def save_rgbd(self, dirName=''):
count = 0
imName = osp.join(dirName, 'im%06d.png')
dpName = osp.join(dirName, 'dp%06d.png')
while True:
isExist = self.read_next()
if isExist is None:
break
im, d = self.to_rgbd()
print im.shape, d.shape
ou.mkdir(osp.dirname(imName))
scm.imsave(imName % (count+1), im)
scm.imsave(dpName % (count+1), d)
count += 1
def produce(self, ip):
"""
Given vatic identifier string, create vatic output text and return file path
:param ip: vatic identifier string
:return: vatic output text file path
"""
# turkic dump identifier -o output.txt --merge --merge-threshold 0.5
basePath = self.prms_.vaticOpDr
ou.mkdir(basePath)
vaticFile = 'vaticOutput{0}.txt'.format(ip)
turkicCmd = 'turkic dump {0} -o {1} --merge --merge-threshold %f; '
turkicCmd = (turkicCmd % self.prms_.mergeThreshold).format(ip, vaticFile)
print (turkicCmd)
sysCall = '(' + \
'cd {0}; '.format(osp.join(self.prms_.vaticDr, 'vatic')) + turkicCmd + \
'mv {0} {1}'.format(vaticFile, basePath) + \
')'
os.system(sysCall)
return osp.join(basePath, vaticFile)
def save_crops(self, rootFolder, tgtDir, numIm=None): ''' rootFolder: the root folder for the window file tgtDir : the directory where the images should be saved ''' count = 0 readFlag = True ou.mkdir(tgtDir) while readFlag: ims, _, imNames, oNames = self.read_next_processed(rootFolder, returnName=True) for im, name, oName in zip(ims, imNames, oNames): svName = osp.join(tgtDir, oName) scm.imsave(svName, im) if self.is_eof(): readFlag = False count += 1 if numIm is not None and count >= numIm: readFlag = False
def save_collisions_seq(folderName, isSubFolder=True):
fNames = [f for f in os.listdir(folderName) if osp.isdir(osp.join(folderName,f))]
srcNames = [osp.join(folderName, f) for f in fNames]
if isSubFolder:
outFolder = '/' + folderName.strip('/') + '-collisions-only'
else:
outFolder = '/' + folderName.strip('/') + '-collisions-only-nosub'
outNames = [osp.join(outFolder, f) for f in fNames]
outCount = 0
for ifd,ofd in zip(srcNames, outNames):
print (ifd, ofd)
allfIdx, allbCol = detect_collision(ifd)
inMat = sio.loadmat(osp.join(ifd, 'data.mat'))
inIm = osp.join(ifd, 'im%06d.jpg')
inPos, inForce = inMat['position'], inMat['force']
colIdx = []
for b in range(len(allfIdx)):
colIdx = colIdx + allfIdx[b]
if isSubFolder:
outCount = 0
for c in colIdx:
st = max(0, c - 7)
en = min(c+7, inPos.shape[1])
if isSubFolder:
colFolder = osp.join(ofd, 'sub-%04d' % outCount)
else:
colFolder = osp.join(outFolder, 'seq%06d' % outCount)
outIm = osp.join(colFolder, 'im%06d.jpg')
ou.mkdir(colFolder)
outCount += 1
#Copy the images
for i,idx in enumerate(range(st, en)):
oIm = outIm % i
iIm = inIm % idx
callStr = 'cp %s %s' % (iIm, oIm)
#print (i, idx, callStr)
subprocess.check_call([callStr], shell=True)
#Copy the data
oPos, oForce = inPos[:,st:en], inForce[:,st:en]
datFile = osp.join(colFolder, 'data.mat')
sio.savemat(datFile, {'position': oPos, 'force': oForce})
return colCount, bColCount
def __init__(self, modelName=None, logDir='tf_logs/',
modelDir='tf_models/', outputDir='tf_outputs/'):
self.g_ = tf.Graph()
self.lossCollection_ = 'losses'
self.modelName_ = modelName
self.logDir_ = logDir
self.modelDir_ = modelDir
