class TestDatasetMethods(unittest.TestCase):
@classmethod
def setUpClass(cls):
# run these once as they take time
cls.dummy_rgb = np.zeros((150, 150, 3), dtype=np.float32)
cls.dummy_depth = np.zeros((150, 150), dtype=np.float32)
cls.dummy_pose = Transform()
def setUp(self):
self.populated_dataset = Dataset("data")
for i in range(10):
self.populated_dataset.add_pose(self.dummy_rgb, self.dummy_depth, self.dummy_pose)
def tearDown(self):
pass
def test_it_should_have_size_0_at_init(self):
dataset = Dataset("data")
self.assertEqual(dataset.size(), 0)
def test_it_should_add_sample(self):
dataset = Dataset("data")
dataset.add_pose(self.dummy_rgb, self.dummy_depth, self.dummy_pose)
self.assertEqual(dataset.size(), 1)
def test_it_should_return_index_after_adding_pose(self):
dataset = Dataset("data")
index0 = dataset.add_pose(self.dummy_rgb, self.dummy_depth, self.dummy_pose)
self.assertEqual(index0, 0)
index1 = dataset.add_pose(self.dummy_rgb, self.dummy_depth, self.dummy_pose)
self.assertEqual(index1, 1)
def test_it_return_0_if_no_pair(self):
self.assertEqual(self.populated_dataset.pair_size(1), 0)
def test_it_should_add_pair(self):
self.populated_dataset.add_pair(self.dummy_rgb, self.dummy_depth, self.dummy_pose, 1)
self.assertEqual(self.populated_dataset.pair_size(1), 1)
self.populated_dataset.add_pair(self.dummy_rgb, self.dummy_depth, self.dummy_pose, 1)
self.assertEqual(self.populated_dataset.pair_size(1), 2)
def test_it_should_raise_indexerror_if_pose_id_does_not_exists(self):
self.assertRaises(IndexError, self.populated_dataset.add_pair, self.dummy_rgb, self.dummy_depth,
self.dummy_pose, 20)
self.assertRaises(IndexError, self.populated_dataset.add_pair, self.dummy_rgb, self.dummy_depth,
self.dummy_pose, 10)
previous_pose = rotated_pose.copy()
previous_pose = combine_view_transform(previous_pose,
inverted_random_transform)
rgbA, depthA = vpRender.render(previous_pose.transpose())
bb = compute_2Dboundingbox(previous_pose,
real_dataset.camera,
OBJECT_WIDTH,
scale=(1000, -1000, -1000))
rgbA, depthA = normalize_scale(rgbA, depthA, bb,
real_dataset.camera, IMAGE_SIZE)
rgbB, depthB = normalize_scale(rotated_rgb, rotated_depth, bb,
real_dataset.camera, IMAGE_SIZE)
index = output_dataset.add_pose(rgbA, depthA, previous_pose)
output_dataset.add_pair(rgbB, depthB, random_transform, index)
iteration = i * SAMPLE_QUANTITY + j
sys.stdout.write(
"Progress: %d%% \r" %
(int(iteration /
(SAMPLE_QUANTITY * real_dataset.size()) * 100)))
sys.stdout.flush()
if iteration % 500 == 0:
output_dataset.dump_images_on_disk()
if iteration % 5000 == 0:
output_dataset.save_json_files(metadata)
if args.verbose:
show_frames(rgbA, depthA, rgbB, depthB)
def test_it_should_return_index_after_adding_pose(self):
dataset = Dataset("data")
index0 = dataset.add_pose(self.dummy_rgb, self.dummy_depth, self.dummy_pose)
self.assertEqual(index0, 0)
index1 = dataset.add_pose(self.dummy_rgb, self.dummy_depth, self.dummy_pose)
self.assertEqual(index1, 1)
def test_it_should_add_sample(self):
dataset = Dataset("data")
dataset.add_pose(self.dummy_rgb, self.dummy_depth, self.dummy_pose)
self.assertEqual(dataset.size(), 1)
import cv2
import os
if __name__ == '__main__':
folder = "/home/mathieu/Dataset/DeepTrack/dragon/"
dataset_path = os.path.join(folder, "train_raw_real")
new_dataset_path = os.path.join(folder, "train_raw_real_resized")
if not os.path.exists(new_dataset_path):
os.mkdir(new_dataset_path)
dataset = Dataset(dataset_path)
if not dataset.load():
print("[Error]: Train dataset empty")
sys.exit(-1)
new_dataset = Dataset(new_dataset_path)
new_dataset.camera = dataset.camera.copy()
new_dataset.camera.set_ratio(2)
for i in range(dataset.size()):
rgb, depth, pose = dataset.load_image(i)
new_rgb = cv2.resize(
rgb, (new_dataset.camera.width, new_dataset.camera.height))
new_depth = cv2.resize(
depth, (new_dataset.camera.width, new_dataset.camera.height))
new_dataset.add_pose(new_rgb, new_depth, pose)
if i % (1 * dataset.size() / 100) == 0:
print("Progress : {}%".format(i * 100 / dataset.size()))
new_dataset.set_save_type(dataset.metadata["save_type"])
new_dataset.dump_images_on_disk()
new_dataset.save_json_files(dataset.metadata)
for other_dataset in datasets:
if dataset_check.metadata != other_dataset.metadata:
print(dataset_check.metadata)
raise RuntimeError(
"Dataset {} have different metadata than {}\n{}\n{}".
