Skip to content

Commit

Permalink
Merge pull request #55 from ocean-perception/feature/folder_structure
Browse files Browse the repository at this point in the history 
Feature/folder structure
  • Loading branch information
@miquelmassot
miquelmassot committed Feb 14, 2022
2 parents 94cc29f + 06a4fe6 commit 77b6bf1
Show file tree
Hide file tree
Showing 11 changed files with 765 additions and 742 deletions.
203 changes: 119 additions & 84 deletions src/correct_images/correct_images.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@

import argparse
import os
import string
import sys
import time
from pathlib import Path
Expand Down Expand Up @@ -52,6 +53,12 @@ def main(args=None):
action="store_true",
help="Force overwrite if correction parameters already exist.",
)
subparser_correct.add_argument(
"--suffix",
dest="suffix",
default="",
help="Expected suffix for correct_images configuration and output folders.",
)
subparser_correct.set_defaults(func=call_correct)

# subparser parse
Expand All @@ -66,6 +73,12 @@ def main(args=None):
action="store_true",
help="Force overwrite if correction parameters already exist.",
)
subparser_parse.add_argument(
"--suffix",
dest="suffix",
default="",
help="Expected suffix for correct_images configuration and output folders.",
)
subparser_parse.set_defaults(func=call_parse)

# subparser process
Expand All @@ -80,13 +93,25 @@ def main(args=None):
action="store_true",
help="Force overwrite if correction parameters already exist.",
)
subparser_process.add_argument(
"--suffix",
dest="suffix",
default="",
help="Expected suffix for correct_images configuration and output folders.",
)
subparser_process.set_defaults(func=call_process)

# subparser rescale image
subparser_rescale = subparsers.add_parser(
"rescale", help="Rescale processed images"
)
subparser_rescale.add_argument("path", help="Path to raw folder")
subparser_rescale.add_argument(
"--suffix",
dest="suffix",
default="",
help="Expected suffix for correct_images configuration and output folders.",
)
subparser_rescale.set_defaults(func=call_rescale)

if len(sys.argv) == 1 and args is None:
Expand All @@ -99,7 +124,13 @@ def main(args=None):
args.func(args)
else:
args = parser.parse_args()
args.func(args)

# Check suffix is only text, digits, dash and underscores
allowed_chars = string.ascii_letters+ "-" + "_" + string.digits
if all([c in allowed_chars for c in args.suffix]):
args.func(args)
else:
Console.error("Suffix must only contain letters, digits, dash and underscores")


def call_parse(args):
Expand All @@ -120,7 +151,7 @@ def call_parse(args):
/ ("log/" + time_string + "_correct_images_parse.log")
)

correct_config, camerasystem = load_configuration_and_camera_system(path)
correct_config, camerasystem = load_configuration_and_camera_system(path, args.suffix)

for camera in camerasystem.cameras:
Console.info("Parsing for camera", camera.name)
Expand All @@ -129,7 +160,7 @@ def call_parse(args):
Console.info("No images found for the camera at the path provided...")
continue
else:
corrector = Corrector(args.force, camera, correct_config, path)
corrector = Corrector(args.force, args.suffix, camera, correct_config, path)
if corrector.camera_found:
corrector.parse()

Expand Down Expand Up @@ -157,7 +188,7 @@ def call_process(args):
/ ("log/" + time_string + "_correct_images_process.log")
)

correct_config, camerasystem = load_configuration_and_camera_system(path)
correct_config, camerasystem = load_configuration_and_camera_system(path, args.suffix)

for camera in camerasystem.cameras:
Console.info("Processing for camera", camera.name)
Expand All @@ -166,7 +197,7 @@ def call_process(args):
Console.info("No images found for the camera at the path provided...")
continue
else:
corrector = Corrector(args.force, camera, correct_config, path)
corrector = Corrector(args.force, args.suffix, camera, correct_config, path)
if corrector.camera_found:
corrector.process()
Console.info("Process completed for all cameras...")
Expand All @@ -193,11 +224,16 @@ def call_rescale(args):
/ ("log/" + time_string + "_correct_images_rescale.log")
)

correct_config, camerasystem = load_configuration_and_camera_system(path)
correct_config, camerasystem = load_configuration_and_camera_system(path, args.suffix)

# install freeimage plugins if not installed
imageio.plugins.freeimage.download()

if correct_config.camerarescale is None:
Console.error("Camera rescale configuration not found")
Console.error("Please populate the correct_images.yaml file with a rescale configuration")
Console.quit("Malformed correct_images.yaml file")

# obtain parameters for rescale from correct_config
rescale_cameras = correct_config.camerarescale.rescale_cameras

Expand All @@ -206,7 +242,7 @@ def call_rescale(args):
Console.info("Rescaling completed for all cameras ...")


def load_configuration_and_camera_system(path):
def load_configuration_and_camera_system(path, suffix=None):
"""Generate correct_config and camera system objects from input config
yaml files
Expand All @@ -229,93 +265,88 @@ def load_configuration_and_camera_system(path):
else:
Console.quit("File mission.yaml file not found at", path_raw_folder)

# load mission parameters
mission = Mission(path_mission)
acfr_std_camera_file = "auv_nav/default_yaml/ts1/SSK17-01/camera.yaml"
sx3_camera_file = "auv_nav/default_yaml/ae2000/YK17-23C/camera.yaml"
biocam_camera_file = "auv_nav/default_yaml/as6/DY109/camera.yaml"
biocam4000_15c_camera_file = "auv_nav/default_yaml/alr/jc220/camera.yaml"
hybis_camera_file = "auv_nav/default_yaml/hybis/camera.yaml"
ntnu_camera_file = "auv_nav/default_yaml/ntnu_stereo/tautra21/camera.yaml"
rosbag_extracted_camera_file = (
"auv_nav/default_yaml/rosbag/grassmap/camera.yaml"
)

# resolve path to camera.yaml file
temp_path = path_raw_folder / "camera.yaml"
acfr_std_correct_config_file = (
"correct_images/default_yaml/acfr/correct_images.yaml"
)
sx3_std_correct_config_file = (
"correct_images/default_yaml/sx3/correct_images.yaml"
)
biocam_std_correct_config_file = (
"correct_images/default_yaml/biocam/correct_images.yaml"
)
biocam4000_15c_std_correct_config_file = (
"correct_images/default_yaml/biocam4000_15c/correct_images.yaml"
)
hybis_std_correct_config_file = (
"correct_images/default_yaml/hybis/correct_images.yaml"
)
ntnu_std_correct_config_file = (
"correct_images/default_yaml/ntnu_stereo/correct_images.yaml"
)
rosbag_extracted_images_std_correct_config_file = (
"correct_images/default_yaml/rosbag_extracted_images/correct_images.yaml"
)

default_file_path_correct_config = None
camera_yaml_path = None
default_file_path_correct_config = None

if not temp_path.exists():
Console.info(
"Not found camera.yaml file in /raw folder...Using default ",
"camera.yaml file...",
)
# find out default yaml paths
root = Path(__file__).resolve().parents[1]

acfr_std_camera_file = "auv_nav/default_yaml/ts1/SSK17-01/camera.yaml"
sx3_camera_file = "auv_nav/default_yaml/ae2000/YK17-23C/camera.yaml"
biocam_camera_file = "auv_nav/default_yaml/as6/DY109/camera.yaml"
biocam4000_15c_camera_file = "auv_nav/default_yaml/alr/jc220/camera.yaml"
hybis_camera_file = "auv_nav/default_yaml/hybis/camera.yaml"
ntnu_camera_file = "auv_nav/default_yaml/ntnu_stereo/tautra21/camera.yaml"
rosbag_extracted_camera_file = (
"auv_nav/default_yaml/rosbag/grassmap/camera.yaml"
)
# load mission parameters
mission = Mission(path_mission)

acfr_std_correct_config_file = (
"correct_images/default_yaml/acfr/correct_images.yaml"
)
sx3_std_correct_config_file = (
"correct_images/default_yaml/sx3/correct_images.yaml"
)
biocam_std_correct_config_file = (
"correct_images/default_yaml/biocam/correct_images.yaml"
)
biocam4000_15c_std_correct_config_file = (
"correct_images/default_yaml/biocam4000_15c/correct_images.yaml"
# find out default yaml paths
root = Path(__file__).resolve().parents[1]

