def get_dataset_poses(self):
if os.path.exists(self.dataset_poses_path):
poses = np.load(self.dataset_poses_path)
return poses[:, :3], poses[:, 3:]
eulers = []
translations = []
train_set = np.loadtxt(
os.path.join(cfg.LINEMOD,
'{}/training_range.txt'.format(self.class_type)),
np.int32)
for idx in train_set:
rot_path = os.path.join(self.dir_path, 'rot{}.rot'.format(idx))
tra_path = os.path.join(self.dir_path, 'tra{}.tra'.format(idx))
pose = read_pose(rot_path, tra_path)
euler = self.pose_transformer.orig_pose_to_blender_euler(pose)
eulers.append(euler)
translations.append(pose[:, 3])
eulers = np.array(eulers)
translations = np.array(translations) * 5
np.save(self.dataset_poses_path,
np.concatenate([eulers, translations], axis=-1))
return eulers, translations
def get_all_dataset_poses(self):
eulers = []
translations = []
for idx in range(1188):
rot_path = os.path.join(self.dir_path, 'rot{}.rot'.format(idx))
tra_path = os.path.join(self.dir_path, 'tra{}.tra'.format(idx))
pose = read_pose(rot_path, tra_path)
# euler = self.pose_transformer.orig_pose_to_blender_euler(pose)
pose = self.pose_transformer.orig_pose_to_blender_pose(pose)
euler = self.pose_transformer.blender_pose_to_blender_euler(pose)
eulers.append(euler)
translations.append(pose[:, 3])
eulers = np.array(eulers)
translations = np.array(translations)
np.save(self.dataset_poses_path,
np.concatenate([eulers, translations], axis=-1))
return eulers, translations
import cv2
def fuse(img, mask, background):
background = cv2.resize(background,(img.shape[1], img.shape[0]))
silhouette = mask > 0
background[silhouette] = img[silhouette]
return background
class_type = 'cat'
dir_path = os.path.join(cfg.LINEMOD_ORIG,'{}/data'.format(class_type))
train_set = np.loadtxt(os.path.join(cfg.LINEMOD, '{}/training_range.txt'.format(class_type)),np.int32)
trans = PoseTransformer(class_type)
for idx in train_set:
rot_path = os.path.join(dir_path, 'rot{}.rot'.format(idx))
tra_path = os.path.join(dir_path, 'tra{}.tra'.format(idx))
pose = read_pose(rot_path, tra_path)
pose = trans.orig_pose_to_blender_pose(pose)
rot, tra = pose[:, :3], pose[:, 3]
break
r = OpenGLRenderer()
rgb, mask = r.render(class_type, pose, intrinsic_matrix=r.intrinsic_matrix['linemod'], render_type='all')
rgb = rgb[:,:,[2,1,0]] # opencv use bgr order instead of rgb
background = cv2.imread('Lena.png', 1)
rgb = fuse(rgb, mask, background)
cv2.imwrite('RGB2.jpg', rgb)