format(dataset_check.path, other_dataset.path,
dataset_check.metadata, other_dataset.metadata))
metadata = datasets[0].metadata
camera = datasets[0].camera
output_dataset = Dataset(output_path, frame_class=metadata["save_type"])
output_dataset.camera = camera
output_dataset.metadata = metadata
# transfer data
for dataset in datasets:
print("Process dataset {}".format(dataset.path))
for i in tqdm(range(dataset.size())):
rgbA, depthA, initial_pose = dataset.load_image(i)
rgbB, depthB, transformed_pose = dataset.load_pair(i, 0)
index = output_dataset.add_pose(rgbA, depthA, initial_pose)
output_dataset.add_pair(rgbB, depthB, transformed_pose, index)
if i % 500 == 0:
output_dataset.dump_images_on_disk()
if i % 5000 == 0:
output_dataset.save_json_files(metadata)
output_dataset.dump_images_on_disk()
output_dataset.save_json_files(metadata)
dataset.load()
offset_path = os.path.join(dataset.path, "offset.npy")
if os.path.exists(offset_path):
detection_offset = Transform.from_matrix(np.load(offset_path))
lock_offset = True
while True:
start_time = time.time()
bgr, depth = sensor.get_frame()
bgr = cv2.resize(bgr, (int(1920 / ratio), int(1080 / ratio)))
depth = cv2.resize(depth, (int(1920 / ratio), int(1080 / ratio)))
screen = bgr.copy()
if rgbd_record:
# here we add a dummy pose, we will compute the pose as a post operation
dataset.add_pose(bgr, depth, Transform())
else:
detection = detector.detect(screen)
# Draw a color rectangle around screen : red no detection, green strong detection
color_ = lerp(detector.get_likelihood(), 1, np.array([255, 0, 0]),
np.array([0, 255, 0]))
cv2.rectangle(screen,
(0, 0), (int(1920 / ratio), int(1080 / ratio)),
tuple(color_), 10)
if detection:
# Add objects offset
detection.combine(detection_offset.inverse())
if args.verbose:
show_occlusion(detection, screen, depth, camera,
int(MODELS[0]["object_width"]))
if save_next_rgbd_pose:
(-ROTATION_RANGE, ROTATION_RANGE))
pair = combine_view_transform(random_pose, random_transform)
rgbA, depthA = vpRender.render(random_pose.transpose())
rgbB, depthB = vpRender.render(pair.transpose(),
sphere_sampler.random_direction())
bb = compute_2Dboundingbox(random_pose,
dataset.camera,
OBJECT_WIDTH,
scale=(1000, -1000, -1000))
rgbA, depthA = normalize_scale(rgbA, depthA, bb, dataset.camera,
IMAGE_SIZE)
rgbB, depthB = normalize_scale(rgbB, depthB, bb, dataset.camera,
IMAGE_SIZE)
index = dataset.add_pose(rgbA, depthA, random_pose)
dataset.add_pair(rgbB, depthB, random_transform, index)
if i % 500 == 0:
dataset.dump_images_on_disk()
if i % 5000 == 0:
dataset.save_json_files(metadata)
if args.verbose:
show_frames(rgbA, depthA, rgbB, depthB)
cv2.imshow("testB", rgbB[:, :, ::-1])
k = cv2.waitKey(1)
if k == ESCAPE_KEY:
break
dataset.dump_images_on_disk()
dataset.save_json_files(metadata)
files = [
f for f in os.listdir(dataset_path) if
os.path.splitext(f)[-1] == ".png" and 'd' not in os.path.splitext(f)[0]
]
detector = ArucoDetector(camera, detector_path)
window = InitOpenGL(camera.width, camera.height)
vpRender = ModelRenderer(model_path, shader_path, camera, window,
(camera.width, camera.height))
vpRender.load_ambiant_occlusion_map(model_ao_path)
ground_truth_pose = None
for i in range(len(files)):
img = cv2.imread(os.path.join(dataset.path, "{}.png".format(i)))
detection = detector.detect(img)
if detection is not None:
ground_truth_pose = detection
ground_truth_pose.combine(offset.inverse(), copy=False)
else:
print(
"[WARN]: frame {} has not been detected.. using previous detection"
.format(i))
dataset.add_pose(None, None, ground_truth_pose)
rgb_render, depth_render = vpRender.render(
ground_truth_pose.transpose())
bgr_render = rgb_render[:, :, ::-1].copy()
img = image_blend(bgr_render, img)
cv2.imshow("view", img)
cv2.waitKey(1)
dataset.save_json_files({"save_type": "png"})
