def __init__(self, camera, video, cad, num_cars_mean):
self.sun = Sun()
self.camera = camera
self.video = video
# get the map of azimuths.
# it has gray values (r==g==b=) and alpha, saved as 4-channels
azimuth_path = atcadillac(
op.join(camera['camera_dir'], camera['azimuth_name']))
azimuth_map = cv2.imread(azimuth_path, cv2.IMREAD_UNCHANGED)
assert azimuth_map is not None and azimuth_map.shape[2] == 4
# black out the invisible azimuth_map regions
if 'mask' in camera and camera['mask']:
mask_path = atcadillac(
op.join(camera['camera_dir'], camera['mask']))
mask = cv2.imread(mask_path, cv2.IMREAD_GRAYSCALE)
assert mask is not None, mask_path
azimuth_map[mask] = 0
self.num_cars_mean = num_cars_mean
self.num_cars_std = num_cars_mean * 1.0
self.azimuth_map = azimuth_map
self.cad = cad
self.pxls_in_meter = camera['pxls_in_meter']
def __init__(self, camera, video, cad, speed_kph, burn_in=True):
self.sun = Sun() # TODO: only load when it's sunny
self.camera = camera
self.video = video
# load mask
if 'mask' in camera:
mask_path = atcadillac(
op.join(camera['camera_dir'], camera['mask']))
self.mask = cv2.imread(mask_path, cv2.IMREAD_GRAYSCALE)
assert self.mask is not None, mask_path
logging.info('TrafficModel: loaded a mask')
else:
self.mask = None
# create lanes
lanes_path = atcadillac(
op.join(camera['camera_dir'], camera['lanes_name']))
lanes_dicts = json.load(open(lanes_path))
self.lanes = [
Lane(('%d' % i), l, cad, speed_kph, camera['pxls_in_meter'])
for i, l in enumerate(lanes_dicts)
]
logging.info('TrafficModel: loaded %d lanes' % len(self.lanes))
if burn_in:
for i in range(100):
self.get_next_frame(time=datetime.now())
def generate_video_traffic (job):
''' Generate traffic file for the whole video.
Args:
in_db_file - should have all the images for which traffic is generated
job - the same as for process_video
'''
assertParamIsThere (job, 'in_db_file')
assertParamIsThere (job, 'out_video_dir')
setParamUnlessThere (job, 'frame_range', '[::]')
assertParamIsThere (job, 'video_dir')
video = Video(video_dir=job['video_dir'])
camera = video.build_camera()
assert op.exists(atcadillac(job['in_db_file'])), \
'in db %s does not exist' % atcadillac(job['in_db_file'])
conn_in = sqlite3.connect(atcadillac(job['in_db_file']))
c_in = conn_in.cursor()
c_in.execute('SELECT time FROM images')
timestamps = c_in.fetchall()
conn_in.close()
cad = Cad()
if 'speed_kph' in job:
model = TrafficModel (camera, video, cad=cad, speed_kph=job['speed_kph'])
elif 'num_cars' in job:
model = TrafficModelRandom (camera, video, cad=cad, num_cars_mean=job['num_cars'])
else: assert False
diapason = Diapason (len(timestamps), job['frame_range'])
traffic = {'in_db_file': job['in_db_file']}
traffic['frames'] = []
for frame_id in diapason.frame_range:
logging.info ('generating traffic for frame %d' % frame_id)
timestamp = timestamps[frame_id][0]
time = parseTimeString (timestamp)
traffic_frame = model.get_next_frame(time)
traffic_frame['frame_id'] = frame_id # for validating
traffic['frames'].append(traffic_frame)
return traffic
def combine_frame(background, video, camera):
''' Overlay image onto background '''
jpg_qual = 40
WORK_DIR = '%s-%d' % (WORK_RENDER_DIR, os.getpid())
# load camera dimensions (compare it to everything for extra safety)
width0 = camera.info['camera_dims']['width']
height0 = camera.info['camera_dims']['height']
# get background file
assert background is not None