if mission.image.format == "acfr_standard":
camera_yaml_path = root / acfr_std_camera_file
default_file_path_correct_config = root / acfr_std_correct_config_file
elif mission.image.format == "seaxerocks_3":
camera_yaml_path = root / sx3_camera_file
default_file_path_correct_config = root / sx3_std_correct_config_file
elif mission.image.format == "biocam":
camera_yaml_path = root / biocam_camera_file
default_file_path_correct_config = root / biocam_std_correct_config_file
elif mission.image.format == "biocam4000_15c":
camera_yaml_path = root / biocam4000_15c_camera_file
default_file_path_correct_config = (
root / biocam4000_15c_std_correct_config_file
)
hybis_std_correct_config_file = (
"correct_images/default_yaml/hybis/correct_images.yaml"
elif mission.image.format == "hybis":
camera_yaml_path = root / hybis_camera_file
default_file_path_correct_config = root / hybis_std_correct_config_file
elif mission.image.format == "ntnu_stereo":
camera_yaml_path = root / ntnu_camera_file
default_file_path_correct_config = root / ntnu_std_correct_config_file
elif mission.image.format == "rosbag_extracted_images":
camera_yaml_path = root / rosbag_extracted_camera_file
default_file_path_correct_config = (
root / rosbag_extracted_images_std_correct_config_file
)
ntnu_std_correct_config_file = (
"correct_images/default_yaml/ntnu_stereo/correct_images.yaml"
)
rosbag_extracted_images_std_correct_config_file = (
"correct_images/default_yaml/rosbag_extracted_images/correct_images.yaml"
else:
Console.quit(
"Image system in camera.yaml does not match with mission.yaml",
"Provide correct camera.yaml in /raw folder... ",
)

Console.info("Image format:", mission.image.format)

if mission.image.format == "acfr_standard":
camera_yaml_path = root / acfr_std_camera_file
default_file_path_correct_config = root / acfr_std_correct_config_file
elif mission.image.format == "seaxerocks_3":
camera_yaml_path = root / sx3_camera_file
default_file_path_correct_config = root / sx3_std_correct_config_file
elif mission.image.format == "biocam":
camera_yaml_path = root / biocam_camera_file
default_file_path_correct_config = root / biocam_std_correct_config_file
elif mission.image.format == "biocam4000_15c":
camera_yaml_path = root / biocam4000_15c_camera_file
default_file_path_correct_config = (
root / biocam4000_15c_std_correct_config_file
)
elif mission.image.format == "hybis":
camera_yaml_path = root / hybis_camera_file
default_file_path_correct_config = root / hybis_std_correct_config_file
elif mission.image.format == "ntnu_stereo":
camera_yaml_path = root / ntnu_camera_file
default_file_path_correct_config = root / ntnu_std_correct_config_file
elif mission.image.format == "rosbag_extracted_images":
camera_yaml_path = root / rosbag_extracted_camera_file
default_file_path_correct_config = (
root / rosbag_extracted_images_std_correct_config_file
)
else:
Console.quit(
"Image system in camera.yaml does not match with mission.yaml",
"Provide correct camera.yaml in /raw folder... ",
)
# resolve path to camera.yaml file
expected_camera_yaml_path = path_raw_folder / "camera.yaml"
if not expected_camera_yaml_path.exists():
Console.info(
"Not found camera.yaml file in /raw folder...Using default ",
"camera.yaml file...",
)
else:
Console.info("Found camera.yaml file in /raw folder...")
camera_yaml_path = temp_path

Console.info("camera.yaml:", camera_yaml_path)
Console.info("raw folder:", path_raw_folder)
camera_yaml_path = expected_camera_yaml_path

# instantiate the camera system and setup cameras from mission and
# config files / auv_nav
Expand All @@ -327,7 +358,11 @@ def load_configuration_and_camera_system(path):
)

# check for correct_config yaml path
path_correct_images = path_config_folder / "correct_images.yaml"
path_correct_images = None
if suffix == "" or suffix is None:
path_correct_images = path_config_folder / "correct_images.yaml"
else:
path_correct_images = path_config_folder / ("correct_images_" + suffix + ".yaml")
if path_correct_images.exists():
Console.info(
"Configuration file correct_images.yaml file found at", path_correct_images,
Expand Down
Loading

0 comments on commit 77b6bf1

Please sign in to comment.