def collect_printer_info(self):
pdb = PrinterModelDB(self.cls_name)
database = []
modeldb = LineModModelDB()
for k in range(pdb.image_num):
data = {}
data['rgb_pth'] = pdb.image_pattern.format(k + 1)
data['dpt_pth'] = pdb.mask_pattern.format(k + 1)
data['RT'] = pdb.aligned_poses[k]
data['K'] = pdb.K[self.cls_name]
data['cls_typ'] = self.cls_name
data['rnd_typ'] = 'printer'
data['corners'] = Projector.project_K(
modeldb.get_corners_3d(self.cls_name), data['RT'],
pdb.K[self.cls_name])
data['farthest'] = Projector.project_K(
modeldb.get_farthest_3d(self.cls_name), data['RT'],
pdb.K[self.cls_name])
for num in [4, 12, 16, 20]:
data['farthest{}'.format(num)] = Projector.project_K(
modeldb.get_farthest_3d(self.cls_name, num), data['RT'],
pdb.K[self.cls_name])
data['center'] = Projector.project_K(
modeldb.get_centers_3d(self.cls_name)[None, :], data['RT'],
pdb.K[self.cls_name])
database.append(data)
save_pickle(database, self.printer_pkl)
return database
def collect_truncated_set_info(self):
database=[]
projector=Projector()
modeldb=LineModModelDB()
img_num=len(os.listdir(os.path.join(self.linemod_dir,self.cls_name,'JPEGImages')))
for k in range(img_num):
data={}
data['rgb_pth']=os.path.join('truncated',self.cls_name,'{:06}_rgb.jpg'.format(k))
data['dpt_pth']=os.path.join('truncated',self.cls_name,'{:04}_msk.png'.format(k))
pose,K=read_pickle(os.path.join(self.linemod_dir,'truncated',self.cls_name,'{:06}_info.pkl'.format(k)))
data['RT']=pose
data['cls_typ']=self.cls_name
data['rnd_typ']='truncated'
data['corners']=projector.project_K(modeldb.get_corners_3d(self.cls_name),data['RT'],K)
data['farthest']=projector.project_K(modeldb.get_farthest_3d(self.cls_name),data['RT'],K)
for num in [4,12,16,20]:
data['farthest{}'.format(num)]=projector.project_K(modeldb.get_farthest_3d(self.cls_name,num),data['RT'],K)
data['small_bbox'] = projector.project_K(modeldb.get_small_bbox(self.cls_name), data['RT'], K)
data['center']=projector.project_K(modeldb.get_centers_3d(self.cls_name)[None,:],data['RT'],K)
# axis_direct=np.concatenate([np.identity(3), np.zeros([3, 1])], 1).astype(np.float32)
# data['van_pts']=projector.project_h(axis_direct, data['RT'], K)
data['K']=K
database.append(data)
save_pickle(database,self.pkl)
return database
def collect_fuse_info(self):
database=[]
modeldb=LineModModelDB()
projector=Projector()
for k in range(self.fuse_num):
data=dict()
data['rgb_pth']=os.path.join(self.fuse_dir, '{}_rgb.jpg'.format(k))
data['dpt_pth']=os.path.join(self.fuse_dir, '{}_mask.png'.format(k))
# if too few foreground pts then continue
mask=imread(os.path.join(self.linemod_dir,data['dpt_pth']))
if np.sum(mask==(cfg.linemod_cls_names.index(self.cls_name)+1))<400: continue
data['cls_typ']=self.cls_name
data['rnd_typ']='fuse'
begins,poses=read_pickle(os.path.join(self.linemod_dir,self.fuse_dir,'{}_info.pkl'.format(k)))
data['RT'] = poses[self.cls_idx]
K=projector.intrinsic_matrix['linemod'].copy()
K[0,2]+=begins[self.cls_idx,1]
K[1,2]+=begins[self.cls_idx,0]
data['K']=K
data['corners']=projector.project_K(modeldb.get_corners_3d(self.cls_name),data['RT'],K)
data['center']=projector.project_K(modeldb.get_centers_3d(self.cls_name),data['RT'],K)
data['farthest']=projector.project_K(modeldb.get_farthest_3d(self.cls_name),data['RT'],K)
for num in [4,12,16,20]:
data['farthest{}'.format(num)]=projector.project_K(modeldb.get_farthest_3d(self.cls_name,num),data['RT'],K)
data['small_bbox'] = projector.project_K(modeldb.get_small_bbox(self.cls_name), data['RT'], K)
database.append(data)
save_pickle(database,self.fuse_pkl)
return database
def generate_mask_image(self):
from lib.utils.draw_utils import img_pts_to_pts_img
for k in range(0, self.image_num):
img_pts = Projector.project_K(self.printer_model_pts.copy(),
self.poses[k], self.K['cat'])
pts_img = img_pts_to_pts_img(img_pts, 484, 648)
imsave(self.mask_pattern.format(k + 1), pts_img.astype(np.uint8))
def validate_original_poses(self):
for k in range(0,self.image_num,20):
rgb=imread(self.image_pattern.format(k+1))
img_pts=Projector.project_K(self.printer_model_pts.copy(), self.poses[k], self.K['cat'])
pts_img=img_pts_to_pts_img(img_pts,484,648)
print(self.poses[k])
rgb[pts_img>0]//=2
rgb[pts_img>0]+=np.asarray([127,0,0],np.uint8)
plt.imshow(rgb)
plt.show()
def validate_aligned_poses(self):
aligner=ModelAligner()
for k in range(0,self.image_num,20):
rgb=imread(self.image_pattern.format(k+1))
pose_aligned=aligner.pose_p2w(self.poses[k])
img_pts=Projector.project_K(self.model_pts.copy(), pose_aligned, self.K['cat'])
pts_img=img_pts_to_pts_img(img_pts,484,648)
rgb[pts_img>0]//=2
rgb[pts_img>0]+=np.asarray([127,0,0],np.uint8)
plt.imshow(rgb)
plt.show()