assert background.shape == (height0, width0, 3), background.shape
# make a completely gray background frame hahaha
#background.fill(128)
cv2.imwrite(op.join(WORK_DIR, BACKGROUND_FILENAME), background)
# get shadows file
#shadow_path = op.join(WORK_DIR, 'render.png')
#shadow = scipy.misc.imread(shadow_path)
#shadow[:,:,3] = 0 # assign full transparency
#scipy.misc.imsave(shadow_path, shadow)
# remove previous result so that there is an error if blender fails
if op.exists(op.join(WORK_DIR, COMBINED_FILENAME)):
os.remove(op.join(WORK_DIR, COMBINED_FILENAME))
# overlay
assert video.combine_blend_file is not None
combine_scene_path = atcadillac(video.combine_blend_file)
command = [
'%s/blender' % os.getenv('BLENDER_ROOT'), combine_scene_path,
'--background', '--python',
'%s/src/augmentation/combineScene.py' % os.getenv('CITY_PATH')
]
returncode = subprocess.call(command,
shell=False,
stdout=FNULL,
stderr=FNULL)
logging.info('combine: blender returned code %s' % str(returncode))
combined_filepath = op.join(WORK_DIR, COMBINED_FILENAME)
assert op.exists(combined_filepath), combined_filepath
image = cv2.imread(combined_filepath)
assert image.shape == (height0, width0,
3), '%s vs %s' % (image.shape, (height0, width0))
# reencode to match jpeg quality
shutil.move(combined_filepath, op.join(WORK_DIR, 'uncompressed.png'))
_, ajpg = cv2.imencode(".jpg", image, [cv2.IMWRITE_JPEG_QUALITY, jpg_qual])
image = cv2.imdecode(ajpg, cv2.CV_LOAD_IMAGE_COLOR)
cv2.imwrite(combined_filepath, image)
return image
def __init__(self, camera_dir=None, info=None, pose_id=0):
# get camera_info (dict) and camera_name
if camera_dir:
self.camera_name = op.basename(camera_dir)
camera_path = atcadillac(
op.join(camera_dir, '%s.json' % self.camera_name))
assert op.exists(camera_path), camera_path
logging.info('Camera: loading info from: %s' % camera_path)
self.info = json.load(open(camera_path))
self.info['camera_dir'] = camera_dir
elif info:
assert 'camera_dir' in info
self.info = info
self.info['camera_dir'] = info['camera_dir']
self.camera_name = op.dirname(info['camera_dir'])
else:
raise Exception('pass camera_info or camera_dir')
logging.info('Camera: parse info for: %s' % self.camera_name)
# read the proper camera_pose
assert 'camera_poses' in self.info
assert pose_id < len(self.info['camera_poses'])
logging.info('- using camera_pose %d' % pose_id)
self.info.update(self.info['camera_poses'][pose_id])
assert 'map_id' in self.info
del self.info['camera_poses']
# the default scene geometry file
if 'geometry_blend_name' not in self.info:
self.info['geometry_blend_name'] = 'geometry.blend'
# the default scale
if 'scale' not in self.info:
self.info['scale'] = 1
# read the proper google_map
assert 'google_maps' in self.info
map_id = self.info['map_id']
assert map_id < len(self.info['google_maps'])
logging.info('- using google_maps %d' % map_id)
self.info.update(self.info['google_maps'][map_id])
del self.info['google_maps']
logging.debug(json.dumps(self.info, indent=4))
parser.add_argument('--logging_level', default=20, type=int)
parser.add_argument('--frame_range', default='[::]',
help='python style ranges, e.g. "[5::2]"')
parser.add_argument('--in_db_file', required=True)
parser.add_argument('--video_dir', required=True)
parser.add_argument('--traffic_file', required=True,
help='output .json file where to write traffic info. '
'Can be "traffic.json" in video output dir.')
