From 8f4b038908e1bd68dcd6ec6aa215e8e669a8499a Mon Sep 17 00:00:00 2001
From: Naurril <naurril@gmail.com>
Date: Wed, 1 Apr 2020 09:33:17 +0800
Subject: [PATCH] linear interpolation

---
 index.html         |   6 +-
 main.py            | 182 +++++----------------------------------------
 public/js/image.js |   2 +-
 public/js/main.js  |  32 ++++++++
 public/js/save.js  |   4 +-
 scene_reader.py    | 122 ++++++++++++++++++++++++++++++
 6 files changed, 180 insertions(+), 168 deletions(-)
 create mode 100644 scene_reader.py

diff --git a/index.html b/index.html
index 832e6f1..ff4aa01 100644
--- a/index.html
+++ b/index.html
@@ -307,10 +307,10 @@
 		
 			<div id="object-context-menu">
 				<div class="menu-item menu-seperator"></div>
-				<!-- div class="menu-item" id="cm-interpolate">
+				<div class="menu-item" id="cm-interpolate">
 					<div class="menu-item-icon"><span class="ui-icon ui-icon-document"></span></div>
-					<div class="menu-item-text">Transfer to All</div>
-				</div -->
+					<div class="menu-item-text">Interpolate it</div>
+				</div>
 				<div class="menu-item" id="cm-delete">
 					<div class="menu-item-icon"><span class="ui-icon ui-icon-key"></span></div>
 					<div class="menu-item-text">Delete</div>
diff --git a/main.py b/main.py
index 03b98b9..819b020 100644
--- a/main.py
+++ b/main.py
@@ -9,11 +9,16 @@
 
 import os
 import sys
+import scene_reader
+
 BASE_DIR = os.path.dirname(os.path.abspath(__file__))
-# sys.path.append(BASE_DIR)
-# sys.path.append(os.path.join(BASE_DIR, '../pointnet'))
-# import predict
 
+sys.path.append(BASE_DIR)
+sys.path.append(os.path.join(BASE_DIR, '../DeepAnnotate'))
+import predict
+
+sys.path.append(os.path.join(BASE_DIR, '../tracking'))
+import trajectory_predict
 
 extract_object_exe = "~/code/pcltest/build/extract_object"
 registration_exe = "~/code/go_icp_pcl/build/test_go_icp"
@@ -50,31 +55,29 @@ def save(self, scene, frame):
         f.write(rawbody)
       
       return "ok"
+    @cherrypy.expose
+    @cherrypy.tools.json_out()
+    def interpolate(self, scene, frame, obj_id):
+      interpolate_num = trajectory_predict.predict(scene, obj_id, frame, None)
+      return interpolate_num
 
 
     # data  N*3 numpy array
     @cherrypy.expose    
     @cherrypy.tools.json_out()
     def predict_rotation(self):
-      # cl = cherrypy.request.headers['Content-Length']
-      # rawbody = cherrypy.request.body.read(int(cl))
+      cl = cherrypy.request.headers['Content-Length']
+      rawbody = cherrypy.request.body.read(int(cl))
       
-      # data = json.loads(rawbody)
+      data = json.loads(rawbody)
       
-      # return {"angle": predict.predict(data["points"])}
-      return {}
+      return {"angle": predict.predict(data["points"])}
+      #return {}
 
     @cherrypy.expose    
     @cherrypy.tools.json_out()
     def load_annotation(self, scene, frame):
-      filename = "./data/"+scene +"/label/"+ frame + ".json"
-      if (os.path.isfile(filename)):
-        with open(filename,"r") as f:
-          ann=json.load(f)
-          print(ann)          
-          return ann
-      else:
-        return []
+      return scene_reader.read_annotations(scene, frame)
 
