def vis_pairs(prms, isSave=False, svIdx=None, svPath=None): imName1, imName2, euls, trans = read_pairs(prms) N = len(imName1) seed = 3 randState = np.random.RandomState(seed) perm = randState.permutation(N) fig = plt.figure() plt.ion() imName1 = [imName1[i] for i in perm] imName2 = [imName2[i] for i in perm] euls = [euls[i] for i in perm] trans = [trans[i] for i in perm] titleStr = 'Trans: ' + '%.3f ' * 3 + 'Rot: ' + '%.3f ' * 3 count = 0 numSave = 0 for (im1,im2,eu,tr) in zip(imName1, imName2, euls, trans): titleName = titleStr % (tuple(tr) + eu) im1 = scm.imread(im1) im2 = scm.imread(im2) print count if isSave: if count in svIdx: imN1 = svPath % (count,1) imN2 = svPath % (count,2) scm.imsave(imN1,im1) scm.imsave(imN2,im2) numSave += 1 if numSave==len(svIdx): return else: vu.plot_pairs(im1, im2, fig, titleStr=titleName) cmd = raw_input() if cmd == 'exit': return count += 1
def vis_pairs(prms, isSave=False, svIdx=None, svPath=None):
imName1, imName2, euls, trans = read_pairs(prms)
N = len(imName1)
seed = 3
randState = np.random.RandomState(seed)
perm = randState.permutation(N)
fig = plt.figure()
plt.ion()
imName1 = [imName1[i] for i in perm]
imName2 = [imName2[i] for i in perm]
euls = [euls[i] for i in perm]
trans = [trans[i] for i in perm]
titleStr = 'Trans: ' + '%.3f ' * 3 + 'Rot: ' + '%.3f ' * 3
count = 0
numSave = 0
for (im1, im2, eu, tr) in zip(imName1, imName2, euls, trans):
titleName = titleStr % (tuple(tr) + eu)
im1 = scm.imread(im1)
im2 = scm.imread(im2)
print count
if isSave:
if count in svIdx:
imN1 = svPath % (count, 1)
imN2 = svPath % (count, 2)
scm.imsave(imN1, im1)
scm.imsave(imN2, im2)
numSave += 1
if numSave == len(svIdx):
return
else:
vu.plot_pairs(im1, im2, fig, titleStr=titleName)
cmd = raw_input()
if cmd == 'exit':
return
count += 1
def test_group_rots(isPlot=True, debugMode=True):
import vis_utils as vu
import matplotlib.pyplot as plt
fig = plt.figure()
defFile = osp.join(MODULE_PATH, 'test/test_group_rots.prototxt')
net = caffe.Net(defFile, caffe.TEST)
while True:
data = net.forward(blobs=['pair_data', 'pose_label'])
im, pk = data['pair_data'], data['pose_label']
im += 128
im = im.astype(np.uint8)
if isPlot:
for b in range(10):
if debugMode:
rots = tuple(pk[b].squeeze())[0:6]
else:
rots = tuple(pk[b].squeeze())[0:3]
rots = [(r * 180.) / np.pi for r in rots]
figTitle = 'yaw: %f, pitch: %f, roll: %f \n yaw: %f, pitch:%f, roll: %f'\
% (rots[0], rots[1], rots[2], rots[3], rots[4], rots[5])
ax = vu.plot_pairs(im[b, 0:3],
im[b, 3:6],
isBlobFormat=True,
chSwap=(2, 1, 0),
fig=fig,
figTitle=figTitle)
plt.draw()
plt.show()
ip = raw_input()
if ip == 'q':
return
def test_group_rots(isPlot=True, debugMode=True):
import vis_utils as vu
import matplotlib.pyplot as plt
fig = plt.figure()
defFile = osp.join(MODULE_PATH, 'test/test_group_rots.prototxt')
