示例#1
0
 def _append_images(self, imgs):
     if self.cache_img is None:
         out_bgr = jsk_recognition_utils.get_tile_image(imgs)
         self.cache_img = out_bgr
     else:
         out_bgr = jsk_recognition_utils.get_tile_image(imgs, tile_shape=None, result_img=self.cache_img)
     bridge = cv_bridge.CvBridge()
     imgmsg = bridge.cv2_to_imgmsg(out_bgr, encoding="bgr8")
     self.pub_img.publish(imgmsg)
示例#2
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def main():
    parser = argparse.ArgumentParser()
    parser.add_argument('-s', '--tile-shape', default='5x8',
                        help='Default: 5x8')
    args = parser.parse_args()

    tile_shape = map(int, args.tile_shape.split('x'))

    with open(osp.join(PKG_DIR, 'config/label_names.yaml')) as f:
        obj_names = yaml.load(f)['label_names']
        obj_names = obj_names[1:-1]

    imgs = []
    data_dir = osp.join(PKG_DIR, 'data')
    for i, obj in enumerate(obj_names):
        obj_id = i + 1
        img_file = osp.join(data_dir, 'objects', obj, 'top.jpg')
        img = cv2.imread(img_file)

        # put obj_id
        height, width = img.shape[:2]
        x1, y1, x2, y2 = 10, 10, width - 10, height - 10
        img = img[y1:y2, x1:x2]
        cv2.putText(img, '%2d' % obj_id, (0, 60),
                    cv2.cv.CV_FONT_HERSHEY_SIMPLEX, 1.8, (255, 255, 255), 3)

        imgs.append(img)

    img_viz = jsk_recognition_utils.get_tile_image(imgs, tile_shape=tile_shape)
    out_file = osp.join(PKG_DIR, 'data/others',
                        'object_list_{0}x{1}.jpg'.format(*tile_shape))
    cv2.imwrite(out_file, img_viz)
    print('==> Wrote file: %s' % out_file)
def get_gallery():
    content = []
    for pkg in PACKAGES:
        # TODO(wkentaro): Scrape pacakge.xml only once by creating a class.
        from bs4 import BeautifulSoup
        with open(osp.join(pkg, 'package.xml')) as f:
            soup = BeautifulSoup(f.read(), 'lxml')
        website_url = soup.find('url', type='website')

        imgs = []
        for ext in ['*.png', '*.jpg']:
            pattern = osp.join(here, 'doc', pkg, 'nodes/images', ext)
            for fname in glob.glob(pattern):
                img = cv2.imread(fname)
                scale = math.sqrt(1. * 200 * 200 / img.shape[0] / img.shape[1])
                img = cv2.resize(img, None, None, fx=scale, fy=scale)
                imgs.append(img)
                if len(imgs) >= 15:
                    break
        if not imgs:
            continue

        cols = 5
        rows = max(len(imgs) // cols, 1)
        tiled = jsk_recognition_utils.get_tile_image(
            imgs, tile_shape=(cols, rows), margin_color=[255, 255, 255])
        fname = osp.join(here, '.readme/gallery_%s.jpg' % pkg)
        cv2.imwrite(fname, tiled)
        content.append('### [%s](%s)' % (pkg, website_url.text))
        content.append('')
        content.append('[![](%s)](%s)' %
                       (osp.relpath(fname, here), website_url.text))
        content.append('')
    return '\n'.join(content)
示例#4
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def main():
    parser = argparse.ArgumentParser()
    parser.add_argument('-s',
                        '--tile-shape',
                        default='5x8',
                        help='Default: 5x8')
    args = parser.parse_args()

    tile_shape = map(int, args.tile_shape.split('x'))

    obj_names = jsk_arc2017_common.get_object_names()

    imgs = []
    data_dir = osp.join(PKG_DIR, 'data')
    for i, obj in enumerate(obj_names):
        obj_id = i + 1
        img_file = osp.join(data_dir, 'objects', obj, 'top.jpg')
        img = cv2.imread(img_file)

