']
sub_dataset_choices = ['imagenet', 'pascal']
category_choices = ['car', 'motorbike', 'bicycle', 'bus']
parser = argparse.ArgumentParser()
parser.add_argument("-r",
"--root_dir",
default=root_dir_default,
help="Path to Pascal3d Object directory")
parser.add_argument("-s",
"--split",
default='trainval',
choices=split_choices,
help="Split type")
parser.add_argument("-d",
"--sub_dataset",
default='imagenet',
choices=sub_dataset_choices,
help="Sub dataset type")
parser.add_argument("-c",
"--category",
type=str,
default='car',
choices=category_choices,
help="Object type (category)")
parser.add_argument("-n",
"--dataset_name",
type=str,
help="Optional output dataset name")
parser.add_argument('--no-truncated',
dest='keep_truncated',
action='store_false',
help="use this to remove truncated objects")
parser.set_defaults(keep_truncated=True)
parser.add_argument('--no-occluded',
dest='keep_occluded',
action='store_false',
help="use this to remove occluded objects")
parser.set_defaults(keep_occluded=True)
parser.add_argument('--no-difficult',
dest='keep_difficult',
action='store_false',
help="use this to remove difficult objects")
parser.set_defaults(keep_difficult=True)
args = parser.parse_args()
assert osp.exists(args.root_dir), "Directory '{}' do not exist".format(
args.root_dir)
anno_dir = osp.join(args.root_dir, 'AnnotationsFixed',
'{}_{}'.format(args.category, args.sub_dataset))
image_dir = osp.join(args.root_dir, 'Images',
'{}_{}'.format(args.category, args.sub_dataset))
assert osp.exists(anno_dir), "Directory '{}' do not exist".format(anno_dir)
assert osp.exists(image_dir), "Directory '{}' do not exist".format(
image_dir)
split_file = osp.join(_init_paths.root_dir, 'data', 'pascal3D', 'splits',
'{}_{}.txt'.format(args.sub_dataset, args.split))
assert osp.exists(split_file), "Split file '{}' do not exist".format(
split_file)
print "split = {}".format(args.split)
print "sub_dataset = {}".format(args.sub_dataset)
print "category = {}".format(args.category)
print "anno_dir = {}".format(anno_dir)
print "image_dir = {}".format(image_dir)
print "keep_truncated = {}".format(args.keep_truncated)
print "keep_occluded = {}".format(args.keep_occluded)
print "keep_difficult = {}".format(args.keep_difficult)
image_names = [x.rstrip() for x in open(split_file)]
num_of_images = len(image_names)
print 'Using split {} with {} images'.format(args.split, num_of_images)
# imagenet uses JPEG while pascal images are in jpg format
image_ext = '.JPEG' if args.sub_dataset == 'imagenet' else '.jpg'
if args.dataset_name:
dataset_name = args.dataset_name
else:
dataset_name = 'pascal3d_{}_{}_{}'.format(args.sub_dataset, args.split,
args.category)
dataset = ImageDataset(dataset_name)
dataset.set_rootdir(args.root_dir)
print "Importing dataset ..."
for image_name in tqdm(image_names):
anno_file = osp.join(anno_dir, image_name + '.mat')
image_file = osp.join(image_dir, image_name + image_ext)
if not osp.exists(anno_file):
continue
assert osp.exists(image_file), "Image file '{}' do not exist".format(
image_file)
image_info = OrderedDict()
image_info['image_file'] = osp.relpath(image_file, args.root_dir)
image = cv2.imread(image_file)
assert image.size, "image loaded from '{}' is empty".format(image_file)
W = image.shape[1]
H = image.shape[0]
image_info['image_size'] = NoIndent([W, H])
record = sio.loadmat(anno_file)['record'].flatten()[0]
assert record['filename'][
0] == image_name + image_ext, "{} vs {}".format(
record['filename'][0], image_name + image_ext)
record_objects = record['objects'].flatten()
obj_infos = []
for obj_id in xrange(len(record_objects)):
rec_obj = record_objects[obj_id]
category = rec_obj['class'].flatten()[0]
if category != args.category:
continue
occluded = bool(rec_obj['occluded'].flatten()[0])
truncated = bool(rec_obj['truncated'].flatten()[0])
difficult = bool(rec_obj['difficult'].flatten()[0])
if not args.keep_truncated and truncated:
continue
if not args.keep_occluded and occluded:
continue
if not args.keep_difficult and difficult:
continue
rec_vp = rec_obj['viewpoint'].flatten()[0]
distance = rec_vp['distance'].flatten()[0]
if distance == 0.0:
continue
azimuth = math.radians(rec_vp['azimuth'][0, 0])
elevation = math.radians(rec_vp['elevation'][0, 0])
tilt = math.radians(rec_vp['theta'][0, 0])
if azimuth == 0.0 and elevation == 0.0 and tilt == 0.0:
continue
viewpoint = np.around(np.array([azimuth, elevation, tilt],
dtype=np.float),
decimals=6)
viewpoint = wrap_to_pi_array(viewpoint)
assert_viewpoint(viewpoint)
assert rec_vp['focal'][
0,
0] == 1, "rec_vp['focal'] is expected to be 1 but got {}".format(
rec_vp['focal'][0, 0])
center_proj = np.array([rec_vp['px'][0, 0], rec_vp['py'][0, 0]],
dtype=np.float)
assert_coord2D(center_proj)
vbbx = rec_obj['bbox'].flatten()
assert_bbx(vbbx)
vbbx = clip_bbx_by_image_size(vbbx, W, H)
if np.any(vbbx[:2] >= vbbx[2:]):
continue
obj_info = OrderedDict()
obj_info['id'] = obj_id
obj_info['category'] = category
# since we dont have precise measure, use an approximate measure
obj_info['occlusion'] = 0.5 if occluded else 0.0
obj_info['truncation'] = 0.5 if truncated else 0.0
obj_info['difficulty'] = 0.5 if difficult else 0.0
vbbx = np.around(vbbx, decimals=6)
assert_bbx(vbbx)
obj_info['bbx_visible'] = NoIndent(vbbx.tolist())
if 'abbx' in rec_obj.dtype.names:
abbx = rec_obj['abbx'].flatten()
if abbx.shape == (4, ):
assert_bbx(abbx)
obj_info['bbx_amodal'] = NoIndent(
np.around(abbx, decimals=6).tolist())
obj_info['viewpoint'] = NoIndent(viewpoint.tolist())
obj_info['center_proj'] = NoIndent(
np.around(center_proj, decimals=6).tolist())
obj_infos.append(obj_info)
# only add if we have atleast 1 object
if obj_infos:
image_info['object_infos'] = obj_infos
dataset.add_image_info(image_info)
total_num_of_objects = sum(
[len(img_info['object_infos']) for img_info in dataset.image_infos()])
print 'Finished creating dataset with {} images and {} objects.'.format(
dataset.num_of_images(), total_num_of_objects)
num_of_objects_with_abbx = sum([
len([
obj_info for obj_info in img_info['object_infos']
if 'bbx_amodal' in obj_info
]) for img_info in dataset.image_infos()
])
print "Number of objects with bbx_amodal information = {}".format(
num_of_objects_with_abbx)
metainfo = OrderedDict()
metainfo['total_num_of_objects'] = total_num_of_objects
metainfo['categories'] = NoIndent([args.category])
dataset.set_metainfo(metainfo)
out_json_filename = dataset_name + '.json'
dataset.write_data_to_json(out_json_filename)