net = caffe.Net(defFile, caffe.TEST)
while True:
data = net.forward(blobs=['pair_data', 'pose_label'])
im, pk = data['pair_data'], data['pose_label']
im += 128
im = im.astype(np.uint8)
if isPlot:
for b in range(10):
if debugMode:
rots = tuple(pk[b].squeeze())[0:6]
else:
rots = tuple(pk[b].squeeze())[0:3]
rots = [(r * 180.)/np.pi for r in rots]
figTitle = 'yaw: %f, pitch: %f, roll: %f \n yaw: %f, pitch:%f, roll: %f'\
% (rots[0], rots[1], rots[2], rots[3], rots[4], rots[5])
ax = vu.plot_pairs(im[b,0:3], im[b,3:6], isBlobFormat=True,
chSwap=(2,1,0), fig=fig, figTitle=figTitle)
plt.draw()
plt.show()
ip = raw_input()
if ip == 'q':
return
def test_poke_layer_regression(isPlot=True):
import vis_utils as vu
import matplotlib.pyplot as plt
fig = plt.figure()
defFile = 'test/poke_layer.prototxt'
net = caffe.Net(defFile, caffe.TEST)
while True:
data = net.forward(blobs=['im', 'poke'])
im, pk = data['im'], data['poke']
if isPlot:
for b in range(10):
ax = vu.plot_pairs(im[b, 0:3],
im[b, 3:6],
isBlobFormat=True,
chSwap=(2, 1, 0),
fig=fig)
ax[0].plot(int(pk[b][0]),
int(pk[b][1]),
markersize=10,
marker='o')
plt.draw()
plt.show()
ip = raw_input()
if ip == 'q':
return
def vis_liberty_ptch():
libPrms = rlp.get_prms()
wFile = libPrms.paths.wFile
wDat = mpio.GenericWindowReader(wFile)
rootDir = libPrms.paths.jpgDir
plt.ion()
fig = plt.figure()
while True:
imNames, lbs = wDat.read_next()
imNames = [osp.join(rootDir, n.split()[0]) for n in imNames]
figTitle = '%d' % lbs[0][0]
im1 = plt.imread(imNames[0])
im2 = plt.imread(imNames[1])
vu.plot_pairs(im1, im2, fig=fig, figTitle=figTitle)
inp = raw_input('Press a key to continue')
if inp == 'q':
return
def vis_results_pose(prms, cPrms, modelIter):
#Initialize the network
exp = se.setup_experiment(prms, cPrms)
modelFile = exp.get_snapshot_name(numIter=modelIter)
defFile = exp.expFile_.def_
net = caffe.Net(defFile, modelFile, caffe.TEST)
bSz = exp.get_layer_property('window_data', 'batch_size', phase='TEST')
crpSz = int(
exp.get_layer_property('window_data', 'crop_size', phase='TEST'))
muFile = exp.get_layer_property('window_data', 'mean_file')[1:-1]
mn = mp.read_mean(muFile).transpose(1, 2, 0)
st = int((227 - 101) / 2.0)
print mn.shape
mn = mn[st:st + 101, st:st + 101, :]
mn = mn[:, :, [2, 1, 0]]
plt.ion()
count = 0
numBatches = 5
fig = plt.figure()
for nb in range(numBatches):
#Generate results on test set
data = net.forward(['data', 'data_p', 'pose_fc', 'pose_label'])
for b in range(int(bSz)):
predLbl = data['pose_fc'][b].squeeze()
predEuler = ru.quat2euler(predLbl)
gtLbl = data['pose_label'][b].squeeze()
gtEuler = ru.quat2euler(gtLbl)
tStr = 'GT- roll: %.2f, yaw: %.2f, pitch: %.2f\n'\
+ 'PD- roll: %.2f, yaw: %.2f, pitch: %.2f'
#pdb.set_trace()
tStr = tStr % (gtEuler + predEuler)
im1 = data['data'][b].transpose(1, 2, 0).squeeze()