group = parser.add_mutually_exclusive_group(required=True)
group.add_argument('--speed_kph', type=int)
group.add_argument('--num_cars', type=int)
args = parser.parse_args()
setupLogging('log/augmentation/GenerateTraffic.log', args.logging_level, 'w')
if not op.exists(atcadillac(op.dirname(args.traffic_file))):
os.makedirs(atcadillac(op.dirname(args.traffic_file)))
job = {'frame_range': args.frame_range,
'in_db_file': args.in_db_file,
'video_dir': args.video_dir,
'out_video_dir': op.dirname(args.in_db_file)
}
if args.speed_kph is not None:
setParamUnlessThere (job, 'speed_kph', args.speed_kph)
elif args.num_cars is not None:
setParamUnlessThere (job, 'num_cars', args.num_cars)
else: assert False
pprint (job)
traffic = generate_video_traffic (job)
# limitations under the License.
import sys, os, os.path as op
import os, os.path as op
import datetime
import pprint
import cPickle
from renderUtil import atcadillac
txt_file = 'resources/sun_position.txt'
bin_file = 'resources/sun_position.pkl'
with open(atcadillac(txt_file)) as f:
lines = f.readlines()
lines = lines[9:]
positions = {}
for line in lines:
(daystr, clockstr, altitude, azimuth) = tuple(line.split())
(month, day) = tuple(daystr.split('/'))
(hour, minute) = tuple(clockstr.split(':'))
date = datetime.datetime (year=2015, month=int(month), day=int(day),
hour=int(hour), minute=int(minute))
positions[date] = (float(altitude), float(azimuth))
import numpy as np
import cv2
from numpy.random import normal, uniform
from random import shuffle, sample, choice
from glob import glob
from math import ceil, pi
from pprint import pprint, pformat
from imageio import imread, imwrite
if os.getenv('SHUFFLER_PATH') is None:
raise Exception('Environmental variable SHUFFLER_PATH is not defined.')
from interfaceWriter import DatasetWriter
from renderUtil import atcadillac
WORK_PATCHES_DIR = atcadillac('/tmp/blender/current-patch')
JOB_INFO_NAME = 'job_info.json'
OUT_INFO_NAME = 'out_info.json'
FNULL = open('/dev/null', 'w')
# placing other cars
PROB_SAME_LANE = 0.3
SIGMA_AZIMUTH = 5
SIGMA_SAME = 0.3
SIGMA_SIDE = 0.1
MEAN_SAME = 1.5
MEAN_SIDE = 1.5
def mask2bbox (mask):
def _rename(render_dir, from_name, to_name):
os.rename(atcadillac(op.join(render_dir, from_name)),
atcadillac(op.join(render_dir, to_name)))
def make_snapshot(render_dir, car_names, params):
'''Set up the weather, and render vehicles into files
Args:
render_dir: path to directory where to put all rendered images
car_names: names of car objects in the scene
params: dictionary with frame information
Returns:
nothing
'''
logging.info('make_snapshot: started')
setParamUnlessThere(params, 'scale', 1)
setParamUnlessThere(params, 'render_individual_cars', True)
# debug options
setParamUnlessThere(params, 'save_blender_file', False)
setParamUnlessThere(params, 'render_satellite', False)
setParamUnlessThere(params, 'render_cars_as_cubes', False)
bpy.data.worlds['World'].light_settings.environment_energy = 0.0
bpy.data.worlds['World'].light_settings.ao_factor = 0.5
bpy.data.objects['-Sky-sunset'].data.energy = np.random.normal(1, 0.5) #2
params['weather'] = np.random.choice(['Sunny', 'Cloudy', 'Rainy', 'Wet'])
set_weather(params)
# render the image from satellite, when debuging
if '-Satellite' in bpy.data.objects:
bpy.data.objects[
'-Satellite'].hide_render = not params['render_satellite']
# make all cars receive shadows
logging.info('materials: %s' % len(bpy.data.materials))
for m in bpy.data.materials:
m.use_transparent_shadows = True
# create render dir
if not op.exists(render_dir):
os.makedirs(render_dir)
# make all cars receive shadows
logging.info('materials: %s' % len(bpy.data.materials))
