convert_fence_label.py
import os
import cv2
import resource_pb2
import hadmap_pb2
import google
import google.protobuf
import google.protobuf.text_format
import threading
import numpy as np
import argparse
FLAGS = None
def convert(label_dir, image_dir, out_dir, lane_num, crop_h, resize_w, resize_h, debug):
data = None
line_num = 0
filenames = os.listdir(label_dir)
for filename in filenames:
if os.path.splitext(filename)[-1] != '.road':
continue
filepath = os.path.join(label_dir, filename)
proto_file = open(filepath, 'r')
proto_str = proto_file.read()
pbout = resource_pb2.UplaodLaneLine2dRequest()
google.protobuf.text_format.Merge(proto_str, pbout)
image_name = filename[0:-5] + '.jpg'
image = cv2.imread(os.path.join(image_dir, image_name))
if image is None:
print 'can not open image'
continue
height = image.shape[0]
width = image.shape[1]
step = float(crop_h) / float(lane_num)
resize_ratio_w = float(resize_w) / width
resize_ratio_h = float(resize_h) / height
image = cv2.resize(image, (resize_w, resize_h))
h = image.shape[0]
w = image.shape[1]
print(image_name)
has_fence = False
with open(os.path.join(out_dir , image_name.replace('jpg','txt')), 'w') as outfile:
lane_group = {}
for lane in pbout.lane_line:
if lane.type != hadmap_pb2.LINE_TYPE_FENCE:
continue
has_fence = True
tab = int(lane.lane_id)
print tab
if tab not in lane_group:
lane_group[tab] = {"x":[], "y":[]}
lane_group[tab]['x'] += (np.array([(p.x + width / 2) for p in lane.center_line]) * resize_ratio_w).astype(np.int32).tolist()
lane_group[tab]['y'] += (np.array([(-p.y + height / 2) for p in lane.center_line]) * resize_ratio_h).astype(np.int32).tolist()
if debug:
for tbs in lane_group:
for p in range(len(lane_group[tbs]['x'])):
cv2.circle(image, (lane_group[tbs]['x'][p], lane_group[tbs]['y'][p]), 2, (255, 0, 0), 2)
if debug:
print(image_name)
if has_fence:
cv2.imwrite('debug/'+ image_name, image)
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument(
'-d','--imagedir',
type=str,
default='checked_images/',
help='The images dir.'
)
parser.add_argument(
'-i','--labeldir',
type=str,
default='checked_labels/',
help='The images dir.'
)
parser.add_argument(
'-o','--outdir',
type=str,
required=False,
default='./labels',
help='The output labels dir.'
)
parser.add_argument(
'-l','--lanenum',
type=int,
default=11,
help='The step size of lane gap, pixels in raw image, default=57.1=314 * 2 / 11'
)
parser.add_argument(
'-c','--crop',
type=int,
default=352,
help='croped height of the image, default=628=314*2'
)
parser.add_argument(
'-y','--resize_h',
type=int,
default=604,
help='height of the image after resize'
)
parser.add_argument(
'-x','--resize_w',
type=int,
default=960,
help='width of the image after resize'
)
parser.add_argument(
'--debug',
action='store_true',
default=False
)
FLAGS, unparsed = parser.parse_known_args()
print(FLAGS)
if not os.path.exists(FLAGS.outdir):
os.mkdir(FLAGS.outdir)
convert(FLAGS.labeldir, FLAGS.imagedir, FLAGS.outdir, FLAGS.lanenum, FLAGS.crop, FLAGS.resize_w, FLAGS.resize_h, FLAGS.debug)
os.system('find ' + FLAGS.outdir + ' -size 0 | xargs -r -i rm "{}"')
os.system('ls ' + FLAGS.outdir + ' | sed s/txt/jpg/g >list.txt')
import os
label_dir = 'labels_fence'
output_dir = 'output'
files = os.listdir(label_dir)
for i, filename in enumerate(files):
print("%d/%d:%s" % (i, len(files),filename))
path = os.path.join(label_dir, filename)
ok = True
with open(path) as f:
points = []
while True:
line = f.readline().strip()
if line == '':
break
if len(line.split(' ')) != 4:
os.system('echo %s >>error.txt' % filename)
ok = False
break
x1,y1,x2,y2 = line.split(' ')
points.append([float(x1),float(y1),float(x2),float(y2)])
if not ok:
continue
out_path = os.path.join(output_dir, filename)
with open(out_path, 'w') as o:
for p in points:
t = 4
if (p[0] == 0 and p[1] == 0) or (p[2] == 0 and p[3] ==0):
t = -1
o.write('3 %d %f %f %f\n' % (t, (p[0] + p[2]) / 2, p[1], p[2] - p[0]))
import os
label_dir = 'labels'
output_dir = 'labels_new'
files = os.listdir(label_dir)
for i, filename in enumerate(files):
print("%d/%d:%s" % (i, len(files),filename))
path = os.path.join(label_dir, filename)
ok = True
with open(path) as f:
points = []
lanes = {}
has_left = False
while True:
line = f.readline().strip()
if line == '':
break
if len(line.split(' ')) != 5:
os.system('echo %s >>error.txt' % filename)
ok = False
break
lane = line.split(' ')
group, t, x, y, w = lane
if has_left == False and group == '1' and t != '-1':
has_left = True
if group not in lanes:
lanes[group] = [lane]
else:
lanes[group].append(lane)
if not ok:
continue
out_path = os.path.join(output_dir, filename)
with open(out_path, 'w') as o:
for l in ['1','0','2']:
for p in lanes[l]:
g = 0
if has_left:
if l == '0':
g = 1
elif l == '1':
g = 0
else:
g = 2
else:
if l == '0':
g = 0
elif l == '1':
g = 0
else:
g = 1
group, t, x, y, w = p
o.write('%d %s %s %s %s\n' % (g,t,x,y,w))
import os
import math
label_dir = 'labels_only_bollard_center'
output_dir = 'output'
files = os.listdir(label_dir)
for i, filename in enumerate(files):
print("%d/%d:%s" % (i, len(files),filename))
path = os.path.join(label_dir, filename)
ok = True
with open(path) as f:
points = []
while True:
line = f.readline().strip()
if line == '':
break
if len(line.split(' ')) != 4:
os.system('echo %s >>error.txt' % filename)
ok = False
break
g, t, xs,ys,ws = line.split(' ')
x = float(xs)
y = float(ys)
w = float(ws)
if t != 0 and x==0 and y ==0:
print line
exit()
if x > 3 or y > 3 or x < -3 or y < -3 or w > 5 or w < 0:
print line
exit()
#! /usr/bin python
# -*- coding:utf-8 -*-
import cv2
import copy as cp
import os
infilename="/home/zhao/Documents/20180117_rain_chery_4.h2640658.jpg"
image = cv2.imread(infilename, 1)
img_row_start = 768#192#628#560 448#560#530
img_height_in = 768#768#718#640#640
resize_height = 1536#960#1346#996#1200
resize_width = 1536#1920
'''
628 560
718 640
1346
1536
'''
'''
718 640
718 640
1436
1536
'''
'''
402 360
718 640
1120
1536
'''
image_cut = cv2.resize(image, (resize_width, resize_height))
image_resize = image_cut[img_row_start:img_row_start + img_height_in, :, :]
cv2.namedWindow('before', cv2.WINDOW_NORMAL)
cv2.resizeWindow("before", image_resize.shape[1]/2, image_resize.shape[0]/2);
print "before shape: " + str(image_resize.shape[0]) + " " + str(image_resize.shape[1])
cv2.imshow('before', image_resize)
infilename="/home/zhao/Documents/43465069059273.jpg"
image = cv2.imread(infilename, 1)
img_row_start = 432#168#424#168#424
img_height_in = 768#768#768#768 936
resize_height = 1200#1284
resize_width = 1536
image_cut = cv2.resize(image, (resize_width, resize_height))
image_resize = image_cut[img_row_start:img_row_start + img_height_in, :, :]
cv2.namedWindow('now', cv2.WINDOW_NORMAL)
cv2.resizeWindow("now", image_resize.shape[1]/2, image_resize.shape[0]/2);
print "now shape: " + str(image_resize.shape[0]) + " " + str(image_resize.shape[1])
cv2.imshow('now', image_resize)
'''
infilename="/home/zhao/Documents/43465069059273.jpg"
image = cv2.imread(infilename, 1)
img_row_start = 424#168#424
img_height_in = 511#768 936
resize_height = 1285
resize_width = 1536
image_cut = cv2.resize(image, (resize_width, resize_height))
image_resize = image_cut[img_row_start:img_row_start + img_height_in, :, :]
image_cut = cv2.resize(image, (resize_width, 768))
cv2.namedWindow('now_', cv2.WINDOW_NORMAL)
cv2.resizeWindow("now_", image_resize.shape[1]/2, image_resize.shape[0]/2);
print "now_ shape: " + str(image_resize.shape[0]) + " " + str(image_resize.shape[1])
cv2.imshow('now_', image_resize)
'''
cv2.waitKey(0)