        # put obj_id
        height, width = img.shape[:2]
        x1, y1, x2, y2 = 10, 10, width - 10, height - 10
        img = img[y1:y2, x1:x2]
        cv2.putText(img, '%2d' % obj_id, (0, 60),
                    cv2.cv.CV_FONT_HERSHEY_SIMPLEX, 1.8, (255, 255, 255), 3)

        imgs.append(img)

    img_viz = jsk_recognition_utils.get_tile_image(imgs, tile_shape=tile_shape)
    out_file = osp.join(PKG_DIR, 'data/others',
                        'object_list_{0}x{1}.jpg'.format(*tile_shape))
    cv2.imwrite(out_file, img_viz)
    print('==> Wrote file: %s' % out_file)
 def _append_images(self, imgs):
     if not imgs:
         return
     if self.cache_img is None:
         out_bgr = jsk_recognition_utils.get_tile_image(imgs)
         self.cache_img = out_bgr
     else:
         try:
             out_bgr = jsk_recognition_utils.get_tile_image(
                 imgs, tile_shape=None, result_img=self.cache_img)
         except ValueError:  # cache miss
             out_bgr = jsk_recognition_utils.get_tile_image(imgs)
             self.cache_img = out_bgr
     bridge = cv_bridge.CvBridge()
     imgmsg = bridge.cv2_to_imgmsg(out_bgr, encoding='bgr8')
     self.pub_img.publish(imgmsg)
示例#6
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def get_gallery():
    content = []
    for pkg in PACKAGES:
        # TODO(wkentaro): Scrape pacakge.xml only once by creating a class.
        from bs4 import BeautifulSoup
        with open(osp.join(pkg, 'package.xml')) as f:
            soup = BeautifulSoup(f.read(), 'lxml')
        website_url = soup.find('url', type='website')

        imgs = []
        for ext in ['*.png', '*.jpg']:
            pattern = osp.join(here, 'doc', pkg, 'nodes/images', ext)
            for fname in glob.glob(pattern):
                img = cv2.imread(fname)
                scale = math.sqrt(1. * 200 * 200 / img.shape[0] / img.shape[1])
                img = cv2.resize(img, None, None, fx=scale, fy=scale)
                imgs.append(img)
                if len(imgs) >= 15:
                    break
        if not imgs:
            continue

        cols = 5
        rows = max(len(imgs) // cols, 1)
        tiled = jsk_recognition_utils.get_tile_image(
            imgs, tile_shape=(cols, rows), margin_color=[255, 255, 255])
        fname = osp.join(here, '.readme/gallery_%s.jpg' % pkg)
        cv2.imwrite(fname, tiled)
        content.append('### [%s](%s)' % (pkg, website_url.text))
        content.append('')
        content.append('[![](%s)](%s)' % (osp.relpath(fname, here),
                                          website_url.text))
        content.append('')
    return '\n'.join(content)
 def _apply(self, *msgs):
     bridge = cv_bridge.CvBridge()
     imgs = []
     for msg in msgs:
         img = bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
         imgs.append(img)
     out_bgr = jsk_recognition_utils.get_tile_image(imgs)
     imgmsg = bridge.cv2_to_imgmsg(out_bgr, encoding='bgr8')
     self.pub_img.publish(imgmsg)
示例#8
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 def _apply(self, *msgs):
     bridge = cv_bridge.CvBridge()
     imgs = []
     for msg in msgs:
         img = bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
         imgs.append(img)
     out_bgr = jsk_recognition_utils.get_tile_image(imgs)
     imgmsg = bridge.cv2_to_imgmsg(out_bgr, encoding='bgr8')
     self.pub_img.publish(imgmsg)
示例#9
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 def _apply(self, *msgs):
     bridge = cv_bridge.CvBridge()
     imgs = []
     for msg, topic in zip(msgs, self.input_topics):
         img = bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
         if self.draw_topic_name:
             cv2.putText(img, topic, (0, 50), cv2.FONT_HERSHEY_PLAIN, 4, (0, 255, 0), 4)
         imgs.append(img)
     out_bgr = jsk_recognition_utils.get_tile_image(imgs)
     imgmsg = bridge.cv2_to_imgmsg(out_bgr, encoding='bgr8')
     self.pub_img.publish(imgmsg)
 def _append_images(self, imgs):
     if not imgs:
         return
     # convert tile shape: (Y, X) -> (X, Y)
     # if None, shape is automatically decided to be square AMAP.
     shape_xy = self._shape[::-1] if self._shape else None
     if self.cache_img is None:
         out_bgr = jsk_recognition_utils.get_tile_image(
             imgs, tile_shape=shape_xy)
         self.cache_img = out_bgr
     else:
         try:
             out_bgr = jsk_recognition_utils.get_tile_image(
                 imgs, tile_shape=shape_xy, result_img=self.cache_img)
         except ValueError:  # cache miss
             out_bgr = jsk_recognition_utils.get_tile_image(
                 imgs, tile_shape=shape_xy)
             self.cache_img = out_bgr
     bridge = cv_bridge.CvBridge()
     imgmsg = bridge.cv2_to_imgmsg(out_bgr, encoding='bgr8')
     self.pub_img.publish(imgmsg)
示例#11
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 def _append_images(self, imgs):
     if not imgs:
         return
     # convert tile shape: (Y, X) -> (X, Y)
     # if None, shape is automatically decided to be square AMAP.
     shape_xy = self._shape[::-1] if self._shape else None
     if self.cache_img is None:
         out_bgr = jsk_recognition_utils.get_tile_image(
             imgs, tile_shape=shape_xy)
         self.cache_img = out_bgr
     else:
         try:
             out_bgr = jsk_recognition_utils.get_tile_image(
                 imgs, tile_shape=shape_xy, result_img=self.cache_img)
         except ValueError:  # cache miss
             out_bgr = jsk_recognition_utils.get_tile_image(
                 imgs, tile_shape=shape_xy)
             self.cache_img = out_bgr
     bridge = cv_bridge.CvBridge()
     imgmsg = bridge.cv2_to_imgmsg(out_bgr, encoding='bgr8')
     self.pub_img.publish(imgmsg)
    def _apply_tile(self, img_msg, label_msg):
        bridge = cv_bridge.CvBridge()
        img = bridge.imgmsg_to_cv2(img_msg)
        label_img = bridge.imgmsg_to_cv2(label_msg)

        imgs = []
        labels = np.unique(label_img)
        for label in labels:
            if label == 0:
                # should be skipped 0, because
                # 0 is to label image as black region to mask image
                continue
            img_tmp = img.copy()
            mask = label_img == label
            img_tmp[~mask] = 0
            img_tmp = bounding_rect_of_mask(img_tmp, mask)
            imgs.append(img_tmp)
        tile_img = get_tile_image(imgs)
        tile_msg = bridge.cv2_to_imgmsg(tile_img, encoding='bgr8')
        tile_msg.header = img_msg.header
        self.pub_tile.publish(tile_msg)
    def _apply_tile(self, img_msg, label_msg):
        bridge = cv_bridge.CvBridge()
        img = bridge.imgmsg_to_cv2(img_msg)
        label_img = bridge.imgmsg_to_cv2(label_msg)

        imgs = []
        labels = np.unique(label_img)
        for label in labels:
            if label == 0:
                # should be skipped 0, because
                # 0 is to label image as black region to mask image
                continue
            img_tmp = img.copy()
            mask = label_img == label
            img_tmp[~mask] = 0
            img_tmp = bounding_rect_of_mask(img_tmp, mask)
            imgs.append(img_tmp)
        tile_img = get_tile_image(imgs)
        tile_msg = bridge.cv2_to_imgmsg(tile_img, encoding='bgr8')
        tile_msg.header = img_msg.header
        self.pub_tile.publish(tile_msg)
示例#14
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def main():
    parser = argparse.ArgumentParser()
    parser.add_argument('dataset_dir', help='Dataset dir path')
    parser.add_argument('-s', '--start',
                        help='Start timestamp (ex. 2017-06-10T10:00:23)')
    args = parser.parse_args()

    dataset_dir = args.dataset_dir
    start = args.start

    if not osp.exists(dataset_dir):
        print('Please install dataset to: %s' % dataset_dir)
        quit(1)

    label_files = []
    for stamp_dir in os.listdir(dataset_dir):
        stamp_dir = osp.join(dataset_dir, stamp_dir)
        label_file = osp.join(stamp_dir, 'label.npz')
        if osp.exists(label_file):
            label_files.append(label_file)
        else:
            label_files.append(None)
    print('==> Size of dataset: All: %d, Annotated: %d.' %
          (len(label_files), len(list(filter(None, label_files)))))

    PKG_DIR = rospkg.RosPack().get_path('jsk_arc2017_common')
    with open(osp.join(PKG_DIR, 'config/label_names.yaml')) as f:
        object_names = yaml.load(f)
    object_names.append('__unlabeled__')

    print('==> Press keys: [q] to quit, [n] to go next, [p] to go previous')
    stamp_dirs = list(sorted(os.listdir(dataset_dir)))
    i = 0
    while True:
        stamp = datetime.datetime.fromtimestamp(int(stamp_dirs[i]) / 1e9)
        if start and stamp < dateutil.parser.parse(start):
            i += 1
            continue
        start = None

        stamp_dir = osp.join(dataset_dir, stamp_dirs[i])
        print('%s: %s' % (stamp.isoformat(), stamp_dir))