for m in bpy.data.materials:
m.use_transparent_shadows = True
# # render all cars and shadows
# bpy.context.scene.render.layers['RenderLayer'].use_pass_combined = True
# bpy.context.scene.render.layers['RenderLayer'].use_pass_z = False
# #bpy.data.objects['-Ground'].hide_render = False
# render_scene(op.join(render_dir, 'render'))
# # render cars depth map
# #bpy.context.scene.render.alpha_mode = 'TRANSPARENT'
# bpy.context.scene.render.layers['RenderLayer'].use_pass_combined = False
# bpy.context.scene.render.layers['RenderLayer'].use_pass_z = True
# #bpy.data.objects['-Ground'].hide_render = True
# render_scene(op.join(render_dir, 'depth-all'))
# # render just the car for each car (to extract bbox)
# if params['render_individual_cars'] and not params['render_cars_as_cubes']:
# # hide all cars
# for car_name in car_names:
# hide_car (car_name)
# # show, render, and hide each car one by one
# for i,car_name in enumerate(car_names):
# show_car (car_name)
# render_scene( op.join(render_dir, 'depth-car-%03d.png' % i) )
# hide_car (car_name)
# # clean up
# bpy.data.objects['-Ground'].hide_render = False
# if not params['render_cars_as_cubes']:
# for car_name in car_names:
# show_car (car_name)
def _rename(render_dir, from_name, to_name):
os.rename(atcadillac(op.join(render_dir, from_name)),
atcadillac(op.join(render_dir, to_name)))
# set directional blur amount from if given
#bpy.data.node_groups['Compositing Nodetree'].nodes['Camera-Blur'].zoom
# there are two nodes -- "render" and "depth"
# they save images in BW16 or RBG8
# they render layers "Render" and "Depth" with "Combined" and "Z" passes.
bpy.context.scene.node_tree.nodes['depth'].base_path = atcadillac(
render_dir)
bpy.context.scene.node_tree.nodes['render'].base_path = atcadillac(
render_dir)
# leave only shadows
for m in bpy.data.materials:
if m != bpy.data.materials['Material-dry-asphalt'] and \
m != bpy.data.materials['Material-wet-asphalt']:
m.use_only_shadow = True
# render shadows only
bpy.data.objects['-Ground'].hide_render = False
bpy.ops.render.render(write_still=True, layer='Render')
_rename(render_dir, 'render0001', 'render.png')
# materials back to normal
for m in bpy.data.materials:
if m != bpy.data.materials['Material-dry-asphalt'] and \
m != bpy.data.materials['Material-wet-asphalt']:
m.use_only_shadow = False
# render without ground
bpy.data.objects['-Ground'].hide_render = True
bpy.ops.render.render(write_still=True, layer='Render')
_rename(render_dir, 'render0001', 'cars-only.png')
# render depth of all cars
bpy.ops.render.render(write_still=True, layer='Depth')
_rename(render_dir, 'depth0001', 'depth-all.png')
if params['render_individual_cars'] and not params['render_cars_as_cubes']:
for car_i0, car_name0 in enumerate(car_names):
# remove all cars from the only layer, and add car_name0 back to it
for car_name in car_names:
bpy.data.objects[car_name].hide_render = True
bpy.data.objects[car_name0].hide_render = False
# render scene
bpy.ops.render.render(write_still=True, layer='Depth')
_rename(render_dir, 'depth0001', 'depth-%03d.png' % car_i0)
if params['save_blender_files']:
bpy.ops.wm.save_as_mainfile(
filepath=atcadillac(op.join(render_dir, 'render.blend')))
# logging.info ('objects in the end of frame: %d' % len(bpy.data.objects))
logging.info('make_snapshot: successfully finished a frame')
def __init__(self):
sun_pose_file = 'resources/sun_position.pkl'
with open(atcadillac(sun_pose_file), 'rb') as f:
self.data = cPickle.load(f)
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import bpy
import sys, os, os.path as op