im2 = data['data_p'][b].transpose(1, 2, 0).squeeze()
im1 = np.maximum(0, np.minimum(255, im1[:, :, [2, 1, 0]] + mn))
im2 = np.maximum(0, np.minimum(255, im2[:, :, [2, 1, 0]] + mn))
#pdb.set_trace()
vu.plot_pairs(im1, im2, fig, figTitle=tStr)
count += 1
imName = exp.paths.testImVis % count
plt.savefig(imName)
def vis_window_file(prms, setName='test', isSave=False,
labelType='pose_ptch', isEuler=True,
wFileName=None):
if prms == 'pascal3d':
rootDir = '/data0/pulkitag/data_sets/pascal_3d-my-copy/PASCAL3D+_release1.1/Images/'
wFile = 'pose-files/euler_test_pascal3d.txt'
labelType = 'pose'
pascalFlag = True
else:
pascalFlag = False
rootDir = se.get_windowfile_rootdir(prms)
if wFileName is None:
wFile = prms.paths.windowFile[setName]
else:
wFile = wFileName
wDat = mpio.GenericWindowReader(wFile)
runFlag = True
if labelType == 'pose_ptch':
if isEuler:
lbStr = 'yaw: %.2f, pitch: %.2f, isRot: %d'\
+ '\n patchMatch: %.2f'
else:
lbStr = 'roll: %.2f, yaw: %.2f, pitch: %.2f, isRot: %d'\
+ '\n patchMatch: %.2f'
elif labelType == 'pose':
if pascalFlag:
lbStr = 'yaw: %.2f, pitch: %.2f'
else:
lbStr = 'roll: %.2f, yaw: %.2f, pitch: %.2f, isRot: %d'
elif labelType == 'ptch':
lbStr = 'IsMatch: %d'
elif labelType == 'nrml':
lbStr = 'nx: %.4f, ny: %.4f'
else:
raise Exception('%s not recognized' % labelType)
plt.ion()
fig = plt.figure()
count = 0
maxCount = 100
while runFlag:
imNames, lbs = wDat.read_next()
coords = [n.strip().split()[4:8] for n in imNames]
print coords
coords = [int(c) for c in coords[0]]
imNames = [osp.join(rootDir, n.split()[0]) for n in imNames]
#pdb.set_trace()
if 'pose' in labelType:
if isEuler:
yaw, pitch = lbs[0][0:2]
yaw = (yaw * 180./6.)
pitch = (pitch * 180./6.)
if not pascalFlag:
isRot = lbs[0][2]
else:
q1, q2, q3, q4 = lbs[0][0:4]
roll, yaw, pitch = ru.quat2euler([q1, q2, q3, q4])
roll = 180 * (roll/np.pi)
yaw = 180 * (yaw/np.pi)
pitch = 180 * (pitch/np.pi)
isRot = lbs[0][4]
if labelType == 'pose_ptch':
if isEuler:
pMatch = lbs[0][3]
figTitle = lbStr % (yaw, pitch, isRot, pMatch)
else:
pMatch = lbs[0][5]
figTitle = lbStr % (roll, yaw, pitch, isRot, pMatch)
elif labelType == 'pose':
if pascalFlag:
figTitle = lbStr % (yaw, pitch)
else:
figTitle = lbStr % (roll, yaw, pitch, isRot)
elif labelType == 'ptch':
figTitle = lbStr % lbs[0][0]
elif labelType == 'nrml':
figTitle = lbStr % (lbs[0][0], lbs[0][1])
print (figTitle, count)
im1 = plt.imread(imNames[0])
if len(imNames) == 2:
im2 = plt.imread(imNames[1])
vu.plot_pairs(im1, im2, fig=fig, figTitle=figTitle)
else:
x1, y1, x2, y2 = coords
plt.imshow(im1[y1:y2, x1:x2,:])
plt.title(figTitle)
if isSave:
outName = osp.join('debug-data', '%05d.jpg' % count)
plt.savefig(outName)
else:
inp = raw_input('Press a key to continue')
if inp=='q':
return
count = count + 1
if count >= maxCount:
runFlag = False