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data_generator.py
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data_generator.py
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'''Data generation script '''
import numpy as np
from numpy import random
import cv2
from dataset.DataGenerator import Checkboard
from utils.utils import *
from settings.settings import *
#=================config template
dataset_gene_config = {
'pathname': 'template',
'pose numbers' : 2,
'fx': [120, 180], # 120~180
'fy': [120, 180],
'px': [150, 180],
'py': [150, 180],
'checkboard size' : [(5,5), (5,6), (6,6), (7,8)],
'd': [3,6],
'theta': [-35, 35],
'phi': [-35, 35],
'x': [-50, 50],
'y': [-50, 50],
'z': [0, 120],
'max item': 400
}
#================================ generate function
def generation_script(config):
"""
Workflow
1. determine the save path accroding to the name
2. generating the data until enough
2.1 determine parameters randomly in range
2.2 generating in group (while)
named as: 'group number'-'pose number'
2.3 count if inside image
"""
# STEP 1
data_save_path = os.path.join(DATASETPATH, config['pathname'])
test_dir_if_not_create(data_save_path)
img_save_path = os.path.join(data_save_path, 'img')
test_dir_if_not_create(img_save_path)
info_save_path = os.path.join(data_save_path, 'info')
test_dir_if_not_create(info_save_path)
checkboard_save_path = [img_save_path, info_save_path]
#STEP 2
data_count = config['start']
pose_count = 0
while data_count < config['max']:
# step 2.1
#========================== K and checkboard size
corner_size = config['checkboard size'][0]#[random.randint(3)]
fx = random.rand()*(config['fx'][1] - config['fx'][0]) + config['fx'][0]
# fy = random.rand()*(config['fy'][1] - config['fy'][0]) + config['fy'][0]
fy = fx
px = random.rand()*(config['px'][1] - config['px'][0]) + config['px'][0]
# py = random.rand()*(config['py'][1] - config['py'][0]) + config['py'][0]
py = px
camera_parameters = {
'fx': fx,
'fy': fy,
'px': px,
'py': py
}
#=========================== pose change
pose_count = 0
while pose_count < config['pose numbers']:
temp_name = str(data_count)+'-'+str(pose_count)
cur = Checkboard(checkboard_save_path, temp_name, corner_size)
d = random.rand()*(config['d'][1] - config['d'][0]) + config['d'][0]
phi = random.rand()*(config['phi'][1] - config['phi'][0]) + config['phi'][0]
theta = random.rand()*(config['theta'][1] - config['theta'][0]) + config['theta'][0]
move_parameters = {
'd': d,
'theta': theta,
'phi': phi
}
x = random.rand()*(config['x'][1] - config['x'][0]) + config['x'][0]
y = random.rand()*(config['y'][1] - config['y'][0]) + config['y'][0]
z = random.rand()*(config['z'][1] - config['z'][0]) + config['z'][0]
rotate_parameters = {
'x': x,
'y': y,
'z': z
}
flag = cur.run(camera_parameters, move_parameters, rotate_parameters, save_flag=True)
if flag:
pose_count += 1
else:
print('Re generating...')
data_count += 1
def generate_with_pic(config):
"""Generate dataset with images
for detection
Workflow:
1. In certain K, draw a fix checkboard picture => get img_fix & tf
2. get randomly pose_num x (Rms, tms), draw the move checkboard pic
3. save
"""
data_save_path = os.path.join(DATASETPATH, config['pathname'])
test_dir_if_not_create(data_save_path)
img_save_path = os.path.join(data_save_path, 'img')
test_dir_if_not_create(img_save_path)
info_save_path = os.path.join(data_save_path, 'info')
test_dir_if_not_create(info_save_path)
checkboard_save_path = [img_save_path, info_save_path]
data_count = config['start']
pose_count = 0
while data_count < config['max']:
# step 1
#========================== K and checkboard size
corner_size = config['checkboard size'][0]#[random.randint(6)]
fx = random.rand()*(config['fx'][1] - config['fx'][0]) + config['fx'][0]
# fy = random.rand()*(config['fy'][1] - config['fy'][0]) + config['fy'][0]
fy = fx
px = random.rand()*(config['px'][1] - config['px'][0]) + config['px'][0]
# py = random.rand()*(config['py'][1] - config['py'][0]) + config['py'][0]
py = px
camera_parameters = {
'fx': fx,
'fy': fy,
'px': px,
'py': py
}
fix = Checkboard(name='fix', save_path=['',''], corner_size = corner_size)
fix.camera_load(camera_parameters['fx'],camera_parameters['fy'],camera_parameters['px'],camera_parameters['py'])
img_fix, tf = fix.draw_fix_checkboard()
# print(corner_size)
# img_fix.show()
# return
pose_count = 0
while pose_count < config['pose numbers']:
temp_name = str(data_count)+'-'+str(pose_count)
cur = Checkboard(checkboard_save_path, temp_name, corner_size)
cur.camera_load(camera_parameters['fx'],camera_parameters['fy'],camera_parameters['px'],camera_parameters['py'])
d = random.rand()*(config['d'][1] - config['d'][0]) + config['d'][0]
phi = random.rand()*(config['phi'][1] - config['phi'][0]) + config['phi'][0]
theta = random.rand()*(config['theta'][1] - config['theta'][0]) + config['theta'][0]
x = random.rand()*(config['x'][1] - config['x'][0]) + config['x'][0]
y = random.rand()*(config['y'][1] - config['y'][0]) + config['y'][0]
z = random.rand()*(config['z'][1] - config['z'][0]) + config['z'][0]
config_move = {
'x': x,
'y': y,
'z': z,
'd': d,
'phi': phi,
'theta': theta,
'tf': tf
}
img_bg = None
flag = cur.draw_move_checkboard(img_fix, img_bg, config_move, save_flag=True)
if flag:
pose_count += 1
else:
print('Re generating...')
