Merge pull request RobotLocomotion#150 from RobotLocomotion/lm-paths

Fix paths for scripts

Author: manuelli

dense_correspondence/evaluation/make_video.ipynb

@@ -17,4 +17,5 @@ sudo pip install opencv-contrib-python
 sudo pip install tensorboard_logger \
     tensorflow
 
-sudo apt install python-tk
+sudo apt install python-tk \
+    ffmpeg

docker/install_more.sh

@@ -76,6 +76,20 @@ class ChangeDetection(object):
 
     def __init__(self, app, view, cameraIntrinsics=None, debug=True,
         data_directory=None):
+        """
+        This shouldn't be called directly. Should only be called via the staticmethod from_data_folder
+
+        :param app:
+        :type app:
+        :param view:
+        :type view:
+        :param cameraIntrinsics:
+        :type cameraIntrinsics:
+        :param debug:
+        :type debug:
+        :param data_directory: The 'processed' subfolder of a top level log folder
+        :type data_directory:
+        """
 
         self.app = app
         self.views = dict()
@@ -119,23 +133,6 @@ def __init__(self, app, view, cameraIntrinsics=None, debug=True,
         # dock.setMinimumWidth(300)
         # dock.setMinimumHeight(300)
 
-        if data_directory is not None:
-            self.data_dir = data_directory
-            self.loadData()
-
-    def loadData(self):
-        """
-        Load the relevant data from the folder.
-
-        Key pieces of data are 
-        - background reconstruction
-        - foreground reconstruction
-        - images (depth and rgb)
-        - camera pose data
-        - camera intrinsics
-        """
-        self.image_dir = os.path.join(self.data_dir, 'images')
-
     @property
     def background_reconstruction(self):
         return self._background_reconstruction
@@ -338,7 +335,13 @@ def showCameraTransform(self):
 
     def run(self, output_dir=None, rendered_images_dir=None):
         """
-        Run the mask generation algorithm
+        Renders the masks and the depth images for the cropped scene
+
+        Produces 3 types of files
+
+        processed/image_masks/000000_mask.png
+        processed/image_masks/000000_visible_mask.png
+        processed/rendered_images/000000_depth_cropped.png
         :return:
         """
 
@@ -348,6 +351,8 @@ def run(self, output_dir=None, rendered_images_dir=None):
         if rendered_images_dir is None:
             rendered_images_dir = os.path.join(self.foreground_reconstruction.data_dir, 'rendered_images')
 
+        fusion_mesh_foreground_file = os.path.join(os.path.join(self.foreground_reconstruction.data_dir, 'fusion_mesh_foreground.ply'))
+
         if not os.path.isdir(output_dir):
             os.makedirs(output_dir)
 
@@ -356,8 +361,10 @@ def run(self, output_dir=None, rendered_images_dir=None):
 
         start_time = time.time()
 
+        print "saving cropped mesh"
+        self.foreground_reconstruction.save_poly_data(fusion_mesh_foreground_file)
+
         # read in each image in the log
-        image_dir = self.foreground_reconstruction.image_dir
         camera_pose_data = self.foreground_reconstruction.kinematics_pose_data
         img_file_extension = 'png'
 
@@ -402,7 +409,8 @@ def run(self, output_dir=None, rendered_images_dir=None):
 
     def render_depth_images(self, output_dir=None, rendered_images_dir=None):
         """
-        Run the mask generation algorithm
+        Renders the depth images on the entire scene
+        processed/rendered_images/000000_depth.png
         :return:
         """
 
@@ -479,7 +487,7 @@ def from_data_folder(data_folder, config=None, globalsDict=None, background_data
         Creates a ChangeDetection object from a data_folder which contains the
         3D reconstruction and the image files
 
-        :param data_folder:
+        :param data_folder: This should point to the `processed` subfolder of a top level log folder
         :param config:
         :param globalsDict:
         :return:
@@ -512,6 +520,23 @@ def from_data_folder(data_folder, config=None, globalsDict=None, background_data
         return changeDetection, globalsDict
 
 
+    @staticmethod
+    def render_depth_images_full_scene(data_folder, config=None, background_data_folder=None):
+        """
+        Renders depth images against the entire scene
+        :param data_folder:
+        :type data_folder:
+        :param config:
+        :type config:
+        :param background_data_folder:
+        :type background_data_folder:
+        :return:
+        :rtype:
+        """
+
+        change_detection.ChangeDetection.from_data_folder(data_folder, config=config, globalsDict=globalsDict,
+                                                          background_data_folder=background_scene_data_folder)
+
 
     ##################### DEBUGGING FUNCTIONS #################
     def testCreateBackground(self):

modules/dense_correspondence_manipulation/change_detection/change_detection.py

@@ -118,6 +118,16 @@ def setup(self):
         self.load_poly_data()
         self.image_dir = os.path.join(self.data_dir, 'images')
 
+    def save_poly_data(self, filename):
+        """
+        Save the poly data to a file
+        :param filename:
+        :type filename:
+        :return:
+        :rtype:
+        """
+        ioUtils.writePolyData(self.poly_data, filename)
+
     @property
     def poly_data_type(self):
         return self._poly_data_type
@@ -283,19 +293,6 @@ def load_poly_data(self):
         self.poly_data = self.poly_data_raw
         self.crop_poly_data()
 
-    # def crop_poly_data(self):
-    #     dim_x = self.config['crop_box']['dimensions']['x']
-    #     dim_y = self.config['crop_box']['dimensions']['y']
-    #     dim_z = self.config['crop_box']['dimensions']['z']
-    #     dimensions = [dim_x, dim_y, dim_z]
-    #
-    #     transform = director_utils.transformFromPose(self.config['crop_box']['transform'])
-    #
-    #     # store the old poly data
-    #     self.poly_data_uncropped = self.poly_data
-    #
-    #     self.poly_data = segmentation.cropToBox(self.poly_data, transform, dimensions)
-
     @property
     def fusion_pose_data(self):
         raise ValueError("TSDFReconstruction doesn't have fusion_pose_data")
@@ -322,6 +319,17 @@ def visualize_reconstruction(self, view, vis_uncropped=False, name=None):
 
     @staticmethod
     def from_data_folder(data_folder, config=None, name=None):
+        """
+
+        :param data_folder: The 'processed' subfolder of a top level log folder
+        :type data_folder:
+        :param config:
+        :type config:
+        :param name:
+        :type name:
+        :return:
+        :rtype:
+        """
         fr = TSDFReconstruction()
         fr.data_dir = data_folder
 

modules/dense_correspondence_manipulation/fusion/fusion_reconstruction.py

@@ -20,7 +20,8 @@ def main():
 
     for idx, dir in enumerate(list_of_dirs):
 
-        data_folder = os.path.join(parent_folder, dir)
+        log_folder = os.path.join(parent_folder, dir)
+        data_folder = os.path.join(log_folder, 'processed')
 
         if not os.path.isdir(data_folder):
             continue

modules/dense_correspondence_manipulation/scripts/batch_run_change_detection_pipeline.py

@@ -7,6 +7,7 @@
 import dense_correspondence_manipulation.utils.utils as utils
 from dense_correspondence_manipulation.utils.constants import *
 from director.timercallback import TimerCallback
+
 """
 Runs change detection to compute masks for each image
 """
@@ -18,7 +19,7 @@ def run(data_folder, config_file=CONFIG_FILE, debug=False, globalsDict=None,
         background_scene_data_folder=None):
     """
     Runs the change detection pipeline
-    :param data_dir:
+    :param data_dir: The 'processed' subfolder of a top-level log folder
     :param config_file:
     :return:
     """
@@ -58,12 +59,12 @@ def single_shot_function():
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
-    parser.add_argument("--data_dir", type=str, default='/home/manuelli/code/data_volume/sandbox/drill_scenes/04_drill_long_downsampled')
+    parser.add_argument("--data_dir", type=str, required=True, help="full path to the processed/ folder of a top level log folder")
 
     default_config_file = os.path.join(utils.getDenseCorrespondenceSourceDir(), 'config', 'stations', 'RLG_iiwa_1', 'change_detection.yaml')
     parser.add_argument("--config_file", type=str, default=default_config_file)
 
-    parser.add_argument('--current_dir', action='store_true', default=False, help="run the script with --data_dir set to the current directory")
+    parser.add_argument('--current_dir', action='store_true', default=False, help="run the script with --data_dir set to the current directory. You should be in the processed/ subfolder")
 
     parser.add_argument('--debug', action='store_true', default=False,
                         help="launch the app in debug mode")

modules/dense_correspondence_manipulation/scripts/run_change_detection.py

@@ -50,6 +50,7 @@ def already_ran_change_detection(processed_dir):
     return (os.path.isfile(file_to_check_1) and os.path.isfile(file_to_check_2))
 
 def run_on_all_subfolders(directory, config_file):
+    print "running on all subfolders"
 
     for dir in sorted(os.listdir(directory)):
         full_dir = os.path.join(directory, dir)