def add_rgb_to_leveldb(video_dir, annotation, db, demo_name, patch_size, num_samples, start_id):
frame_stamps = [seg_info["look"] for seg_info in annotation]
rgb_imgs, depth_imgs = get_video_frames(video_dir, frame_stamps)
batch = leveldb.WriteBatch()
for (i_seg, seg_info) in enumerate(annotation):
rgb_img = rgb_imgs[i_seg]
(h, w, c) = rgb_img.shape
patches = sample_patches(rgb_img, patch_size, num_samples)
for (i, patch) in enumerate(patches):
patch = cv2datum(patch)
datum = caffe.io.array_to_datum(patch)
patch_string = datum.SerializeToString()
patch_unique_id = start_id
start_id = start_id + 1
batch.Put(str(patch_unique_id).zfill(7), patch_string)
db.Write(batch, sync=True)
return start_id
def add_rgbd_to_hdf(video_dir, annotation, hdfroot, demo_name):
if demo_name in hdfroot.keys():
demo_group = hdfroot[demo_name]
else:
demo_group = hdfroot.create_group(demo_name)
frame_stamps = [seg_info["look"] for seg_info in annotation]
rgb_imgs, depth_imgs= get_video_frames(video_dir, frame_stamps)
for (i_seg, seg_info) in enumerate(annotation):
if seg_info["name"] == "done": continue
if seg_info["name"] in demo_group.keys():
seg_group = demo_group[seg_info["name"]]
else:
seg_group = demo_group.create_group(seg_info["name"])
seg_group["rgb"] = rgb_imgs[i_seg]
seg_group["depth"] = depth_imgs[i_seg]
with open(task_file, "r") as fh: task_info = yaml.load(fh)
demos_info = task_info['demos']
for demo_info in demos_info:
demo_name = demo_info['demo_name']
print demo_name
demo_dir = osp.join(task_dir, demo_name)
rgbd_dir = osp.join(demo_dir, demo_names.video_dir%(1))
annotation_file = osp.join(demo_dir,"ann.yaml")
with open(annotation_file, "r") as fh: annotations = yaml.load(fh)
look_stamps = [seg_info['look'] for seg_info in annotations]
rgb_imgs, depth_imgs= get_video_frames(rgbd_dir, look_stamps)
if demo_name in perturb_demofile.keys():
demo_group = perturb_demofile[demo_name]
else:
demo_group = perturb_demofile.create_group(demo_name)
n_perturb_existed = len(demo_group.keys()) # number of perturbations
object_xyz = cloud_proc_func(rgb_imgs[0], depth_imgs[0], np.eye(4))
object_xyz = clouds.downsample(object_xyz, .01)
hitch_xyz = None
hitch_pos = None
if args.has_hitch:
