panoptic_build_dataset.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import json\n",
    "import time, os\n",
    "import math\n",
    "\n",
    "# Global variables / dataset \n",
    "panoptic_path = \"../nas/MAEVE/dataset/panoptic-toolbox/\"\n",
    "sequences = [\"170407_haggling_a1\"] #\"170915_office1\",\"160422_ultimatum1\",\"160906_band4\",\"161029_build1\",\"161029_sports1\",\"161029_tools1\",\"170407_haggling_a1\"]\n",
    "sequence_name = \"170407_haggling_a1\"\n",
    "out_path = os.path.join(panoptic_path,\"trtpose3D/\")\n",
    "sequence_path = os.path.join(panoptic_path,sequence_name)\n",
    "\n",
    "CONTINUOUS_STATE_PARTS = [\n",
    "            \"nose\", \"left_ear\", \"right_ear\", \"left_shoulder\", \"right_shoulder\", \n",
    "            \"left_elbow\", \"right_elbow\", \"left_wrist\", \"right_wrist\", \"left_hip\", \"right_hip\", \"left_knee\", \n",
    "            \"right_knee\", \"left_ankle\", \"right_ankle\", \"neck\"]\n",
    "\n",
    "mapping_panoptic_cstate = [1,16,18,3,9,4,10,5,11,6,12,7,13,8,14,0]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
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     "execution_count": 13,
     "metadata": {},
     "output_type": "execute_result"
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   "source": [
    "# BUILD THE GROUND TRUTH JSON\n",
    "# Merge a unique json with ground truth\n",
    "gt = []\n",
    "directory= os.path.join(sequence_path,\"hdPose3d_stage1_coco19\")\n",
    "\n",
    "for filename in sorted(os.listdir(directory)):\n",
    "    with open(os.path.join(directory,filename),'r') as f:\n",
    "        data  = json.load(f)\n",
    "        json_frame = {}\n",
    "        json_frame[\"frame_id\"] = int(filename.split('_')[1].split('.')[0])\n",
    "        json_frame[\"timestamp\"] = data[\"univTime\"]\n",
    "        # print(json_frame[\"timestamp\"])\n",
    "        json_frame[\"kp3d\"] = []\n",
    "        json_frame[\"kp2d\"] = []\n",
    "        json_frame[\"continuousState\"] = []\n",
    "        json_frame[\"track_ids\"] = []\n",
    "        for body in data[\"bodies\"]:\n",
    "            json_frame[\"track_ids\"].append(body[\"id\"])\n",
    "            kp19 = np.array(body[\"joints19\"]).reshape(-1,4)\n",
    "            kp18 = kp19[mapping_panoptic_cstate,0:3]/100\n",
    "            acc = kp19[mapping_panoptic_cstate,3]*100 # Because it's too low for visualization\n",
    "            json_frame[\"continuousState\"].append(kp18.tolist())\n",
    "            kp3d = {}\n",
    "            kp2d = {}\n",
    "            for i,label in enumerate(CONTINUOUS_STATE_PARTS):\n",
    "                kp3d[label] = kp18[i,:].tolist()    \n",
    "                kp2d[label] = [0,0,acc[i]]\n",
    "            json_frame[\"kp3d\"].append(kp3d)\n",
    "            json_frame[\"kp2d\"].append(kp2d)\n",
    "        gt.append(json_frame)\n",
    "\n",
    "# dump json\n",
    "with open(os.path.join(out_path,sequence_name+\".gt.json\"), \"w\") as outfile:\n",
    "    json.dump(gt, outfile)\n",
    "\n",
    "# Export in viewer format\n",
    "os.system('python3 to_viewer.py '+out_path+sequence_name+'.gt.json --rotation 180 --output \"tmp/\"'+sequence_name+'\".gt.viewer.json\" >> \"tmp/\"$1\"_log_2.txt\"')"
   ]
  },
  {
   "cell_type": "code",
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       " 1143: 80649.751,\n",
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       " 1148: 80816.599,\n",
       " 1149: 80849.955,\n",
       " 1150: 80883.333,\n",
       " 1151: 80916.689,\n",
       " 1152: 80950.068,\n",
       " 1153: 80983.424,\n",
       " 1154: 81016.803,\n",
       " 1155: 81050.159,\n",
       " 1156: 81083.537,\n",
       " 1157: 81116.893,\n",
       " 1158: 81150.272,\n",
       " 1159: 81183.628,\n",
       " 1160: 81217.007,\n",
       " ...}"
      ]
     },
     "execution_count": 14,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# Build the dictionary frame_id:timestamp\n",
    "time_oracle = {}\n",
    "for frame in gt:\n",