     @cherrypy.expose    
     @cherrypy.tools.json_out()
@@ -112,152 +115,7 @@ def auto_adjust(self, scene, ref_frame, object_id, adj_frame):
     @cherrypy.expose    
     @cherrypy.tools.json_out()
     def datameta(self):
-      data = []
-
-      scenes = os.listdir("./data")
-      print(scenes)
-      scenes.sort()
-
-      for s in scenes:
-        scene = {
-          "scene": s,
-          "frames": []
-        }
-
-        if os.path.exists(os.path.join("./data", s, "disable")):
-          print(s, "disabled")
-          continue
-        
-        data.append(scene)
-
-        frames = os.listdir("./data/"+s+"/pcd")
-        #print(s, frames)
-        frames.sort()
-
-        scene["pcd_ext"]="pcd"
-        for f in frames:
-          #if os.path.isfile("./data/"+s+"/pcd/"+f):
-            filename, fileext = os.path.splitext(f)
-            scene["frames"].append(filename)
-            scene["pcd_ext"] = fileext
-        
-        point_transform_matrix=[]
-
-        if os.path.isfile("./data/"+s+"/point_transform.txt"):
-          with open("./data/"+s+"/point_transform.txt")  as f:
-            point_transform_matrix=f.read()
-            point_transform_matrix = point_transform_matrix.split(",")
-
-        def strip_str(x):
-          return x.strip()
-
-
-        
-        # calib_file = "./data/"+s+"/calib.txt"
-        # if os.path.isfile(calib_file):
-        #   calib["image"] = {}
-        #   with open(calib_file)  as f:
-        #     lines = f.readlines()
-        #     calib["image"]["extrinsic"] = map(strip_str, lines[0].strip().split(","))
-        #     calib["image"]["intrinsic"] = lines[1].strip().split(",") 
-
-        # calibleft={}
-        # calib_file = "./data/"+s+"/calib_left.txt"
-        # if os.path.isfile(calib_file):
-        #   calib["left"] = {}
-        #   with open(calib_file)  as f:
-        #     lines = f.readlines()
-        #     calib["left"]["extrinsic"] = map(strip_str, lines[0].strip().split(","))
-        #     calib["left"]["intrinsic"] = lines[1].strip().split(",") 
-
-        # calibright={}
-        # calib_file = "./data/"+s+"/calib_right.txt"
-        # if os.path.isfile(calib_file):
-        #   calib["right"] = {}
-        #   with open(calib_file)  as f:
-        #     lines = f.readlines()
-        #     calib["right"]["extrinsic"] = map(strip_str, lines[0].strip().split(","))
-        #     calib["right"]["intrinsic"] = lines[1].strip().split(",") 
-        calib={}
-        if os.path.exists("./data/"+s+"/calib"):
-          calibs = os.listdir("./data/"+s+"/calib")
-          for c in calibs:
-            calib_file = "./data/"+s+"/calib/" + c
-            calib_name, _ = os.path.splitext(c)
-            if os.path.isfile(calib_file):
-              print(calib_file)
-              with open(calib_file)  as f:
-                cal = json.load(f)
-                calib[calib_name] = cal
-
-        # camera names
-        image = []
-        image_ext = ""
-        cam_path = "./data/"+s+"/image"
-        if os.path.exists(cam_path):
-          if os.path.exists(cam_path):
-            cams = os.listdir(cam_path)
-            for c in cams:
-              cam_file = "./data/"+s+"/image/" + c
-              if os.path.isdir(cam_file):
-
-                if image:
-                  image.append(c)
-                else:
-                  image = [c]
-
-                if image_ext == "":
-                  #detect image file ext
-                  files = os.listdir(cam_file)
-                  if len(files)>=2:
-                    _,image_ext = os.path.splitext(files[0])
-
-        if image_ext == "":
-          image_ext = ".jpg"
-        scene["image_ext"] = image_ext
-
-
-        if not os.path.isdir("./data/"+s+"/bbox.xyz"):
-          scene["boxtype"] = "psr"
-          if point_transform_matrix:
-            scene["point_transform_matrix"] = point_transform_matrix
-          if calib:
-            scene["calib"] = calib
-          if image:
-            scene["image"] = image
-        else:
-          scene["boxtype"] = "xyz"
-          if point_transform_matrix:
-            scene["point_transform_matrix"] = point_transform_matrix
-          if calib:
-            scene["calib"] = calib
-          if image:
-            scene["image"] = image
-
-
-      print(data)
-      return data
-      # return [
-      #         {
-      #           "scene":"liuxian1",
-      #           "frames": [
-      #             "000242","000441"
-      #           ],
-      #           "boxtype":"xyz",
-      #           "point_transform_matrix": [
-      #             1, 0, 0, 
-      #             0, 0, 1, 
-      #             0, -1, 0,
-      #           ]
-      #         },
-      #         {
-      #           "scene":"liuxian2",
-      #           "frames": [
-      #             "test"
-      #           ],
-      #           "boxtype":"psr",
-      #         },
-      #        ]
+      return scene_reader.get_all_scenes()
     