data_count += 1
def generation_script_for_calib(config, fusion_flag=False, dist_flag=False, uneven_light_flag=False):
"""Wraped for Calibration
Workflow:
1. In certain K, draw a fix checkboard picture => get img_fix & tf
2. get randomly pose_num x (Rms, tms), draw the move checkboard pic
3. save
"""
data_save_path = os.path.join(DATASETPATH, config['pathname'])
test_dir_if_not_create(data_save_path)
img_save_path = os.path.join(data_save_path, 'img')
test_dir_if_not_create(img_save_path)
info_save_path = os.path.join(data_save_path, 'info')
test_dir_if_not_create(info_save_path)
heatmap_save_path = os.path.join(data_save_path, 'heatmap')
test_dir_if_not_create(heatmap_save_path)
if dist_flag:
dist_save_path = os.path.join(data_save_path, 'dist_img')
test_dir_if_not_create(dist_save_path)
ori_corner_save_path = os.path.join(data_save_path, 'ori_corner')
test_dir_if_not_create(ori_corner_save_path)
dist_corner_save_path = os.path.join(data_save_path, 'dist_corner')
test_dir_if_not_create(dist_corner_save_path)
checkboard_save_path = [img_save_path, info_save_path, heatmap_save_path, dist_save_path, ori_corner_save_path, dist_corner_save_path]
else:
checkboard_save_path = [img_save_path, info_save_path, heatmap_save_path]
data_count = config['start']
pose_count = 0
while data_count < config['max']:
# step 1
#========================== K and checkboard size
corner_size = config['checkboard size'][0]#[random.randint(6)]
fx = random.rand()*(config['fx'][1] - config['fx'][0]) + config['fx'][0]
# fy = random.rand()*(config['fy'][1] - config['fy'][0]) + config['fy'][0]
fy = fx
px = random.rand()*(config['px'][1] - config['px'][0]) + config['px'][0]
# py = random.rand()*(config['py'][1] - config['py'][0]) + config['py'][0]
py = px
camera_parameters = {
'fx': fx,
'fy': fy,
'px': px,
'py': py
}
fix = Checkboard(name='fix', save_path=['',''], corner_size = corner_size)
fix.camera_load(camera_parameters['fx'],camera_parameters['fy'],camera_parameters['px'],camera_parameters['py'])
img_fix, tf = fix.draw_fix_checkboard(fusion_flag=fusion_flag)
# print(corner_size)
# img_fix.show()
# return
pose_count = 0
while pose_count < config['pose numbers']:
temp_name = str(data_count)+'-'+str(pose_count)
cur = Checkboard(checkboard_save_path, temp_name, corner_size)
cur.camera_load(camera_parameters['fx'],camera_parameters['fy'],camera_parameters['px'],camera_parameters['py'])
d = random.rand()*(config['d'][1] - config['d'][0]) + config['d'][0]
phi = random.rand()*(config['phi'][1] - config['phi'][0]) + config['phi'][0]
theta = random.rand()*(config['theta'][1] - config['theta'][0]) + config['theta'][0]
x = random.rand()*(config['x'][1] - config['x'][0]) + config['x'][0]
y = random.rand()*(config['y'][1] - config['y'][0]) + config['y'][0]
z = random.rand()*(config['z'][1] - config['z'][0]) + config['z'][0]
config_move = {
'x': x,
'y': y,
'z': z,
'd': d,
'phi': phi,
'theta': theta,
'tf': tf
}
img_bg = None
flag = cur.draw_move_checkboard(img_fix, img_bg, config_move, save_flag=True, heatmap_flag=True, fusion_flag=fusion_flag, dist_flag=dist_flag, dist_k=config['dist_k'], uneven_light_flag=uneven_light_flag)
if flag:
pose_count += 1
else:
print('Re generating...')
data_count += 1
if __name__ == '__main__':
# Example
config = {
'pathname': 'test',
'pose numbers' : 40,
'dist_k' : [1, -0.45, 0.2],
'fx': [150, 200], # 120~180
'fy': [150, 200],
'px': [150, 200],
'py': [150, 200],
'checkboard size' : [(6,5)],
'img size' : 480,
'd': [5,8],
'theta': [-10,10],
'phi': [-10, 10],
'x': [-10, 10],
'y': [-10, 10],
'z': [-10, 10],
'max': 35,
'start': 3
}
generation_script_for_calib(config, fusion_flag=True, dist_flag=True)