    "    time_oracle[frame[\"frame_id\"]] = frame[\"timestamp\"]\n",
    "time_oracle"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Doing ../nas/MAEVE/dataset/panoptic-toolbox/160906_band4/trtpose3D/50_06\n"
     ]
    },
    {
     "ename": "FileNotFoundError",
     "evalue": "[Errno 2] No such file or directory: '../nas/MAEVE/dataset/panoptic-toolbox/160906_band4/trtpose3D/50_06'",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mFileNotFoundError\u001b[0m                         Traceback (most recent call last)",
      "Cell \u001b[0;32mIn[15], line 7\u001b[0m\n\u001b[1;32m      5\u001b[0m directory\u001b[38;5;241m=\u001b[39m os\u001b[38;5;241m.\u001b[39mpath\u001b[38;5;241m.\u001b[39mjoin(sequence_path,\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mtrtpose3D\u001b[39m\u001b[38;5;124m\"\u001b[39m,\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124m50_\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;241m+\u001b[39m\u001b[38;5;28mstr\u001b[39m(camera)\u001b[38;5;241m.\u001b[39mzfill(\u001b[38;5;241m2\u001b[39m))\n\u001b[1;32m      6\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mDoing\u001b[39m\u001b[38;5;124m\"\u001b[39m,directory)\n\u001b[0;32m----> 7\u001b[0m \u001b[38;5;28;01mfor\u001b[39;00m filename \u001b[38;5;129;01min\u001b[39;00m \u001b[38;5;28msorted\u001b[39m(\u001b[43mos\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mlistdir\u001b[49m\u001b[43m(\u001b[49m\u001b[43mdirectory\u001b[49m\u001b[43m)\u001b[49m):\n\u001b[1;32m      8\u001b[0m     \u001b[38;5;28;01mwith\u001b[39;00m \u001b[38;5;28mopen\u001b[39m(os\u001b[38;5;241m.\u001b[39mpath\u001b[38;5;241m.\u001b[39mjoin(directory,filename),\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mr\u001b[39m\u001b[38;5;124m'\u001b[39m) \u001b[38;5;28;01mas\u001b[39;00m f:\n\u001b[1;32m      9\u001b[0m         data  \u001b[38;5;241m=\u001b[39m json\u001b[38;5;241m.\u001b[39mload(f)\n",
      "\u001b[0;31mFileNotFoundError\u001b[0m: [Errno 2] No such file or directory: '../nas/MAEVE/dataset/panoptic-toolbox/160906_band4/trtpose3D/50_06'"
     ]
    }
   ],
   "source": [
    "# CREATE THE CAMERA JSON FILES\n",
    "# Merge a unique json for all frames of each camera\n",
    "cameras = [6,7,8,9,10]    # 6 to 10 are the upper ones\n",
    "for camera in cameras:\n",
    "    cam_data = []\n",
    "    directory= os.path.join(sequence_path,\"trtpose3D\",\"50_\"+str(camera).zfill(2))\n",
    "    print(\"Doing\",directory)\n",
    "    for filename in sorted(os.listdir(directory)):\n",
    "        with open(os.path.join(directory,filename),'r') as f:\n",
    "            data  = json.load(f)\n",
    "            # print(data)\n",
    "            json_frame = {}\n",
    "            json_frame[\"frame_id\"] = data[\"frame_id\"]\n",
    "            \n",
    "            # json_frame[\"timestamp\"] = data[\"timestamp\"] # This seems wrong, use the gt instead\n",
    "            if data[\"frame_id\"] not in time_oracle:\n",
    "                continue\n",
    "            json_frame[\"timestamp\"] = time_oracle[data[\"frame_id\"]]\n",
    "            \n",
    "            \n",
    "            json_frame[\"kp2d\"] = []\n",
    "            json_frame[\"kp3d\"] = []\n",
    "            json_frame[\"continuousState\"] = []            \n",
    "            json_frame[\"track_ids\"] = []\n",
    "            # for body in data[\"bodies\"]:\n",
    "                # pass\n",
    "            if data[\"kp3d\"][0] is not None:\n",
    "                for j,body in enumerate(data[\"kp3d\"]):\n",
    "                    kp18 = np.empty((len(CONTINUOUS_STATE_PARTS),3))+np.nan\n",
    "                    kp3d = {}\n",
    "                    kp2d = {}\n",
    "                    for i,label in enumerate(CONTINUOUS_STATE_PARTS):\n",
    "                        if label in body.keys():\n",
    "                            # print(\"2d\",list(data[\"kp2d\"][j].keys()))\n",
    "                            # print(\"3d\",list(data[\"kp3d\"][j].keys()))\n",