     @cherrypy.expose    
     @cherrypy.tools.json_out()
diff --git a/public/js/image.js b/public/js/image.js
index 5a53565..0ff0e95 100644
--- a/public/js/image.js
+++ b/public/js/image.js
@@ -515,7 +515,7 @@ function update_image_box_projection(box){
                     y: ctx.canvas.height/crop_area[3],
                 }
 
-                draw_box_on_image(ctx, box, imgfinal, trans_ratio, false);
+                draw_box_on_image(ctx, box, imgfinal, trans_ratio, true);
             }
         }
     }
diff --git a/public/js/main.js b/public/js/main.js
index d0c2dc4..e1a51a0 100644
--- a/public/js/main.js
+++ b/public/js/main.js
@@ -371,6 +371,12 @@ function install_context_menu(){
         remove_selected_box();
         header.mark_changed_flag();
     };
+
+    document.getElementById("cm-interpolate").onclick = function(event){      
+        interpolate_selected_object();
+        header.mark_changed_flag();
+    };
+    
     
 }
 
@@ -1974,5 +1980,31 @@ function add_global_obj_type(){
 }
 
 
+function interpolate_selected_object(){
+
+    let scene = data.world.file_info.scene; 
+    let frame = data.world.file_info.frame;
+    let obj_id = selected_box.obj_track_id;
+
+
+    var xhr = new XMLHttpRequest();
+    // we defined the xhr
+    
+    xhr.onreadystatechange = function () {
+        if (this.readyState != 4) 
+            return;
+    
+        if (this.status == 200) {
+            var ret = JSON.parse(this.responseText);
+            console.log(ret);
+        }
+
+    };
+    
+    xhr.open('GET', "/interpolate?scene="+scene+"&frame="+frame+"&obj_id="+obj_id, true);
+    xhr.send();
+
+
+}
 
 export {selected_box, params, on_box_changed, select_bbox, scene, floatLabelManager, on_load_world_finished, operation_state, transform_bbox, translate_box, update_subview_by_windowsize}
\ No newline at end of file
diff --git a/public/js/save.js b/public/js/save.js
index 9743e6d..c2c3de0 100644
--- a/public/js/save.js
+++ b/public/js/save.js
@@ -8,7 +8,7 @@ function save_annotation(done){
     var bbox_annotations=[];
     console.log(data.world.boxes.length, "boxes");
     data.world.boxes.forEach(function(b){
-        var vertices = psr_to_xyz(b.position, b.scale, b.rotation);
+        //var vertices = psr_to_xyz(b.position, b.scale, b.rotation);
 
         var b = {
             psr: {
@@ -33,7 +33,7 @@ function save_annotation(done){
            
             obj_type: b.obj_type,
             obj_id: b.obj_track_id,
-            vertices: vertices,
+            //vertices: vertices,
         };
 
