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convertdata.py
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import os,sys
import cvSDK.BasicUseFunc as basFunc
import cvSDK.DataIO as dio
import cvSDK.BasicPicDeal as basPic
from sixdrepnet.utils import *
from sixdrepnet.enhaunce import *
import cvSDK.BasicDrawing as basDraw
import shutil
import cv2
def GetBox(file,pt2d):
img=cv2.imread(file)
msk=np.logical_or(pt2d<0,pt2d>img.shape[1])
msk=~msk
xmin=pt2d[0][msk[0]].min()
xmax=pt2d[0][msk[0]].max()
ymin=pt2d[1][msk[1]].min()
ymax=pt2d[1][msk[1]].max()
return xmin,ymin,xmax,ymax
#所有格式是弧度
def WLP():
outDir=basFunc.MakeEmptyDir("wlpDir")
debugDir=basFunc.MakeEmptyDir("debugDir")
cnt=0
for file,d,name,ftr in basFunc.GetFileDirLst("300W_LP",False,True):
shutil.copy(file,os.path.join(outDir,str(cnt)+".jpg"))
matfile=os.path.join(d,name+".mat")
pt2d=get_pt2d_from_mat(matfile)
x_min = min(pt2d[0,:])
y_min = min(pt2d[1,:])
x_max = max(pt2d[0,:])
y_max = max(pt2d[1,:])
box=[x_min,y_min,x_max,y_max]
pose = get_ypr_from_mat(matfile)
pitch = pose[0]# * 180 / np.pi
yaw = pose[1] #* 180 / np.pi
roll = pose[2]# * 180 / np.pi
img=cv2.imread(file)
mat=get_R(-pitch,yaw,-roll)
tp=draw_axis(img,yaw*180/np.pi,pitch*180/np.pi,roll*180/np.pi,0,0,1)
label=[pitch,yaw,roll]
pklfile=os.path.join(outDir,str(cnt)+".pkl")
dio.SaveVariableToPKL(pklfile,[box,label])
debugfile=os.path.join(debugDir,str(cnt)+".jpg")
img=basDraw.DrawImageRectangles(img,[box],useNpy=True)
img=draw_axis(img,yaw*180/np.pi,pitch*180/np.pi,roll*180/np.pi,None,None)
cv2.imwrite(debugfile,img)
cnt+=1
return
#所有格式是弧度
def WLP2():
outDir=basFunc.MakeEmptyDir("wlpDir")
debugDir=basFunc.MakeEmptyDir("debugDir")
cnt=0
for file,d,name,ftr in basFunc.GetFileDirLst("300W_LP",False,True):
shutil.copy(file,os.path.join(outDir,str(cnt)+".jpg"))
matfile=os.path.join(d,name+".mat")
pt2d=get_pt2d_from_mat(matfile)
x_min = min(pt2d[0,:])
y_min = min(pt2d[1,:])
x_max = max(pt2d[0,:])
y_max = max(pt2d[1,:])
box=[x_min,y_min,x_max,y_max]
pose = get_ypr_from_mat(matfile)
pitch = pose[0]# * 180 / np.pi
yaw = pose[1] #* 180 / np.pi
roll = pose[2]# * 180 / np.pi
debugfile=os.path.join(debugDir,str(cnt)+"_x.jpg")
oimg=cv2.imread(file)
oimg=draw_axis(oimg,yaw*180/np.pi,pitch*180/np.pi,roll*180/np.pi)
cv2.imwrite(debugfile,oimg)
rot=get_R(-pitch,yaw,-roll)
rott=np.transpose(rot,[1,0])
img=cv2.imread(file)
img,ngt,angle=RotateCV(img,rott)
ngtt=np.transpose(ngt,[1,0])
outelar=compute_euler_angles_from_rotation_matricesnpy(ngtt[None,...])[0]
npitch,nyaw,nroll=outelar.tolist()
npitch=-npitch
nroll=-nroll
debugfile=os.path.join(debugDir,str(cnt)+".jpg")
img=draw_axis(img,nyaw*180/np.pi,npitch*180/np.pi,nroll*180/np.pi,None,None)
#img=draw_axis(img,yaw*180/np.pi,pitch*180/np.pi,roll*180/np.pi,None,None)
cv2.imwrite(debugfile,img)
cnt+=1
return
def BIWI():
outDir=basFunc.MakeEmptyDir("biwi")
debugDir=basFunc.MakeEmptyDir("debugDir")
cnt=0
for file,d,name,ftr in basFunc.GetFileDirLst("faces_0",False,True,"*.png"):
img=cv2.imread(file)
outimg=os.path.join(outDir,str(cnt)+"_b.jpg")
fname=name
dex=-1
dex=name.find("_rgb")
if dex>=0:
name=name[:dex]
basd=os.path.basename(d)
mskdir='head_pose_masks'
mskfile=os.path.join(mskdir,basd,name+"_depth_mask.png")
if(not os.path.exists(mskfile)):
continue
msk=cv2.imread(mskfile,cv2.IMREAD_UNCHANGED)
msk=msk==255
ydexs,xdexs=np.where(msk)
box=[xdexs.min(),ydexs.min(),xdexs.max(),ydexs.max()]
posetxt=os.path.join(d,name+"_pose.txt")
with open(posetxt) as f:
lines=f.readlines()
lines=lines[:3]
vals=[]
for i in range(len(lines)):
lines[i]=lines[i].strip()
for l in lines[i].split(" "):
vals.append(float(l))
assert(len(vals)==9)
mat=np.array(vals).reshape(3,3)
debugfile=os.path.join(debugDir,str(cnt)+'.jpg')
outelar=compute_euler_angles_from_rotation_matricesnpy(mat[None,...])[0]
npitch,nyaw,nroll=outelar.tolist()
npitch,nyaw,nroll=-npitch,nyaw,-nroll
label=[npitch,nyaw,nroll]
cv2.imwrite(outimg,img)
dio.SaveVariableToPKL(os.path.join(outDir,str(cnt)+"_b.pkl"),[box,label])
img=basDraw.DrawImageRectangles(img,[box],useNpy=True)
img=draw_axis(img,nyaw*180/np.pi,npitch*180/np.pi,nroll*180/np.pi,None,None)
cv2.imwrite(debugfile,img)
cnt+=1
def AFLW():
outDir=basFunc.MakeEmptyDir("Aflw")
debugDir=basFunc.MakeEmptyDir("debugDir")
cnt=0
for file,d,name,ftr in basFunc.GetFileDirLst("AFLW2000",False,True):
shutil.copy(file,os.path.join(outDir,str(cnt)+"_aflw.jpg"))
matfile=os.path.join(d,name+".mat")
pt2d=get_pt2d_from_mat(matfile)
x_min,y_min,x_max,y_max=GetBox(file,pt2d)
cx,cy,w,h=(x_min+x_max)/2,(y_min+y_max)/2,x_max-x_min,y_max-y_min
w*=2
h*=2
x_min,y_min,x_max,y_max=cx-w/2,cy-h/2,cx+w/2,cy+h/2
box=[x_min,y_min,x_max,y_max]
pose = get_ypr_from_mat(matfile)
pitch = pose[0]# * 180 / np.pi
yaw = pose[1] #* 180 / np.pi
roll = pose[2]# * 180 / np.pi
img=cv2.imread(file)
x_min,y_min=max(x_min,0),max(y_min,0)
x_max,y_max=min(x_max,img.shape[1]-1),min(y_max,img.shape[0]-1)
img=img[int(y_min):int(y_max),int(x_min):int(x_max)]
mat=get_R(-pitch,yaw,-roll)
tp=draw_axis(img,yaw*180/np.pi,pitch*180/np.pi,roll*180/np.pi,0,0,1)
label=[pitch,yaw,roll]
pklfile=os.path.join(outDir,str(cnt)+"_aflw.pkl")
dio.SaveVariableToPKL(pklfile,[[],label])
debugfile=os.path.join(debugDir,str(cnt)+".jpg")
img=draw_axis(img,yaw*180/np.pi,pitch*180/np.pi,roll*180/np.pi,None,None)
cv2.imwrite(debugfile,img)
cnt+=1
return
def AFLWEnhaunce():
outDir=basFunc.MakeEmptyDir("val")
debugDir=basFunc.MakeEmptyDir("debugDir")
cnt=0
allfiles=[]
for file,d,name,ftr in basFunc.GetFileDirLst("AFLW2000",False,True):
allfiles.append([file,d,name,ftr])
allcnts=len(allfiles)*2
for i in range(int(allcnts)):
basFunc.Process(i,int(allcnts))
file,d,name,ftr=allfiles[i%len(allfiles)]
outfile=os.path.join(outDir,str(cnt)+"_enh.jpg")
matfile=os.path.join(d,name+".mat")
pt2d=get_pt2d_from_mat(matfile)
x_min,y_min,x_max,y_max=GetBox(file,pt2d)
cx,cy,w,h=(x_min+x_max)/2,(y_min+y_max)/2,x_max-x_min,y_max-y_min
w*=2
h*=2
x_min,y_min,x_max,y_max=cx-w/2,cy-h/2,cx+w/2,cy+h/2
x_min,y_min=max(x_min,0),max(y_min,0)
img=cv2.imread(file)
x_max,y_max=min(x_max,img.shape[1]-1),min(y_max,img.shape[0]-1)
box=[x_min,y_min,x_max,y_max]
pose = get_ypr_from_mat(matfile)
pitch = pose[0]# * 180 / np.pi
yaw = pose[1] #* 180 / np.pi
roll = pose[2]# * 180 / np.pi
img=img[int(y_min):int(y_max),int(x_min):int(x_max)]
img=EnhanunceCV(img)
cv2.imwrite(outfile,img)
mat=get_R(-pitch,yaw,-roll)
tp=draw_axis(img,yaw*180/np.pi,pitch*180/np.pi,roll*180/np.pi,0,0,1)
label=[pitch,yaw,roll]
pklfile=os.path.join(outDir,str(cnt)+"_enh.pkl")
dio.SaveVariableToPKL(pklfile,[[],label])
debugfile=os.path.join(debugDir,str(cnt)+".jpg")
img=draw_axis(img,yaw*180/np.pi,pitch*180/np.pi,roll*180/np.pi,None,None)
cv2.imwrite(debugfile,img)
cnt+=1
return
def AFLWEnhaunceGray():
[outDir]=basFunc.GetCurDirNames(["val"])
debugDir=basFunc.MakeEmptyDir("debugDir")
cnt=0
allfiles=[]
for file,d,name,ftr in basFunc.GetFileDirLst("AFLW2000",False,True):
allfiles.append([file,d,name,ftr])
allcnts=len(allfiles)*1
for i in range(int(allcnts)):
basFunc.Process(i,int(allcnts))
file,d,name,ftr=allfiles[i%len(allfiles)]
outfile=os.path.join(outDir,str(cnt)+"_gray.jpg")
matfile=os.path.join(d,name+".mat")
pt2d=get_pt2d_from_mat(matfile)
x_min,y_min,x_max,y_max=GetBox(file,pt2d)
cx,cy,w,h=(x_min+x_max)/2,(y_min+y_max)/2,x_max-x_min,y_max-y_min
w*=2
h*=2
x_min,y_min,x_max,y_max=cx-w/2,cy-h/2,cx+w/2,cy+h/2
x_min,y_min=max(x_min,0),max(y_min,0)
img=cv2.imread(file)
x_max,y_max=min(x_max,img.shape[1]-1),min(y_max,img.shape[0]-1)
box=[x_min,y_min,x_max,y_max]
pose = get_ypr_from_mat(matfile)
pitch = pose[0]# * 180 / np.pi
yaw = pose[1] #* 180 / np.pi
roll = pose[2]# * 180 / np.pi
img=img[int(y_min):int(y_max),int(x_min):int(x_max)]
img=EnhanunceCV(img)
img=Gray(img,1.0)
cv2.imwrite(outfile,img)
mat=get_R(-pitch,yaw,-roll)
tp=draw_axis(img,yaw*180/np.pi,pitch*180/np.pi,roll*180/np.pi,0,0,1)
label=[pitch,yaw,roll]
pklfile=os.path.join(outDir,str(cnt)+"_gray.pkl")
dio.SaveVariableToPKL(pklfile,[[],label])
debugfile=os.path.join(debugDir,str(cnt)+".jpg")
img=draw_axis(img,yaw*180/np.pi,pitch*180/np.pi,roll*180/np.pi,None,None)
cv2.imwrite(debugfile,img)
cnt+=1
return
def AFLWEnhaunceRotate():
[outDir]=basFunc.GetCurDirNames(["val"])
debugDir=basFunc.MakeEmptyDir("debugDir")
cnt=0
allfiles=[]
for file,d,name,ftr in basFunc.GetFileDirLst("AFLW2000",False,True):
allfiles.append([file,d,name,ftr])
allcnts=len(allfiles)*2
for i in range(int(allcnts)):
basFunc.Process(i,int(allcnts))