sys.path.insert(0, op.join(os.getenv('CITY_PATH'), 'src'))
import json
import logging
import numpy as np
from augmentation.common import *
from learning.helperSetup import setupLogging, setParamUnlessThere
from renderUtil import atcadillac
WORK_RENDER_DIR = atcadillac('blender/current-frame')
TRAFFIC_FILENAME = 'traffic.json'
WORK_DIR = '%s-%d' % (WORK_RENDER_DIR, os.getppid())
def make_snapshot(render_dir, car_names, params):
'''Set up the weather, and render vehicles into files
Args:
render_dir: path to directory where to put all rendered images
car_names: names of car objects in the scene
params: dictionary with frame information
Returns:
nothing
'''
Leave the frame at the default blender location'''
parser = argparse.ArgumentParser()
parser.add_argument('--work_dir', required=True)
parser.add_argument('--video_dir', required=True)
parser.add_argument('--save_blender_files', action='store_true')
parser.add_argument('--no_combine', action='store_true')
parser.add_argument('--no_render', action='store_true')
parser.add_argument('--no_annotations', action='store_true')
parser.add_argument('--logging_level', default=20, type=int)
parser.add_argument('--background_file',
help='if not given, take the default from video_dir')
args = parser.parse_args()
setupLogging('log/augmentation/ProcessFrame.log', args.logging_level, 'w')
traffic = json.load(
open(atcadillac(op.join(args.work_dir, 'traffic.json'))))
traffic['save_blender_files'] = args.save_blender_files
traffic['render_individual_cars'] = not args.no_annotations
video = Video(video_dir=args.video_dir)
camera = video.build_camera()
if not args.no_render:
render_frame(video, camera, traffic, work_dir=args.work_dir)
if not args.no_combine:
back_file = op.join(args.work_dir, 'background.png')
background = cv2.imread(atcadillac(back_file))
combine_frame(background, video, camera, work_dir=args.work_dir)
def render_frame(video, camera, traffic):
''' Write down traffci file for blender and run blender with renderScene.py
All work is in current-frame dir.
'''
WORK_DIR = '%s-%d' % (WORK_RENDER_DIR, os.getpid())
setParamUnlessThere(traffic, 'save_blender_files', False)
setParamUnlessThere(traffic, 'render_individual_cars', True)
unsharp_mask_params = {'radius': 4.7, 'threshold': 23, 'amount': 1}
# load camera dimensions (compare it to everything for extra safety)
width0 = camera.info['camera_dims']['width']
height0 = camera.info['camera_dims']['height']
logging.debug('camera width,height: %d,%d' % (width0, height0))
image = None
mask = None
# pass traffic info to blender
traffic['scale'] = camera.info['scale']
traffic_path = op.join(WORK_DIR, TRAFFIC_FILENAME)
if not op.exists(op.dirname(traffic_path)):
os.makedirs(op.dirname(traffic_path))
with open(traffic_path, 'w') as f:
f.write(json.dumps(traffic, indent=4))
# remove so that they do not exist if blender fails
if op.exists(op.join(WORK_DIR, RENDERED_FILENAME)):
os.remove(op.join(WORK_DIR, RENDERED_FILENAME))
if op.exists(op.join(WORK_DIR, 'depth-all.png')):
os.remove(op.join(WORK_DIR, 'depth-all.png'))
# render
assert video.render_blend_file is not None
render_blend_path = atcadillac(video.render_blend_file)
command = [
'%s/blender' % os.getenv('BLENDER_ROOT'), render_blend_path,
'--background', '--python',
'%s/src/augmentation/renderScene.py' % os.getenv('CITY_PATH')
]
logging.debug('WORK_DIR: %s' % WORK_DIR)
logging.debug(' '.join(command))
returncode = subprocess.call(command,
shell=False,
stdout=FNULL,
stderr=FNULL)
logging.info('rendering: blender returned code %s' % str(returncode))
# check and sharpen rendered
rendered_filepath = op.join(WORK_DIR, RENDERED_FILENAME)