self.outputDir_ = outputDir
if modelName is not None:
self.logDir_ = osp.join(self.logDir_, modelName)
self.modelDir_ = osp.join(self.modelDir_, modelName)
self.outputDir_ = osp.join(self.outputDir_, modelName)
ou.mkdir(self.logDir_)
ou.mkdir(self.modelDir_)
ou.mkdir(self.outputDir_)
print "View outputs with:"
print "tail -F " + self.outputDir_+ "/"
print "Launch tensorboard for this network:"
print "tensorboard --logdir " + self.logDir_
self.summaryWriter_ = None
def create_pascal_filestore(imSz=256, padSz=24, debugMode=False):
dName = '/data0/pulkitag/data_sets/pascal_3d/imCrop'
dName = osp.join(dName, 'imSz%d_pad%d_hash') % (imSz, padSz)
svFile = 'f%s/im%s.jpg' % (imSz, padSz, '%d', '%d')
srcDir = '/data0/pulkitag/pascal3d/Images'
setName = ['train', 'test']
count, fCount = 0, 0
fStore = edict()
for si, s in enumerate([setName[0]]):
inName = 'pose-files/annotations_master_%s_pascal3d.txt' % s
storeFile = 'pose-files/pascal3d_dict_%s_imSz%d_pdSz%d.pkl' % (s, imSz, padSz)
inFid = mpio.GenericWindowReader(inName)
imDat, lbls = [], []
inFid.num_ = inFid.num_ - 1000
N = inFid.num_
for i in range(inFid.num_):
im, lb = inFid.read_next()
imDat.append(im)
lbls.append(lb)
inFid.close()
randSeed = 7
randState = np.random.RandomState(randSeed)
perm = randState.permutation(N)
if s == 'train':
numBad = 2
else:
numBad = 0
count = 0
print (len(perm))
imList = []
lbList = []
for rep, p in enumerate(perm):
if np.mod(rep,1000)==1:
print (rep)
im, lb = imDat[p], lbls[p]
lb = lb[0]
fName, ch, h, w, x1, y1, x2, y2 = im[0].strip().split()
x1, y1, x2, y2, h, w = int(x1), int(y1), int(x2), int(y2), int(h), int(w)
if x2 <= x1 or y2 <= y1:
print ('Size is weird', x1,x2,y1,y2)
print ('Skipping', s, im)
continue
if x1 <0 or y1<0:
print ('Too small', x1, y1)
continue
if x2 > w or y2 > h:
print ('Too big', x2, w, y2, h)
continue
fPrefix = fName[0:-4]
svImName = svFile % (fCount, np.mod(count,1000))
lbFormat = format_raw_label(lb)
if fPrefix not in fStore.keys():
fStore[fPrefix] = edict()
fStore[fPrefix].name = [svImName]
fStore[fPrefix].coords = [(x1,y1,x2,y2)]
fStore[fPrefix].lbs = [lbFormat]
else:
fStore[fPrefix].name.append(svImName)
fStore[fPrefix].coords.append((x1,y1,x2,y2))
fStore[fPrefix].lbs.append(lbFormat)
count += 1
if np.mod(count,1000) == 0:
fCount += 1
#Read and crop the image
xOg1, yOg1, xOg2, yOg2 = x1, y1, x2, y2
x1, y1, x2, y2 , xPad, yPad= crop_for_imsize((h, w, x1, y1, x2, y2), imSz, padSz)
im = scm.imread(osp.join(srcDir, fName))
if im.ndim == 2:
im = color.gray2rgb(im)
hIm, wIm, chIm = im.shape
assert hIm==h and wIm==w and chIm==3,(hIm, wIm, chIm, h, w)
im = cv2.resize(im[y1:y2, x1:x2,:], (imSz, imSz), interpolation=cv2.INTER_LINEAR)
svImName = osp.join(dName, svImName)
ou.mkdir(osp.dirname(svImName))
scm.imsave(svImName, im)
pickle.dump({'fStore': fStore}, open(storeFile, 'w'))
def create_window_file_v2(imSz=256, padSz=24, debugMode=False):
dName = '/data0/pulkitag/data_sets/pascal_3d/imCrop'
dName = osp.join(dName, 'imSz%d_pad%d_hash') % (imSz, padSz)
svFile = 'f%s/im%s.jpg' % ('%d', '%d')
srcDir = '/data0/pulkitag/pascal3d/Images'
setName = ['train', 'test']
count, fCount = 0, 0
fStore = edict()
for si, s in enumerate(setName):