         bbox_annotations.push(b);
diff --git a/scene_reader.py b/scene_reader.py
new file mode 100644
index 0000000..6bdbe06
--- /dev/null
+++ b/scene_reader.py
@@ -0,0 +1,122 @@
+
+import os
+import json
+
+this_dir = os.path.dirname(os.path.abspath(__file__))
+root_dir = os.path.join(this_dir, "data")
+
+def get_all_scenes():
+    all_scenes = get_scene_names()
+    print(all_scenes)
+    return list(map(get_one_scene, all_scenes))
+
+def get_scene_names():
+      scenes = os.listdir(root_dir)
+      scenes = filter(lambda s: not os.path.exists(os.path.join(root_dir, s, "disable")), scenes)
+      scenes = list(scenes)
+      scenes.sort()
+      return scenes
+
+def get_one_scene(s):
+    scene = {
+        "scene": s,
+        "frames": []
+    }
+
+    scene_dir = os.path.join(root_dir, s)
+    frames = os.listdir(os.path.join(scene_dir, "pcd"))
+    #print(s, frames)
+    frames.sort()
+
+    scene["pcd_ext"]="pcd"
+    for f in frames:
+        #if os.path.isfile("./data/"+s+"/pcd/"+f):
+        filename, fileext = os.path.splitext(f)
+        scene["frames"].append(filename)
+        scene["pcd_ext"] = fileext
+
+    point_transform_matrix=[]
+
+    if os.path.isfile(os.path.join(scene_dir, "point_transform.txt")):
+        with open(os.path.join(scene_dir, "point_transform.txt"))  as f:
+            point_transform_matrix=f.read()
+            point_transform_matrix = point_transform_matrix.split(",")
+
+    def strip_str(x):
+        return x.strip()
+
+    calib={}
+    if os.path.exists(os.path.join(scene_dir, "calib")):
+        calibs = os.listdir(os.path.join(scene_dir, "calib"))
+        for c in calibs:
+            calib_file = os.path.join(scene_dir, "calib", c)
+            calib_name, _ = os.path.splitext(c)
+            if os.path.isfile(calib_file):
+                #print(calib_file)
+                with open(calib_file)  as f:
+                    cal = json.load(f)
+                    calib[calib_name] = cal
+
+    # camera names
+    image = []
+    image_ext = ""
+    cam_path = os.path.join(scene_dir, "image")
+    if os.path.exists(cam_path):
+        cams = os.listdir(cam_path)
+        for c in cams:
+            cam_file = os.path.join(scene_dir, "image", c)
+            if os.path.isdir(cam_file):
+                if image:
+                    image.append(c)
+                else:
+                    image = [c]
+
+                if image_ext == "":
+                    #detect image file ext
+                    files = os.listdir(cam_file)
+                    if len(files)>=2:
+                        _,image_ext = os.path.splitext(files[0])
+
+    if image_ext == "":
+        image_ext = ".jpg"
+    scene["image_ext"] = image_ext
+
+
+    if not os.path.isdir(os.path.join(scene_dir, "bbox.xyz")):
+        scene["boxtype"] = "psr"
+        if point_transform_matrix:
+            scene["point_transform_matrix"] = point_transform_matrix
+        if calib:
+            scene["calib"] = calib
+        if image:
+            scene["image"] = image
+    else:
+        scene["boxtype"] = "xyz"
+        if point_transform_matrix:
+            scene["point_transform_matrix"] = point_transform_matrix
+        if calib:
+            scene["calib"] = calib
+        if image:
+            scene["image"] = image
+
+    
+    return scene
+
+
+def read_annotations(scene, frame):
+    filename = os.path.join(root_dir, scene, "label", frame+".json")
+    if (os.path.isfile(filename)):
+      with open(filename,"r") as f:
+        ann=json.load(f)
+        #print(ann)          
+        return ann
+    else:
+      return []
+
+def save_annotations(scene, frame, anno):
+    filename = os.path.join(root_dir, scene, "label", frame+".json")
+    with open(filename, 'w') as outfile:
+            json.dump(anno, outfile)
+
+if __name__ == "__main__":
+    print(get_all_scenes())
\ No newline at end of file