image = cv2.imread(rendered_filepath, -1)
assert image is not None
assert image.shape == (height0, width0, 4), image.shape
image = unsharp_mask(image, unsharp_mask_params)
cv2.imwrite(rendered_filepath, image)
# check and sharpen cars-only
carsonly_filepath = op.join(WORK_DIR, CARSONLY_FILENAME)
image = cv2.imread(carsonly_filepath, -1)
assert image is not None
assert image.shape == (height0, width0, 4), image.shape
image = unsharp_mask(image, unsharp_mask_params)
shutil.move(carsonly_filepath, op.join(WORK_DIR, 'unsharpened.png'))
cv2.imwrite(carsonly_filepath, image)
# create mask
if traffic['render_individual_cars'] == True:
mask = _get_masks(WORK_DIR, traffic)
# TODO: visibility is returned via traffic file, NOT straightforward
with open(traffic_path, 'w') as f:
f.write(json.dumps(traffic, indent=4))
# correction_path = op.join(WORK_DIR, CORRECTION_FILENAME)
# if op.exists(correction_path): os.remove(correction_path)
# if not params['no_correction']:
# correction_info = color_correction (video.example_background, background)
# with open(correction_path, 'w') as f:
# f.write(json.dumps(correction_info, indent=4))
return image, mask
import string
import logging
from datetime import datetime
import time, hashlib
import copy
import cPickle
from numpy.random import normal, uniform, choice
from learning.helperSetup import setupLogging, setParamUnlessThere
from learning.dbUtilities import gammaProb
from Cad import Cad
from Camera import Camera
from Video import Video
from renderUtil import atcadillac
WORK_RENDER_DIR = atcadillac('blender/current-frame')
TRAFFIC_FILENAME = 'traffic.json'
'''
Distribute cars across the map according to the lanes map and model collections
'''
hash_generator = hashlib.sha1()
def axes_png2blender(points, origin, pxls_in_meter):
'''Change coordinate frame from pixel-based to blender-based (meters)
Args:
origin - a dict with 'x' and 'y' fields, will be subtracted from each point
pxls_in_meter - a scalar, must be looked up at the map image
Returns:
nothing
def __init__(self, video_dir=None, video_info=None):
if video_dir:
video_name = op.basename(video_dir)
video_path = atcadillac(op.join(video_dir, '%s.json' % video_name))
assert op.exists(video_path), video_path
logging.info('Video: loading info from: %s' % video_path)
video_info = json.load(open(video_path))
elif video_info:
assert 'video_dir' in video_info
video_dir = video_info['video_dir']
assert op.exists(atcadillac(video_dir)), video_dir
video_name = op.basename(video_dir)
else:
raise Exception('pass video_info or video_dir')
logging.info('Video: parse info for: %s' % video_dir)
self.info = video_info
self.info['video_name'] = video_name
if 'example_frame_name' in video_info:
logging.info('- found example_frame_name: %s' % example_frame_name)
self.example_frame = cv2.imread(
op.join(video_dir, example_frame_name))
assert self.example_frame is not None
else:
# trying possible paths, and take the first to match
example_frame_paths = glob(
atcadillac(op.join(video_dir, 'frame*.png')))
if len(example_frame_paths) > 0:
logging.info('- deduced example_frame: %s' %
example_frame_paths[0])
self.example_frame = cv2.imread(example_frame_paths[0])
self.info['example_frame_name'] = op.basename(
example_frame_paths[0])
assert self.example_frame is not None
else:
logging.warning('- no example_frame for %s' % video_dir)
self.example_frame = None
self.info['example_frame_name'] = None
if 'example_background_name' in video_info:
example_background_name = video_info['example_background_name']
logging.info('- found example_background_name: %s' %