file,d,name,ftr=allfiles[i%len(allfiles)]
outfile=os.path.join(outDir,str(cnt)+"_rot.jpg")
matfile=os.path.join(d,name+".mat")
pt2d=get_pt2d_from_mat(matfile)
x_min,y_min,x_max,y_max=GetBox(file,pt2d)
cx,cy,w,h=(x_min+x_max)/2,(y_min+y_max)/2,x_max-x_min,y_max-y_min
w*=2
h*=2
x_min,y_min,x_max,y_max=cx-w/2,cy-h/2,cx+w/2,cy+h/2
x_min,y_min=max(x_min,0),max(y_min,0)
img=cv2.imread(file)
x_max,y_max=min(x_max,img.shape[1]-1),min(y_max,img.shape[0]-1)
box=[x_min,y_min,x_max,y_max]
pose = get_ypr_from_mat(matfile)
pitch = pose[0]# * 180 / np.pi
yaw = pose[1] #* 180 / np.pi
roll = pose[2]# * 180 / np.pi
img=img[int(y_min):int(y_max),int(x_min):int(x_max)]
img=EnhanunceCV(img)
img=Gray(img)
rot=get_R(-pitch,yaw,-roll)
rott=np.transpose(rot,[1,0])
img,ngt,angle=RotateCV(img,rott)
ngtt=np.transpose(ngt,[1,0])
outelar=compute_euler_angles_from_rotation_matricesnpy(ngtt[None,...])[0]
npitch,nyaw,nroll=outelar.tolist()
npitch=-npitch
nroll=-nroll
cv2.imwrite(outfile,img)
label=[npitch,nyaw,nroll]
pklfile=os.path.join(outDir,str(cnt)+"_rot.pkl")
dio.SaveVariableToPKL(pklfile,[[],label])
debugfile=os.path.join(debugDir,str(cnt)+".jpg")
img=draw_axis(img,nyaw*180/np.pi,npitch*180/np.pi,nroll*180/np.pi,None,None)
cv2.imwrite(debugfile,img)
cnt+=1
return
def AFLWEnhaunceDownScale():
[outDir]=basFunc.GetCurDirNames(["val"])
debugDir=basFunc.MakeEmptyDir("debugDir")
cnt=0
allfiles=[]
for file,d,name,ftr in basFunc.GetFileDirLst("AFLW2000",False,True):
allfiles.append([file,d,name,ftr])
allcnts=len(allfiles)*2
for i in range(int(allcnts)):
basFunc.Process(i,int(allcnts))
file,d,name,ftr=allfiles[i%len(allfiles)]
outfile=os.path.join(outDir,str(cnt)+"_enhdw.jpg")
matfile=os.path.join(d,name+".mat")
pt2d=get_pt2d_from_mat(matfile)
x_min,y_min,x_max,y_max=GetBox(file,pt2d)
cx,cy,w,h=(x_min+x_max)/2,(y_min+y_max)/2,x_max-x_min,y_max-y_min
w*=2
h*=2
x_min,y_min,x_max,y_max=cx-w/2,cy-h/2,cx+w/2,cy+h/2
x_min,y_min=max(x_min,0),max(y_min,0)
img=cv2.imread(file)
x_max,y_max=min(x_max,img.shape[1]-1),min(y_max,img.shape[0]-1)
box=[x_min,y_min,x_max,y_max]
pose = get_ypr_from_mat(matfile)
pitch = pose[0]# * 180 / np.pi
yaw = pose[1] #* 180 / np.pi
roll = pose[2]# * 180 / np.pi
img=img[int(y_min):int(y_max),int(x_min):int(x_max)]
img=EnhanunceCVDown(img)
cv2.imwrite(outfile,img)
mat=get_R(-pitch,yaw,-roll)
tp=draw_axis(img,yaw*180/np.pi,pitch*180/np.pi,roll*180/np.pi,0,0,1)
label=[pitch,yaw,roll]
pklfile=os.path.join(outDir,str(cnt)+"_enhdw.pkl")
dio.SaveVariableToPKL(pklfile,[[],label])
debugfile=os.path.join(debugDir,str(cnt)+".jpg")
img=draw_axis(img,yaw*180/np.pi,pitch*180/np.pi,roll*180/np.pi,None,None)
cv2.imwrite(debugfile,img)
cnt+=1
return
if __name__ == '__main__':
#WLP()
#WLP2()
#BIWI()
AFLW() #2000
AFLWEnhaunce()#4000
AFLWEnhaunceGray()#2000
AFLWEnhaunceRotate()#4000
AFLWEnhaunceDownScale()#4000