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masks_person.py
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masks_person.py
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# This program just creates separate png masks for each instance of the gas truck object. Then writes out those coordinates to
# In settings.json first activate computer vision mode:
# https://github.com/Microsoft/AirSim/blob/master/docs/image_apis.md#computer-vision-mode
import setup_path
import airsim
import os
import cv2 as cv
import numpy as np
global filename
import time
client = airsim.VehicleClient()
client.confirmConnection()
# Check if object is present in the image in filename and if so, append a binary flag onto a list, that the object is present
def check_object_present(filename,image_count,object_exists_list):
img = cv.imread(filename+'.png',0)
color = [255, 255, 255] # 'white color
top, bottom, left, right = [1]*4
img_with_border = cv.copyMakeBorder(img, top, bottom, left, right, cv.BORDER_CONSTANT, value=color) #drawing border to recognize contours of partial objects
ret,thresh = cv.threshold(img_with_border,127,255,0) #converting to bw format first
im2,contours,hierarchy = cv.findContours(thresh, 1, 2)
#Extracting the coorindates of the biggest enclosing rectangle
if len(contours)>1:
object_exists_list.append(1)
else:
object_exists_list.append(0)
if(os.path.isfile(filename + '.png')):
os.remove(filename + '.png')
return(object_exists_list)
#The following counter to create a set of 100 test images to check whether changing the color of objects in the middle of the code works
# This function is similar to create_truck_masks, but slightly different because all the truck objects have different mesh id names that are not serial number formats.
def create_object_masks(object_IDs_list, class_label, image_directory):
object_count = 0
for object_ID in object_IDs_list:
#Setting all object IDs to 0 and all the gas truck tanks to a specific ID
object_count = object_count + 1
found = client.simSetSegmentationObjectID("[\w]*", 0, True);
print("Set everything to 0 color code: %r" % (found))
################################################################################################################
##################################### Change object ID below ###################################################
found = client.simSetSegmentationObjectID(object_ID, 2, True);
print("Setting color for "+str(object_ID)+": "+str(found))
i =1 #resetting i, the image count, before moving on to the next instance of the object
object_exists_list = [] #initializing a list that can hold whether a truck exists in each of these images
for z in np.linspace(-30,-100,10):
for x in np.linspace(2.93,-37.37, 10):
for y in np.linspace(-88.17, -192.27,10):
global filename
client.simSetVehiclePose(airsim.Pose(airsim.Vector3r(x,y,z), airsim.to_quaternion(0,0,0)), True)
#print(client.simGetCameraInfo("0"))
responses = client.simGetImages([
# airsim.ImageRequest("0", airsim.ImageType.Segmentation, True), #depth in perspective projection
# airsim.ImageRequest("0", airsim.ImageType.Segmentation, False, False)]) #scene vision image in uncompressed RGBA array
#airsim.ImageRequest("3", airsim.ImageType.Scene, False, False),
airsim.ImageRequest("3", airsim.ImageType.Segmentation, False, False)])
#print('Retrieved images: %d', len(responses))
#save segmentation images in various formats
for idx, response in enumerate(responses):
global filename
#################################################################################################
############################ Image directory here ###############################################
filename = str(image_directory)+'/image_'+str(i)+'_'+str(class_label)+'_'+str(object_count)
if response.pixels_as_float:
#print("Type %d, size %d" % (response.image_type, len(response.image_data_float)))
airsim.write_pfm(os.path.normpath(filename + '.pfm'), airsim.get_pfm_array(response))
elif response.compress: #png format
#print("Type %d, size %d" % (response.image_type, len(response.image_data_uint8)))
airsim.write_file(os.path.normpath(filename + '.png'), response.image_data_uint8)
else: #uncompressed array - numpy demo
#print("Type %d, size %d" % (response.image_type, len(response.image_data_uint8)))
img1d = np.fromstring(response.image_data_uint8, dtype=np.uint8) #get numpy array
img_rgba = img1d.reshape(response.height, response.width, 4) #reshape array to 4 channel image array H X W X 4
img_rgba = np.flipud(img_rgba) #original image is flipped vertically
airsim.write_png(os.path.normpath(filename + '.png'), img_rgba) #write to jpg
object_exists_list = check_object_present(filename, i,object_exists_list)
if i%50 == 0:
print("Image count = ", i)
i = i+1
#####################################################################################################
################################ Change filename for other objects ##################################
text_filename = "list_"+str(class_label)+"_"+str(object_count)+".txt"
buffsize=1
file = open(text_filename,"a+",buffsize)
print("Object count: ",object_count )
print(object_exists_list)
for item in object_exists_list:
file.write("%s\n" % item)
#Checking the number of contours in a few files before actually deciding the criteria for deleting empty images
#delete_empty_images("D:/AirSim/New/Images/Test_images_contour_detection")
start_time = time.time()
# The list of object IDs to be passed into the create_masks function
#truck_object_IDs_list = ["FbxScene_PickupTruck_C_0", "FbxScene_JCB2_3989", "KamazNov2_3"]
# gas_object_list = ["Propane_Tank_E_Blueprint8","Propane_Tank_E_Blueprint9","Propane_Tank_E_Blueprint10_2","Propane_Tank_E_Blueprint11", "Propane_Tank_E_Blueprint12", "Propane_Tank_E_Blueprint13"]
# house_object_list = ['FbxScene_House2_212', 'FbxScene_HouseThree2_2593', 'FbxScene_HouseTwo2_658']
person_object_list = ['ConstructionWorker_5']
current_class_label = "person"
# current_image_directory = "D:/AirSim/New/Images/Images_master"
current_image_directory = "C:/tmp/masks_person" # Testing C ddrive ssd for faster writing
############################ Calling the create_masks function for truck objects ##############################
create_object_masks(person_object_list, current_class_label, current_image_directory)
print("--- %s seconds ---" % (time.time() - start_time))