    "                            if '_NaN_' not in body[label]:\n",
    "                                kp3d[label] = (np.array(body[label])/100).tolist()\n",
    "                                # kp3d[label] = [None if x == '_NaN_' or x == 'NaN' else x/100 for x in body[label]] \n",
    "                                kp2d[label] = data[\"kp2d\"][j][label]\n",
    "                                kp18[i,:] = np.array(kp3d[label]).reshape(1,3) # cm to m\n",
    "\n",
    "                    if kp3d != {} and kp2d != {} and len(list(kp2d.keys())) > 2: # At least 3 keypoints\n",
    "                        json_frame[\"track_ids\"].append(camera)\n",
    "                        json_frame[\"continuousState\"].append([[] if math.isnan(x[0]) else x for x in kp18.tolist()])\n",
    "                        json_frame[\"kp3d\"].append(kp3d)\n",
    "                        json_frame[\"kp2d\"].append(kp2d)\n",
    "            cam_data.append(json_frame)\n",
    "            # if json_frame[\"frame_id\"] == 1169:\n",
    "            #     print(os.path.join(directory,filename))\n",
    "            #     break\n",
    "        # dump json\n",
    "\n",
    "    with open(os.path.join(out_path,sequence_name+\".\"+ str(camera) +\".json\"), \"w\") as outfile:\n",
    "        json.dump(cam_data, outfile)\n",
    "    # Export in viewer format\n",
    "    os.system(\"python3 to_viewer.py \"+out_path+sequence_name+\".\"+ str(camera) +\".json --rotation 180 --output tmp/\"+sequence_name + \".\" + str(camera) + \".viewer.json >> tmp/$1_log_2.txt\")\n",
    "    # os.system(\"python3 to_viewer.py tmp/\"+sequence_name+\".\"+ str(camera) +\".json --rotation 180 --output tmp/\"+sequence_name + \".\" + str(camera) + \".viewer.json\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "'../nas/MAEVE/dataset/panoptic-toolbox/trtpose3D/170407_haggling_a1.10.json'"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "os.path.join(out_path,sequence_name+\".\"+ str(camera) +\".json\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 28,
   "metadata": {},
   "outputs": [],
   "source": [
    "# # Aggregate cameras\n",
    "# cameras = [6,7,8,9,10]\n",
    "# data = {}\n",
    "# for camera in cameras:\n",
    "#     with open(os.path.join(\"tmp/\",sequence_name+\".\"+ str(camera) +\".json\"), \"r\") as f:\n",
    "#         file = json.load(f)\n",
    "#         for frame in file:\n",
    "#             if frame[\"frame_id\"] not in data:\n",
    "#                 data[frame[\"frame_id\"]] = []\n",
    "#             data[frame[\"frame_id\"]].append(frame)\n",
    "        \n",
    "# # Make one big json file\n",
    "# total_out = []\n",
    "# for frame_id in sorted(list(data.keys())):\n",
    "#     total = {}\n",
    "#     # print(data[frame_id])\n",
    "#     total[\"frame_id\"] = frame_id\n",
    "#     total[\"timestamp\"] = data[frame_id][0][\"timestamp\"]\n",
    "#     total['kp2d'] = []\n",
    "#     total['kp3d'] = []\n",
    "#     total['continuousState'] = []\n",
    "#     total['track_ids'] = []\n",
    "#     for c in data[frame_id]:\n",
    "#         for i in range(len(c[\"kp2d\"])):\n",
    "#             total[\"kp2d\"].append(c[\"kp2d\"][i])\n",
    "#             total[\"kp3d\"].append(c[\"kp3d\"][i])\n",
    "#             total[\"continuousState\"].append(c[\"continuousState\"][i])\n",
    "#             total[\"track_ids\"].append(c[\"track_ids\"][i])\n",
    "#     total_out.append(total)\n",
    "#     # if len(total['kp3d']) > 1:\n",
    "#     #     print(total)\n",
    "#     #     break\n",
    "\n",
    "# filename_out = sequence_name+\".\"+ \".\".join(map(str, cameras)) +\".json\" \n",
    "\n",
    "# with open(os.path.join(\"tmp/\",filename_out), \"w\") as outfile:\n",
    "#     json.dump(total_out, outfile)\n",
    "# # Export in viewer format\n",
    "# os.system(\"python3 to_viewer.py tmp/\"+ filename_out + \" --rotation 180 --output tmp/\"+ filename_out.replace('.json','.viewer.json') + \" >> tmp/$1_log_2.txt\")\n",
    "    "
   ]
  }
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