inName = 'pose-files/annotations_master_%s_pascal3d.txt' % s
oName = 'pose-files/euler_%s_pascal3d_imSz%d_pdSz%d.txt' % (s, imSz, padSz)
oFile = 'pose-files/pascal3d_dict_%s_imSz%d_pdSz%d.pkl' % (s, imSz, padSz)
inFid = mpio.GenericWindowReader(inName)
imDat, lbls = [], []
N = inFid.num_
for i in range(inFid.num_):
im, lb = inFid.read_next()
imDat.append(im)
lbls.append(lb)
inFid.close()
randSeed = 7
randState = np.random.RandomState(randSeed)
perm = randState.permutation(N)
if s == 'train':
numBad = 2
else:
numBad = 0
print (len(perm))
imList = []
lbList = []
for rep, p in enumerate(perm):
if np.mod(rep,1000)==1:
print (rep, fCount, count)
im, lb = imDat[p], lbls[p]
lb = lb[0]
srcImName, ch, h, w, x1, y1, x2, y2 = im[0].strip().split()
x1, y1, x2, y2, h, w = int(x1), int(y1), int(x2), int(y2), int(h), int(w)
if x2 <= x1 or y2 <= y1:
print ('Size is weird', x1,x2,y1,y2)
print ('Skipping', s, im)
continue
if x1 <0 or y1<0:
print ('Too small', x1, y1)
continue
if x2 > w or y2 > h:
print ('Too big', x2, w, y2, h)
continue
srcImPrefix = srcImName[0:-4]
svImName = svFile % (fCount, np.mod(count,1000))
if srcImPrefix not in fStore.keys():
fStore[srcImPrefix] = edict()
fStore[srcImPrefix].name = [svImName]
fStore[srcImPrefix].coords = [(x1,y1,x2,y2)]
else:
fStore[srcImPrefix].name.append(svImName)
fStore[srcImPrefix].coords.append((x1,y1,x2,y2))
count += 1
if np.mod(count,1000) == 0:
fCount += 1
#Read and crop the image
xOg1, yOg1, xOg2, yOg2 = x1, y1, x2, y2
x1, y1, x2, y2 , xPad, yPad= crop_for_imsize((h, w, x1, y1, x2, y2), imSz, padSz)
im = scm.imread(osp.join(srcDir, srcImName))
if im.ndim == 2:
im = color.gray2rgb(im)
hIm, wIm, chIm = im.shape
assert hIm==h and wIm==w and chIm==3,(hIm, wIm, chIm, h, w)
im = cv2.resize(im[y1:y2, x1:x2,:], (imSz, imSz), interpolation=cv2.INTER_LINEAR)
#get filestr
fStr = get_filename(svImName)
fMirrorStr = get_filename(svImName, isMirror=True)
svName = osp.join(dName, fStr)
ou.mkdir(osp.dirname(svName))
scm.imsave(svName, im)
#print (svName)
#pdb.set_trace()
if debugMode:
imList.append([fStr, fName, (xOg1, yOg1, xOg2, yOg2), chIm,
imSz, imSz, 0, 0, imSz, imSz, xPad, yPad])
else:
imList.append([fStr, (chIm, imSz, imSz), (0, 0, imSz, imSz)])
lbList.append(format_raw_label(lb))
#Mirror the image
im = im[:,::-1,:]
lbMirror = copy.deepcopy(lb)
#For pascal images, azimuth becomes negative, but elevation doesnot change
lbMirror[0] = -lb[0]
svName = osp.join(dName, fMirrorStr)
scm.imsave(svName, im)
if debugMode:
imList.append([fMirrorStr, fName, (xOg1, yOg1, xOg2, yOg2), chIm,
imSz, imSz, 0, 0, imSz, imSz, xPad, yPad])
else:
imList.append([fMirrorStr, (chIm, imSz, imSz), (0, 0, imSz, imSz)])
lbList.append(format_raw_label(lbMirror))
#Write to window file
N = len(imList)
perm = randState.permutation(N)
oFid = mpio.GenericWindowWriter(oName, N, 1, 2)
for p in perm:
oFid.write(lbList[p], imList[p])
oFid.close()
if debugMode:
return imList, lbList
def save_model(self, sess, step): svPath = osp.join(self.modelDir_, 'model') ou.mkdir(svPath) self.saver_.save(sess, svPath, global_step=step)
def save_model(self, sess, step):
svPath = osp.join(self.modelDir_, 'model')
ou.mkdir(svPath)
self.saver_.save(sess, svPath, global_step=step)