example_background_name)
example_background_path = atcadillac(
op.join(video_dir, example_background_name))
self.example_background = cv2.imread(example_background_path)
assert self.example_background is not None
else:
# trying possible paths
example_back_paths = glob(
atcadillac(op.join(video_dir, 'background*.png')))
if len(example_back_paths) > 0:
logging.info('- deduced example_background: %s' %
example_back_paths[0])
self.example_background = cv2.imread(example_back_paths[0])
assert self.example_background is not None
else:
logging.warning('- no example_background for %s' % video_dir)
self.example_background = None
if 'start_timestamp' in video_info:
start_timestamp = video_info['start_timestamp']
logging.info('- found start_timestamp: %s' % start_timestamp)
self.start_time = datetime.strptime(start_timestamp, TIME_FORMAT)
else:
# deduce from the name of the file
self.start_time = datetime.strptime(video_name, VIDEO_DIR_STRPTIME)
logging.info('- deduced start_time: %s' %
self.start_time.strftime(TIME_FORMAT))
if 'frame_range' in video_info:
self.info['frame_range'] = video_info['frame_range']
logging.info('- found frame_range: %s' % video_info['frame_range'])
else:
self.info['frame_range'] = ':'
if 'render_blend_file' in video_info:
self.render_blend_file = video_info['render_blend_file']
logging.info('- found render_blend_file: %s' %
self.render_blend_file)
assert op.exists(atcadillac(self.render_blend_file))
elif op.exists(atcadillac(op.join(video_dir, 'render.blend'))):
# if found the default name in the video folder
self.render_blend_file = op.join(video_dir, 'render.blend')
logging.info('- found render_blend_file in video dir: %s' %
self.render_blend_file)
elif op.exists(atcadillac(op.join(video_dir,
'render-generated.blend'))):
# if found the default name in the video folder
self.render_blend_file = op.join(video_dir,
'render-generated.blend')
logging.warning('- using generated render_blend_file: %s' %
self.render_blend_file)
else:
logging.warning('- could not figure out render_blend_file')
if 'combine_blend_file' in video_info:
self.combine_blend_file = video_info['combine_blend_file']
logging.info('- found combine_blend_file: %s' %
self.combine_blend_file)
op.exists(atcadillac(self.combine_blend_file))
elif op.exists(atcadillac(op.join(video_dir, 'combine.blend'))):
# if found the default name in the video folder
self.combine_blend_file = op.join(video_dir, 'combine.blend')
logging.info('- found combine_blend_file in video dir: %s' %
self.combine_blend_file)
elif op.exists(
atcadillac(op.join(video_dir, 'combine-generated.blend'))):
# if found the default name in the video folder
self.combine_blend_file = op.join(video_dir,
'combine-generated.blend')
logging.warning('- using generated combine_blend_file: %s' %
self.combine_blend_file)
else:
logging.warning('- could not figure out combine_blend_file')
if 'camera_dir' in video_info:
self.camera_dir = video_info['camera_dir']
logging.info('- found camera_dir: %s' % self.camera_dir)
else:
# deduce from the name of the file
self.camera_dir = op.dirname(video_dir)
logging.info('- deduced camera_dir: %s' % self.camera_dir)
assert op.exists(atcadillac(self.camera_dir)), atcadillac(
self.camera_dir)
if 'pose_id' in video_info:
self.pose_id = int(video_info['pose_id'])
logging.info('- found pose_id: %d' % self.pose_id)
else:
self.pose_id = 0
logging.info('- take default pose_id = 0')
def process_video(job):
assertParamIsThere(job, 'video_dir')
video = Video(video_dir=job['video_dir'])
camera = video.build_camera()
# some parameters
assertParamIsThere(job, 'traffic_file')
