SAMPLE_QUANTITY = int(data["sample_quantity"])
TRANSLATION_RANGE = float(data["translation_range"])
ROTATION_RANGE = math.radians(float(data["rotation_range"]))
SPHERE_MIN_RADIUS = float(data["sphere_min_radius"])
SPHERE_MAX_RADIUS = float(data["sphere_max_radius"])
IMAGE_SIZE = (int(data["image_size"]), int(data["image_size"]))
PRELOAD = data["preload"] == "True"
SATURATION_THRESHOLD = int(data["saturation_threshold"])
if not os.path.exists(OUTPUT_PATH):
os.mkdir(OUTPUT_PATH)
real_dataset = Dataset(REAL_PATH)
real_dataset.load()
camera = Camera.load_from_json(real_dataset.path)
real_dataset.camera = camera
output_dataset = Dataset(OUTPUT_PATH, frame_class=data["save_type"])
output_dataset.camera = camera
window_size = (real_dataset.camera.width, real_dataset.camera.height)
window = InitOpenGL(*window_size)
model = MODELS[0]
vpRender = ModelRenderer(model["model_path"], SHADER_PATH,
real_dataset.camera, window, window_size)
vpRender.load_ambiant_occlusion_map(model["ambiant_occlusion_model"])
OBJECT_WIDTH = int(model["object_width"])
metadata = {}
metadata["translation_range"] = str(TRANSLATION_RANGE)
metadata["rotation_range"] = str(ROTATION_RANGE)
metadata["image_size"] = str(IMAGE_SIZE[0])
dataset.load()
# metadata sanity check
for dataset_check in datasets:
for other_dataset in datasets:
if dataset_check.metadata != other_dataset.metadata:
print(dataset_check.metadata)
raise RuntimeError(
"Dataset {} have different metadata than {}\n{}\n{}".
format(dataset_check.path, other_dataset.path,
dataset_check.metadata, other_dataset.metadata))
metadata = datasets[0].metadata
camera = datasets[0].camera
output_dataset = Dataset(output_path, frame_class=metadata["save_type"])
output_dataset.camera = camera
output_dataset.metadata = metadata
# transfer data
for dataset in datasets:
print("Process dataset {}".format(dataset.path))
for i in tqdm(range(dataset.size())):
rgbA, depthA, initial_pose = dataset.load_image(i)
rgbB, depthB, transformed_pose = dataset.load_pair(i, 0)
index = output_dataset.add_pose(rgbA, depthA, initial_pose)
output_dataset.add_pair(rgbB, depthB, transformed_pose, index)
if i % 500 == 0:
output_dataset.dump_images_on_disk()
if i % 5000 == 0:
import cv2
import os
if __name__ == '__main__':
folder = "/home/mathieu/Dataset/DeepTrack/dragon/"
dataset_path = os.path.join(folder, "train_raw_real")
new_dataset_path = os.path.join(folder, "train_raw_real_resized")
if not os.path.exists(new_dataset_path):
os.mkdir(new_dataset_path)
dataset = Dataset(dataset_path)
if not dataset.load():
print("[Error]: Train dataset empty")
sys.exit(-1)
new_dataset = Dataset(new_dataset_path)
new_dataset.camera = dataset.camera.copy()
new_dataset.camera.set_ratio(2)
for i in range(dataset.size()):
rgb, depth, pose = dataset.load_image(i)
new_rgb = cv2.resize(
rgb, (new_dataset.camera.width, new_dataset.camera.height))
new_depth = cv2.resize(
depth, (new_dataset.camera.width, new_dataset.camera.height))
new_dataset.add_pose(new_rgb, new_depth, pose)
if i % (1 * dataset.size() / 100) == 0:
print("Progress : {}%".format(i * 100 / dataset.size()))
new_dataset.set_save_type(dataset.metadata["save_type"])
new_dataset.dump_images_on_disk()
new_dataset.save_json_files(dataset.metadata)
OUTPUT_PATH = data["output_path"]
IMAGE_SIZE = (int(data["image_size"]), int(data["image_size"]))
CAMERA_PATH = data["camera_path"]
DETECTOR_PATH = data["detector_layout_path"]
PRELOAD = data["preload"] == "True"
if not os.path.exists(OUTPUT_PATH):
os.mkdir(OUTPUT_PATH)
sensor = Kinect2(CAMERA_PATH)
camera = sensor.intrinsics()
ratio = 2
camera.set_ratio(ratio)
sensor.start()
dataset = Dataset(OUTPUT_PATH)
dataset.camera = camera
window = InitOpenGL(camera.width, camera.height)
detector = ArucoDetector(camera, DETECTOR_PATH)
vpRender = ModelRenderer(MODELS[0]["model_path"], SHADER_PATH, camera,
window, (camera.width, camera.height))
vpRender.load_ambiant_occlusion_map(MODELS[0]["ambiant_occlusion_model"])
cv2.namedWindow('image')
cv2.createTrackbar('transparency', 'image', 0, 100, trackbar)
# todo, read from file?
detection_offset = Transform()
rgbd_record = False
save_next_rgbd_pose = False
lock_offset = False
if PRELOAD:
