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downloader.delete_file((Path(firebase_tar_queue_path) / tar_name).as_posix()) - downloader.upload_file( - remote_location=firebase_processed_tar_path, - local_location=downloader.local_tar_location, - ) - print("[INFO]: Moved tar from tarQueue to processedTars directory in firebase") + try: + downloader.delete_file( + (Path(firebase_tar_queue_path) / tar_name).as_posix() + ) + downloader.upload_file( + remote_location=firebase_processed_tar_path, + local_location=downloader.local_tar_location, + ) + print( + "[INFO]: Moved tar from tarQueue to processedTars directory in firebase" + ) + except: + print("[WARNING] Unable to Move tar") @dataclass @@ -396,12 +403,12 @@ def process_testing_data( prepare_ace_data(downloader.extracted_data) os.chdir(Path(__file__).parent.parent.parent / "third_party/ace") extracted_ace_folder = downloader.local_extraction_location / "ace" - model_name = Path(combined_path).stem.split("training_")[-1] - model_name = "_".join(model_name.split("_")[2:]) if model_data_folder: model_weights_path = model_data_folder / "model.pt" else: + model_name = Path(combined_path).stem.split("training_")[-1] + model_name = "_".join(model_name.split("_")[2:]) for dir, _, _ in os.walk(downloader.root_download_dir): dir_path = Path(dir) if str(dir_path).endswith(model_name) and dir_path.parts[-1].startswith( @@ -434,14 +441,17 @@ def process_testing_data( tars = list_tars() # tars = ["training_ua-7c140933b99a14568ee768781fb5c9b2_ayush_mar_4_5_combined"] - tars = [ - # 9:30 - "testing_FE49EDB3-4A95-4B60-A942-5E41463DAEEF_ayush_mar_3.tar", - # 12:00 - "testing_7AAC6056-FEA5-4712-8134-26B13499316C_ayush_mar_3.tar", - # Days later - "testing_2E4723D2-57C7-4AA1-B3B3-CE276ABF0DC7_ayush_mar_3.tar", - ] + # tars = [ + # "training_ua-7c140933b99a14568ee768781fb5c9b2_ayush_mar_4_5_combined_better_enhancement", + # "training_ua-7c140933b99a14568ee768781fb5c9b2_ayush_mar_4_better_enhancement", + # "training_ua-1bab71c5f9279e0777539be4abd6ae2b_ayush_mar_5_better_enhancement", + # # # 9:30 + # # "testing_FE49EDB3-4A95-4B60-A942-5E41463DAEEF_ayush_mar_3", + # # # 12:00 + # # "testing_7AAC6056-FEA5-4712-8134-26B13499316C_ayush_mar_3", + # # # Days later + # # "testing_2E4723D2-57C7-4AA1-B3B3-CE276ABF0DC7_ayush_mar_3", + # ] print("Processing: \n" + "\n".join(tars)) diff --git a/anchor/backend/data/extracted.py b/anchor/backend/data/extracted.py index 2538851..d1f79c0 100644 --- a/anchor/backend/data/extracted.py +++ b/anchor/backend/data/extracted.py @@ -141,6 +141,7 @@ def match_all_sensor(self): for phase in self.sensors_extracted: for sensor in self.sensors_extracted[phase]: if sensor not in ["video", "april_tags", "google_cloud_anchor"]: + breakpoint() self.match_given_sensor(phase, sensor) def transform_poses_in_global_frame(self): diff --git a/anchor/backend/data/firebase.py b/anchor/backend/data/firebase.py index 2fe0322..5b4071f 100644 --- a/anchor/backend/data/firebase.py +++ b/anchor/backend/data/firebase.py @@ -22,20 +22,28 @@ def list_tars(): FirebaseDownloader.initialized = True bucket = storage.bucket(FirebaseDownloader.firebase_bucket_name) # database = db.reference(url="https://stepnavigation-default-rtdb.firebaseio.com/") - # breakpoint() - tar_queue = "iosLoggerDemo/processedTrainingTars/" - tars = bucket.list_blobs(prefix=tar_queue) - tar_names = [] + # tar_queue = "iosLoggerDemo/processedTrainingTars/" + # tars = bucket.list_blobs(prefix=tar_queue) - for tar in tars: - if tar.name.endswith(".tar") and "ayush_mar_" in tar.name: - tar_names.append(tar.name) - tar_queue = "iosLoggerDemo/processedTestTars/" + # for tar in tars: + # if tar.name.endswith(".tar") and "ayush_mar_" in tar.name: + # tar_names.append(tar.name) + + # tar_queue = "iosLoggerDemo/processedTestTars/" + # tars = bucket.list_blobs(prefix=tar_queue) + # for tar in tars: + # if tar.name.endswith(".tar") and "ayush_mar_" in tar.name: + # tar_names.append(tar.name) + + tar_queue = "iosLoggerDemo/tarQueue/" tars = bucket.list_blobs(prefix=tar_queue) for tar in tars: - if tar.name.endswith(".tar") and "ayush_mar_" in tar.name: + if ( + tar.name.endswith(".tar") + and "ayush_april_3" in tar.name + ): tar_names.append(tar.name) return tar_names @@ -120,7 +128,7 @@ def extract_ios_logger_tar(self) -> Path: ) # extract the videos by phase (test videos will not have mapping data so they need to be handled separately) - if str(self.local_tar_location).endswith("_combined"): + if "combined" in str(self.local_tar_location): self.combine_extract_ios_logger_video(mapping_phase=False) self.combine_extract_ios_logger_video(mapping_phase=True) self.combine_extract_intrinsics(mapping_phase=False) diff --git a/anchor/backend/data/multi_model_ace.py b/anchor/backend/data/multi_model_ace.py index 20e8532..2597449 100644 --- a/anchor/backend/data/multi_model_ace.py +++ b/anchor/backend/data/multi_model_ace.py @@ -10,21 +10,21 @@ import google combined_model_name = ( - "training_ua-7c140933b99a14568ee768781fb5c9b2_ayush_mar_4_5_combined" + "training_ua-7c140933b99a14568ee768781fb5c9b2_ayush_mar_4_5_combined_better_enhancement" ) individual_model_names = [ - "training_ua-7c140933b99a14568ee768781fb5c9b2_ayush_mar_4", - "training_ua-1bab71c5f9279e0777539be4abd6ae2b_ayush_mar_5", + "training_ua-7c140933b99a14568ee768781fb5c9b2_ayush_mar_4_better_enhancement", + "training_ua-1bab71c5f9279e0777539be4abd6ae2b_ayush_mar_5_better_enhancement", ] test_datasets = [ # 9:30 - "testing_FE49EDB3-4A95-4B60-A942-5E41463DAEEF_ayush_mar_3.tar", + "testing_FE49EDB3-4A95-4B60-A942-5E41463DAEEF_ayush_mar_3_better_enhancement", # 12:00 - "testing_7AAC6056-FEA5-4712-8134-26B13499316C_ayush_mar_3.tar", + "testing_7AAC6056-FEA5-4712-8134-26B13499316C_ayush_mar_3_better_enhancement", # Days later - "testing_2E4723D2-57C7-4AA1-B3B3-CE276ABF0DC7_ayush_mar_3.tar", + "testing_2E4723D2-57C7-4AA1-B3B3-CE276ABF0DC7_ayush_mar_3_better_enhancement", ] -OUTPUT_BASE_DIR = Path(__file__).parent / ".cache/multi_model_results" +OUTPUT_BASE_DIR = Path(__file__).parent / ".cache/better_enhancement_multi_model_results" def send_localization_request( @@ -152,6 +152,9 @@ def main2(): Path(__file__).parent / f".cache/firebase_data/{model_name}/ace", ) + if not OUTPUT_BASE_DIR.exists(): + os.mkdir(OUTPUT_BASE_DIR) + output_dir = OUTPUT_BASE_DIR / test_name.rstrip(".tar") if not output_dir.exists(): os.mkdir(output_dir) diff --git a/anchor/backend/eval/imgs/better_enhancement_multimodel/2E4723D2-57C7-4AA1-B3B3-CE276ABF0DC7/frame_bar.png b/anchor/backend/eval/imgs/better_enhancement_multimodel/2E4723D2-57C7-4AA1-B3B3-CE276ABF0DC7/frame_bar.png new file mode 100644 index 0000000..ef0fdb8 Binary files /dev/null and b/anchor/backend/eval/imgs/better_enhancement_multimodel/2E4723D2-57C7-4AA1-B3B3-CE276ABF0DC7/frame_bar.png differ diff --git a/anchor/backend/eval/imgs/better_enhancement_multimodel/2E4723D2-57C7-4AA1-B3B3-CE276ABF0DC7/trans_err_bar.png 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b/anchor/backend/eval/imgs/rotated_multimodel/FE49EDB3-4A95-4B60-A942-5E41463DAEEF/trans_err_bar.png new file mode 100644 index 0000000..6ab6021 Binary files /dev/null and b/anchor/backend/eval/imgs/rotated_multimodel/FE49EDB3-4A95-4B60-A942-5E41463DAEEF/trans_err_bar.png differ diff --git a/anchor/backend/eval/run_eval.py b/anchor/backend/eval/run_eval.py index 9fcf64e..dbd967a 100644 --- a/anchor/backend/eval/run_eval.py +++ b/anchor/backend/eval/run_eval.py @@ -1,7 +1,7 @@ from pathlib import Path import json -from utils.error import compute_rotational_error, compute_translation_error -from utils.data_models import ( +from anchor.backend.eval.utils.error import compute_rotational_error, compute_translation_error +from anchor.backend.eval.utils.data_models import ( TestInfo, MapTestInfo, FrameData, @@ -25,16 +25,16 @@ } MULTI_MODEL_TEST_MAPPINGS = { # 9:30 - 1: "testing_2E4723D2-57C7-4AA1-B3B3-CE276ABF0DC7_ayush_mar_3", + 1: "testing_2E4723D2-57C7-4AA1-B3B3-CE276ABF0DC7_ayush_mar_3_better_enhancement", # 12:00 - 2: "testing_7AAC6056-FEA5-4712-8134-26B13499316C_ayush_mar_3", + 2: "testing_7AAC6056-FEA5-4712-8134-26B13499316C_ayush_mar_3_better_enhancement", # Days later - 3: "testing_FE49EDB3-4A95-4B60-A942-5E41463DAEEF_ayush_mar_3", + 3: "testing_FE49EDB3-4A95-4B60-A942-5E41463DAEEF_ayush_mar_3_better_enhancement", } MULTI_MODEL_TEST_METADATA_MAPPINGS = { - "testing_2E4723D2-57C7-4AA1-B3B3-CE276ABF0DC7_ayush_mar_3": "9:30 PM", - "testing_7AAC6056-FEA5-4712-8134-26B13499316C_ayush_mar_3": "12:00 PM", - "testing_FE49EDB3-4A95-4B60-A942-5E41463DAEEF_ayush_mar_3": "9:30 PM (Days Later)", + "testing_2E4723D2-57C7-4AA1-B3B3-CE276ABF0DC7_ayush_mar_3_better_enhancement": "9:30 PM", + "testing_7AAC6056-FEA5-4712-8134-26B13499316C_ayush_mar_3_better_enhancement": "12:00 PM", + "testing_FE49EDB3-4A95-4B60-A942-5E41463DAEEF_ayush_mar_3_better_enhancement": "9:30 PM (Days Later)", } FIGURE_DIR = Path(__file__).parent / "imgs" @@ -245,7 +245,7 @@ def frame_bar_chart(dataset_name: str, visualize: bool, save: bool, smooth_ace: def analyze_multi_model_datasets(dataset_name, visualize: bool, save: bool): data_file = ( Path(__file__).parent.parent - / "data/.cache/multi_model_results" + / "data/.cache/better_enhancement_multi_model_results" / dataset_name / "results.json" ) @@ -262,8 +262,50 @@ def analyze_multi_model_datasets(dataset_name, visualize: bool, save: bool): mm_analyzer = MultiModelAnalysis(results) - fig = plt.figure() + # data_file = ( + # Path(__file__).parent.parent + # / "data/.cache/multi_model_results" + # / dataset_name.strip("_better_enhancement") + # / "results.json" + # ) + # with open(data_file, "r") as file: + # results = json.load(file) + + # for model_name, data in results.items(): + # results[model_name] = TestDatum( + # frames=[FrameData(**args) for args in data], + # root_dir=Path(__file__).parent.parent + # / "data/.cache/firebase_data" + # / model_name.strip("_better_enhancement"), + # ) + + # other_analyzer = MultiModelAnalysis(results) + # delta_trans_model0 = {} + # delta_trans_model1 = {} + # delta_num_model0 = {} + # delta_num_model1 = {} + # for key in mm_analyzer.model0_avg_translation_errs: + # delta_trans_model0[key] = mm_analyzer.model0_avg_translation_errs[key] - other_analyzer.model0_avg_translation_errs[key] + # delta_trans_model1[key] = mm_analyzer.model1_avg_translation_errs[key] - other_analyzer.model1_avg_translation_errs[key] + # delta_num_model0[key] = mm_analyzer.model0_num_frames[key]- other_analyzer.model0_num_frames[key] + # delta_num_model1[key] = mm_analyzer.model1_num_frames[key] - other_analyzer.model1_num_frames[key] + + # print(f"Test Time: {MULTI_MODEL_TEST_METADATA_MAPPINGS[dataset_name]}") + # print("All Calculations are Rotated Results minus Original Results") + # import pprint + # print("Results of Model Trained on Night Dataset (9:30 PM)") + # print("Delta Translational Error:") + # pprint.pp(delta_trans_model0) + # print("Delta Number of Frames:") + # pprint.pp(delta_num_model0) + # print("Results of Model Trained on Day Dataset (12:00 PM)") + # print("Delta Translational Error:") + # pprint.pp(delta_trans_model1) + # print("Delta Number of Frames:") + # pprint.pp(delta_num_model1) + # print("\n\n\n") + fig = plt.figure() plt.rcParams.update({"font.size": 8}) ax = fig.add_subplot(2, 2, 1) independent_trans_errs = mm_analyzer.independent_avg_translation_errs @@ -329,7 +371,7 @@ def analyze_multi_model_datasets(dataset_name, visualize: bool, save: bool): if save: plt.savefig( - FIGURE_DIR / f"multimodel/{dataset_name.split('_')[1]}/trans_err_bar" + FIGURE_DIR / f"better_enhancement_multimodel/{dataset_name.split('_')[1]}/trans_err_bar" ) if visualize: @@ -399,7 +441,7 @@ def analyze_multi_model_datasets(dataset_name, visualize: bool, save: bool): ) if save: - plt.savefig(FIGURE_DIR / f"multimodel/{dataset_name.split('_')[1]}/frame_bar") + plt.savefig(FIGURE_DIR / f"better_enhancement_multimodel/{dataset_name.split('_')[1]}/frame_bar") if visualize: plt.show() @@ -478,7 +520,7 @@ def analyze_multi_model_datasets(dataset_name, visualize: bool, save: bool): args.s and args.mm and not ( - dir := FIGURE_DIR / f"multimodel/{dataset_name.split('_')[1]}" + dir := FIGURE_DIR / f"better_enhancement_multimodel/{dataset_name.split('_')[1]}" ).exists() ): os.mkdir(dir) diff --git a/anchor/backend/illumination_invariance/imgs/day.jpg b/anchor/backend/illumination_invariance/imgs/day.jpg new file mode 100644 index 0000000..8e644a8 Binary files /dev/null and b/anchor/backend/illumination_invariance/imgs/day.jpg differ diff --git a/anchor/backend/illumination_invariance/imgs/day_ii.jpg b/anchor/backend/illumination_invariance/imgs/day_ii.jpg new file mode 100644 index 0000000..51a8dff Binary files /dev/null and b/anchor/backend/illumination_invariance/imgs/day_ii.jpg differ diff --git a/anchor/backend/illumination_invariance/imgs/night.jpg b/anchor/backend/illumination_invariance/imgs/night.jpg new file mode 100644 index 0000000..9e9fe20 Binary files /dev/null and b/anchor/backend/illumination_invariance/imgs/night.jpg differ diff --git a/anchor/backend/illumination_invariance/imgs/night_ii.jpg b/anchor/backend/illumination_invariance/imgs/night_ii.jpg new file mode 100644 index 0000000..9623046 Binary files /dev/null and b/anchor/backend/illumination_invariance/imgs/night_ii.jpg differ diff --git a/anchor/backend/scripts/light_enhancement.py b/anchor/backend/scripts/light_enhancement.py new file mode 100644 index 0000000..7298f18 --- /dev/null +++ b/anchor/backend/scripts/light_enhancement.py @@ -0,0 +1,277 @@ +import numpy as np # array manipulation + +# from huggingface_hub import from_pretrained_keras # download the model +# import keras # deep learning +from PIL import Image # Image processing +from pathlib import Path +import os +import shutil + +# from tensorflow.python.ops.numpy_ops import np_config +from copy import deepcopy +from anchor.third_party.zero_dce.zero_dce_code.lowlight_test import lowlight + +# np_config.enable_numpy_behavior() + + +FB_DATA_DIR = Path(__file__).parent.parent / "data/.cache/firebase_data" + +combined_model_name = ( + "training_ua-7c140933b99a14568ee768781fb5c9b2_ayush_mar_4_5_combined" +) +individual_model_names = [ + "training_ua-7c140933b99a14568ee768781fb5c9b2_ayush_mar_4", + "training_ua-1bab71c5f9279e0777539be4abd6ae2b_ayush_mar_5", +] +all_models = individual_model_names + [combined_model_name] +test_datasets = [ + # 9:30 + "testing_FE49EDB3-4A95-4B60-A942-5E41463DAEEF_ayush_mar_3", + # 12:00 + "testing_7AAC6056-FEA5-4712-8134-26B13499316C_ayush_mar_3", + # Days later + "testing_2E4723D2-57C7-4AA1-B3B3-CE276ABF0DC7_ayush_mar_3", +] + + +def convert_image(img_path: Path, model): + low_light_img = Image.open(img_path).convert("RGB") + image = keras.preprocessing.image.img_to_array(low_light_img) + image = image.astype("float32") / 255.0 + image = np.expand_dims(image, axis=0) + output = model(image) + output_image = output[0] * 255.0 + output_image = output_image.clip(0, 255) + output_image = output_image.reshape( + (np.shape(output_image)[0], np.shape(output_image)[1], 3) + ) + output_image = np.uint32(output_image) + img = Image.fromarray(output_image.astype("uint8"), "RGB") + img.save(img_path) + + +def main(): + model = from_pretrained_keras("keras-io/lowlight-enhance-mirnet", compile=False) + total_models = len(test_datasets + all_models) + model_counter = 1 + for dir_name in test_datasets + all_models: + test_dir = FB_DATA_DIR / dir_name + enhanced_dir = FB_DATA_DIR / f"{dir_name}_enhanced" + if enhanced_dir.exists(): + shutil.rmtree(enhanced_dir) + shutil.copytree(test_dir, enhanced_dir) + + img_dir = enhanced_dir / "extracted/localization-video" + + img_files = [x for x in os.walk(img_dir)][0][2] + num_files = len(img_files) + counter = 1 + for img_file_name in [x for x in os.walk(img_dir)][0][2]: + img_path = img_dir / img_file_name + convert_image(img_path, model) + print( + f"{model_counter}/{total_models} models, {counter}/{num_files} test imgs converted" + ) + counter += 1 + + if dir_name.startswith("training"): + img_dir = enhanced_dir / "extracted/mapping-video" + + img_files = [x for x in os.walk(img_dir)][0][2] + num_files = len(img_files) + counter = 1 + for img_file_name in [x for x in os.walk(img_dir)][0][2]: + img_path = img_dir / img_file_name + convert_image(img_path, model) + print( + f"{model_counter}/{total_models} models, {counter}/{num_files} train imgs converted" + ) + counter += 1 + + model_counter += 1 + + +def main2(): + count = 1 + for dir_name in [combined_model_name] + individual_model_names: + localization_video = ( + FB_DATA_DIR / f"{dir_name}_enhanced/extracted/localization-video" + ) + rgb_dir = FB_DATA_DIR / f"{dir_name}_enhanced/ace/test/rgb" + + for enhanced_img_name in [x for x in os.walk(localization_video)][0][2]: + enhanced_img_path = localization_video / enhanced_img_name + frame_num = enhanced_img_name.split(".")[0] + rgb_img_path = rgb_dir / f"{int(frame_num):05}.color.jpg" + shutil.copyfile(enhanced_img_path, rgb_img_path) + print(count) + count += 1 + + mapping_video = FB_DATA_DIR / f"{dir_name}_enhanced/extracted/mapping-video" + rgb_dir = FB_DATA_DIR / f"{dir_name}_enhanced/ace/train/rgb" + + for enhanced_img_name in [x for x in os.walk(mapping_video)][0][2]: + enhanced_img_path = mapping_video / enhanced_img_name + frame_num = enhanced_img_name.split(".")[0] + rgb_img_path = rgb_dir / f"{int(frame_num):05}.color.jpg" + shutil.copyfile(enhanced_img_path, rgb_img_path) + print(count) + count += 1 + + +def rotate_image(): + rot = -np.pi / 2 + pose_transform = np.array( + [ + [np.cos(rot), -np.sin(rot), 0, 0], + [np.sin(rot), np.cos(rot), 0, 0], + [0, 0, 1, 0], + [0, 0, 0, 1], + ] + ) + num_models = len(test_datasets + all_models) + model_counter = 0 + for dir_name in test_datasets + all_models: + data_dir = FB_DATA_DIR / dir_name + rot_dir = FB_DATA_DIR / f"{dir_name}_rotated" + if rot_dir.exists(): + shutil.rmtree(rot_dir) + shutil.copytree(data_dir, rot_dir) + + test_dir = rot_dir / "ace/test" + num_images = len([x for x in os.walk(test_dir / "rgb")][0][2]) + img_counter = 0 + model_counter += 1 + for img_name in [x for x in os.walk(test_dir / "rgb")][0][2]: + img_counter += 1 + print( + f"{model_counter}/{num_models} models {img_counter}/{num_images} images" + ) + img_num = img_name.split(".")[0] + img_path = test_dir / "rgb" / img_name + pose_path = test_dir / "poses" / f"{img_num}.pose.txt" + calibration_path = test_dir / "calibration" / f"{img_num}.calibration.txt" + + original_image = Image.open(img_path) + if original_image.size[0] > original_image.size[1]: + rotated_image = original_image.transpose(Image.ROTATE_270) + rotated_image.save(img_path) + + with open(pose_path, "r") as pose_file: + data = pose_file.readlines() + data = np.array( + [[float(num) for num in d.strip("\n").split(" ")] for d in data] + ) + new_pose = data @ pose_transform + with open(pose_path, "w") as pose_file: + pose_file.write( + f"{new_pose[0,0]} {new_pose[0,1]} {new_pose[0,2]} {new_pose[0,3]}\n" + + f"{new_pose[1,0]} {new_pose[1,1]} {new_pose[1,2]} {new_pose[1,3]}\n" + + f"{new_pose[2,0]} {new_pose[2,1]} {new_pose[2,2]} {new_pose[2,3]}\n" + + f"{new_pose[3,0]} {new_pose[3,1]} {new_pose[3,2]} {new_pose[3,3]}" + ) + + with open(calibration_path, "r") as cal_file: + data = cal_file.readlines() + data = np.array( + [[float(num) for num in d.strip("\n").split(" ")] for d in data] + ) + new_intrinsics = deepcopy(data) + new_intrinsics[0, 0] = data[1, 1] + new_intrinsics[1, 1] = data[0, 0] + new_intrinsics[0, 2] = rotated_image.size[0] - data[1, 2] + new_intrinsics[1, 2] = data[0, 2] + with open(calibration_path, "w") as cal_file: + cal_file.write( + f"{new_intrinsics[0,0]} {new_intrinsics[0,1]} {new_intrinsics[0,2]}\n" + + f"{new_intrinsics[1,0]} {new_intrinsics[1,1]} {new_intrinsics[1,2]}\n" + + f"{new_intrinsics[2,0]} {new_intrinsics[2,1]} {new_intrinsics[2,2]}\n" + ) + + if "training" in dir_name: + train_dir = rot_dir / "ace/train" + for img_name in [x for x in os.walk(train_dir / "rgb")][0][2]: + img_num = img_name.split(".")[0] + img_path = train_dir / "rgb" / img_name + pose_path = train_dir / "poses" / f"{img_num}.pose.txt" + calibration_path = ( + train_dir / "calibration" / f"{img_num}.calibration.txt" + ) + + original_image = Image.open(img_path) + if original_image.size[0] > original_image.size[1]: + rotated_image = original_image.transpose(Image.ROTATE_270) + rotated_image.save(img_path) + + with open(pose_path, "r") as pose_file: + data = pose_file.readlines() + data = np.array( + [ + [float(num) for num in d.strip("\n").split(" ")] + for d in data + ] + ) + new_pose = data @ pose_transform + with open(pose_path, "w") as pose_file: + pose_file.write( + f"{new_pose[0,0]} {new_pose[0,1]} {new_pose[0,2]} {new_pose[0,3]}\n" + + f"{new_pose[1,0]} {new_pose[1,1]} {new_pose[1,2]} {new_pose[1,3]}\n" + + f"{new_pose[2,0]} {new_pose[2,1]} {new_pose[2,2]} {new_pose[2,3]}\n" + + f"{new_pose[3,0]} {new_pose[3,1]} {new_pose[3,2]} {new_pose[3,3]}" + ) + + with open(calibration_path, "r") as cal_file: + data = cal_file.readlines() + data = np.array( + [ + [float(num) for num in d.strip("\n").split(" ")] + for d in data + ] + ) + new_intrinsics = deepcopy(data) + new_intrinsics[0, 0] = data[1, 1] + new_intrinsics[1, 1] = data[0, 0] + new_intrinsics[0, 2] = rotated_image.size[0] - data[1, 2] + new_intrinsics[1, 2] = data[0, 2] + with open(calibration_path, "w") as cal_file: + cal_file.write( + f"{new_intrinsics[0,0]} {new_intrinsics[0,1]} {new_intrinsics[0,2]}\n" + + f"{new_intrinsics[1,0]} {new_intrinsics[1,1]} {new_intrinsics[1,2]}\n" + + f"{new_intrinsics[2,0]} {new_intrinsics[2,1]} {new_intrinsics[2,2]}\n" + ) + + +def main3(): + num_models = len(test_datasets + all_models) + model_counter = 0 + for dir_name in test_datasets + all_models: + data_dir = FB_DATA_DIR / dir_name + better_le_dir = FB_DATA_DIR / f"{dir_name}_better_enhancement" + if better_le_dir.exists(): + shutil.rmtree(better_le_dir) + shutil.copytree(data_dir, better_le_dir) + + test_dir = better_le_dir / "ace/test" + num_images = len([x for x in os.walk(test_dir / "rgb")][0][2]) + img_counter = 0 + model_counter += 1 + for img_name in [x for x in os.walk(test_dir / "rgb")][0][2]: + img_counter += 1 + print( + f"{model_counter}/{num_models} models {img_counter}/{num_images} images" + ) + img_path = test_dir / "rgb" / img_name + lowlight(img_path) + + if "training" in dir_name: + train_dir = better_le_dir / "ace/train" + for img_name in [x for x in os.walk(train_dir / "rgb")][0][2]: + img_path = train_dir / "rgb" / img_name + lowlight(img_path) + + +if __name__ == "__main__": + # main() + # main2() + # rotate_image() + main3() diff --git a/anchor/backend/scripts/remove_illumination.py b/anchor/backend/scripts/remove_illumination.py new file mode 100644 index 0000000..ab25567 --- /dev/null +++ b/anchor/backend/scripts/remove_illumination.py @@ -0,0 +1,72 @@ +import cv2 +import numpy as np +from pathlib import Path +from PIL import Image +import matplotlib.pyplot as plt +from enlighten_inference import EnlightenOnnxModel +import cv2 +from time import perf_counter +from anchor.third_party.Zero_DCE.Zero_DCE_code.lowlight_test import lowlight + +FB_DATA_DIR = Path(__file__).parent.parent / "data/.cache/firebase_data" +IMG_ZERO = ( + FB_DATA_DIR + / "testing_2E4723D2-57C7-4AA1-B3B3-CE276ABF0DC7_ayush_mar_3_rotated/ace/test/rgb/00579.color.jpg" +) +IMG_ONE = ( + FB_DATA_DIR + / "testing_7AAC6056-FEA5-4712-8134-26B13499316C_ayush_mar_3_rotated/ace/test/rgb/00319.color.jpg" +) +IMGS_DIR = Path(__file__).parent / "imgs" + +# by default, CUDAExecutionProvider is used +model = EnlightenOnnxModel() +# however, one can choose the providers priority, e.g.: +model = EnlightenOnnxModel(providers = ["CPUExecutionProvider"]) + +def main(): + img_zero = Image.open(IMG_ZERO) + img_one = Image.open(IMG_ONE) + + img_zero.save(IMGS_DIR / "night.jpg") + img_one.save(IMGS_DIR / "day.jpg") + + start = perf_counter() + img_zero_ii = model.predict(np.array(img_zero)) + print(perf_counter() - start) + start = perf_counter() + img_one_ii = model.predict(np.array(img_one)) + print(perf_counter() - start) + + # plt.imshow(img_zero_ii) + # plt.show() + plt.imsave(str(IMGS_DIR / "night_ii.jpg"), img_zero_ii) + plt.imsave(str(IMGS_DIR / "day_ii.jpg"), img_one_ii) + # plt.savefig(str(IMGS_DIR / "night_ii.jpg")) + + # cv2.imwrite(str(IMGS_DIR / "night_ii.jpg"), img_zero_ii) + # cv2.waitKey() + # cv2.imwrite(str(IMGS_DIR / "day_ii.jpg"), img_one_ii) + # cv2.waitKey() + # img_zero = cv2.imread(str(IMG_ZERO)) + # img_one = cv2.imread(str(IMG_ONE)) + + # cv2.imwrite(str(IMGS_DIR / "night.jpg"), img_zero) + # cv2.imwrite(str(IMGS_DIR / "day.jpg"), img_one) + + # img_zero_ii = rgb2ii(cv2.cvtColor(img_zero, cv2.COLOR_BGR2RGB), 0.333) + # img_one_ii = rgb2ii(cv2.cvtColor(img_one, cv2.COLOR_BGR2RGB), 0.333) + + # cv2.imwrite(str(IMGS_DIR / "night_ii.jpg"), img_zero_ii) + # cv2.imwrite(str(IMGS_DIR / "day_ii.jpg"), img_one_ii) + # breakpoint() + + # img_zero_recon = cv2.cvtColor(img_zero_ii, cv2.COLOR_GRAY2RGB) + # img_one_recon = cv2.cvtColor(img_one_ii, cv2.COLOR_GRAY2RGB) + + # cv2.imwrite(str(IMGS_DIR / "night_recon.jpg"), img_zero_recon) + # cv2.imwrite(str(IMGS_DIR / "day_recon.jpg"), img_one_recon) + + +if __name__ == "__main__": + main() diff --git a/anchor/backend/scripts/visualize_test.py b/anchor/backend/scripts/visualize_test.py index 9141e6b..df58f2a 100644 --- a/anchor/backend/scripts/visualize_test.py +++ b/anchor/backend/scripts/visualize_test.py @@ -5,11 +5,11 @@ from typing import List import numpy as np import matplotlib.pyplot as plt -from eval.utils.data_models import FrameData, TestDatum +from anchor.backend.eval.utils.data_models import FrameData, TestDatum import shutil -TEST_NAME = "testing_8E1E9222-15B0-4BDD-B9B1-3922F88E2B4B_ayush_nov30_1" +TEST_NAME = "training_ua-b84b3ed01c436a568a3a2e3415394fa2_ayush_april_3" TEST_TIME = None DATA_DIR = Path(__file__).parent.parent / "data/.cache/firebase_data" TEST_DIR = DATA_DIR / f"{TEST_NAME}/ace/test" @@ -105,11 +105,33 @@ def step_graph( plt.show() +def translational_bar_chart( + dataset_name: str, visualize: bool, save: bool +): + data = load_cache_data() + trans_err = data.get_ace_avg_translation_errs_smooth() + labels = [str(int(x)) for x in trans_err] + heights = [] + heights.extend(trans_err.values()) + plt.bar(labels, heights) + plt.savefig(Path(__file__).parent.parent / "eval/imgs/hor_phone/trans.png") + + num_frames = data.num_ace_frames_by_inliers_smooth + labels = [str(int(x)) for x in num_frames] + heights = [] + heights.extend(num_frames.values()) + plt.bar(labels, heights) + plt.savefig(Path(__file__).parent.parent / "eval/imgs/hor_phone/frame.png") + + def counts_splitter(arg): return [int(x) for x in arg.split(",")] - + if __name__ == "__main__": + translational_bar_chart( + TEST_NAME, False, False + ) parser = argparse.ArgumentParser( description="Visualize ACE Data results", formatter_class=argparse.ArgumentDefaultsHelpFormatter, diff --git a/anchor/backend/scripts/while.sh b/anchor/backend/scripts/while.sh index ed6cd77..6963b77 100755 --- a/anchor/backend/scripts/while.sh +++ b/anchor/backend/scripts/while.sh @@ -1,3 +1,4 @@ + #!/bin/bash echo "---------------------NOTICE--------------------------------" diff --git a/anchor/third_party/Zero-DCE b/anchor/third_party/Zero-DCE new file mode 160000 index 0000000..e0f4adc --- /dev/null +++ b/anchor/third_party/Zero-DCE @@ -0,0 +1 @@ +Subproject commit e0f4adc54d0f23348c4a9b84acc08fe8778d5bfd diff --git a/anchor/third_party/zero_dce b/anchor/third_party/zero_dce new file mode 160000 index 0000000..b421ccd --- /dev/null +++ b/anchor/third_party/zero_dce @@ -0,0 +1 @@ +Subproject commit b421ccd2956191e23251eb011c632847f4b1ec8d