        img_file = osp.join(stamp_dir, 'image.jpg')
        img = skimage.io.imread(img_file)

        depth_file = osp.join(stamp_dir, 'depth.npz')
        depth = np.load(depth_file)['arr_0']
        depth_viz = colorize_depth(depth, min_value=0.4, max_value=1.0)

        label_file = osp.join(stamp_dir, 'label.npz')
        if osp.exists(label_file):
            label = np.load(label_file)['arr_0']
            mask_unlabeled = label == -1
            label[mask_unlabeled] = object_names.index('__unlabeled__')
            img_labeled = img.copy()
            img_labeled[mask_unlabeled] = \
                np.random.randint(0, 255, (mask_unlabeled.sum(), 3))
            label_viz = label2rgb(
                lbl=label, img=img_labeled,
                label_names=dict(enumerate(object_names)))
        else:
            label_viz = np.zeros_like(img)

        viz = jsk_recognition_utils.get_tile_image([img, label_viz, depth_viz])

        cv2.imshow('view_jsk_v1', viz[:, :, ::-1])
        key = cv2.waitKey(0)
        if key == ord('q'):
            break
        elif key == ord('n'):
            if i == len(stamp_dirs) - 1:
                print('Reached the end edge of the dataset')
                continue
            i += 1
        elif key == ord('p'):
            if i == 0:
                print('Reached the start edge of the dataset')
                continue
            i -= 1
        else:
            continue
示例#15
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def main():
    parser = argparse.ArgumentParser()
    parser.add_argument('dataset_dir', help='Dataset dir path')
    parser.add_argument('-s',
                        '--start',
                        help='Start timestamp (ex. 2017-06-10T10:00:23)')
    args = parser.parse_args()

    dataset_dir = args.dataset_dir
    start = args.start

    if not osp.exists(dataset_dir):
        print('Please install dataset to: %s' % dataset_dir)
        quit(1)

    label_files = []
    for stamp_dir in os.listdir(dataset_dir):
        stamp_dir = osp.join(dataset_dir, stamp_dir)
        label_file = osp.join(stamp_dir, 'label.npz')
        if osp.exists(label_file):
            label_files.append(label_file)
        else:
            label_files.append(None)
    print('==> Size of dataset: All: %d, Annotated: %d.' %
          (len(label_files), len(list(filter(None, label_files)))))

    PKG_DIR = rospkg.RosPack().get_path('jsk_arc2017_common')
    with open(osp.join(PKG_DIR, 'config/label_names.yaml')) as f:
        object_names = yaml.load(f)
    object_names.append('__unlabeled__')

    print('==> Press keys: [q] to quit, [n] to go next, [p] to go previous')
    stamp_dirs = list(sorted(os.listdir(dataset_dir)))
    i = 0
    while True:
        stamp = datetime.datetime.fromtimestamp(int(stamp_dirs[i]) / 1e9)
        if start and stamp < dateutil.parser.parse(start):
            i += 1
            continue
        start = None

        stamp_dir = osp.join(dataset_dir, stamp_dirs[i])
        print('%s: %s' % (stamp.isoformat(), stamp_dir))

        img_file = osp.join(stamp_dir, 'image.jpg')
        img = skimage.io.imread(img_file)

        depth_file = osp.join(stamp_dir, 'depth.npz')
        depth = np.load(depth_file)['arr_0']
        depth_viz = colorize_depth(depth, min_value=0.4, max_value=1.0)

        label_file = osp.join(stamp_dir, 'label.npz')
        if osp.exists(label_file):
            label = np.load(label_file)['arr_0']
            mask_unlabeled = label == -1
            label[mask_unlabeled] = object_names.index('__unlabeled__')
            img_labeled = img.copy()
            img_labeled[mask_unlabeled] = \
                np.random.randint(0, 255, (mask_unlabeled.sum(), 3))
            label_viz = label2rgb(lbl=label,
                                  img=img_labeled,
                                  label_names=dict(enumerate(object_names)))
        else:
            label_viz = np.zeros_like(img)

        viz = jsk_recognition_utils.get_tile_image([img, label_viz, depth_viz])

        cv2.imshow('view_jsk_v1', viz[:, :, ::-1])
        key = cv2.waitKey(0)
        if key == ord('q'):
            break
        elif key == ord('n'):
            if i == len(stamp_dirs) - 1:
                print('Reached the end edge of the dataset')
                continue
            i += 1
        elif key == ord('p'):
            if i == 0:
                print('Reached the start edge of the dataset')
                continue
            i -= 1
        else:
            continue