setParamUnlessThere(job, 'save_blender_files', False)
setParamUnlessThere(
job, 'out_video_dir',
op.join('augmentation/video', 'cam%s' % camera.info['cam_id'],
video.info['video_name']))
setParamUnlessThere(job, 'no_annotations', False)
setParamUnlessThere(job, 'timeout', 1000000000)
setParamUnlessThere(job, 'frame_range', '[::]')
setParamUnlessThere(job, 'save_blender_files', False)
job['render_individual_cars'] = not job['no_annotations']
# load camera dimensions (compare it to everything for extra safety)
width0 = camera.info['camera_dims']['width']
height0 = camera.info['camera_dims']['height']
# for checking timeout
start_time = datetime.now()
cad = Cad()
# upload info on parsed vehicles to the monitor server
monitor = None # MonitorDatasetClient (cam_id=camera.info['cam_id'])
# load traffic info
traffic_video = json.load(open(atcadillac(job['traffic_file'])))
# reader and writer
video_reader = ReaderVideo()
image_vfile = op.join(job['out_video_dir'], 'image.avi')
mask_vfile = op.join(job['out_video_dir'], 'mask.avi')
video_writer = SimpleWriter(image_vfile, mask_vfile, {'unsafe': True})
(conn, c) = dbInit(traffic_video['in_db_file'],
op.join(job['out_video_dir'], 'traffic.db'))
c.execute('SELECT imagefile,maskfile,width,height,time FROM images')
image_entries = c.fetchall()
c.execute('DELETE FROM images')
#assert len(traffic_video['frames']) >= len(image_entries), \
# 'traffic json is too small %d < %d' % (len(traffic_video['frames']), len(image_entries))
diapason = Diapason(len(image_entries), job['frame_range'])
num_processes = int(multiprocessing.cpu_count() / 2 + 1)
pool = multiprocessing.Pool(processes=num_processes)
# each frame_range chunk is processed in parallel
for frame_range in diapason.frame_range_as_chunks(pool._processes):
logging.info('chunk of frames %d to %d' %
(frame_range[0], frame_range[-1]))
# quit, if reached the timeout
time_passed = datetime.now() - start_time
logging.info('passed: %s' % time_passed)
if (time_passed.total_seconds() > job['timeout'] * 60):
logging.warning('reached timeout %d. Passed %s' %
(job['timeout'], time_passed))
break
# collect frame jobs
frame_jobs = []
for frame_id in frame_range:
(in_backfile, in_maskfile, width, height,
_) = image_entries[frame_id]
assert (width0 == width
and height0 == height), (width0, width, height0, height)
logging.info('collect job for frame number %d' % frame_id)
back = video_reader.imread(in_backfile)
traffic = traffic_video['frames'][frame_id]
assert traffic['frame_id'] == frame_id, '%d vs %d' % (
traffic['frame_id'], frame_id)
traffic['save_blender_files'] = job['save_blender_files']
frame_jobs.append((video, camera, traffic, back, job))
#for i, (out_image, out_mask, work_dir) in enumerate(sequentialworker(frame_jobs)):
for i, (out_image, out_mask,
work_dir) in enumerate(pool.imap(worker, frame_jobs)):
frame_id = frame_range[i]
logging.info('processed frame number %d' % frame_id)
assert out_image is not None and out_mask is not None
out_imagefile = video_writer.imwrite(out_image)
out_maskfile = video_writer.maskwrite(out_mask)
logging.info('out_imagefile: %s, out_maskfile: %s' %
(out_imagefile, out_maskfile))
# update out database
(_, _, width, height, time) = image_entries[frame_id]
c.execute(
'INSERT INTO images(imagefile,maskfile,width,height,time) VALUES (?,?,?,?,?)',
(out_imagefile, out_maskfile, width, height, time))
logging.info('wrote frame %d' % c.lastrowid)
if not job['no_annotations']:
extract_annotations(work_dir, c, cad, camera, out_imagefile,
monitor)
if not job['save_blender_files']:
shutil.rmtree(work_dir)
conn.commit()
conn.close()
pool.close()
pool.join()
