Robotsport_imagehub_tools.ipynb

{"nbformat":4,"nbformat_minor":0,"metadata":{"colab":{"name":"Robotsport_imagehub_tools.ipynb","provenance":[],"authorship_tag":"ABX9TyNbaBZ4qFQv0UCazpaaJ0ow"},"kernelspec":{"name":"python3","display_name":"Python 3"}},"cells":[{"cell_type":"markdown","metadata":{"id":"EO3jYVAadwFz"},"source":["## Import and connect Google colab to Google drive"]},{"cell_type":"code","metadata":{"id":"UPLPzsE3d3o7","executionInfo":{"status":"ok","timestamp":1614194880351,"user_tz":-60,"elapsed":1466,"user":{"displayName":"Charel van Hoof","photoUrl":"https://lh3.googleusercontent.com/a-/AOh14Ghd_WrtQJt_iGgcRLe2P8kGopkw-jP-gpwznOGoWQ=s64","userId":"06504628411469766090"}}},"source":["import glob, os\r\n","import numpy as np\r\n","from numpy import save, load\r\n","import pandas as pd\r\n","import itertools\r\n","import random\r\n","#torch\r\n","\r\n","#Google colab tools\r\n","from google.colab import files # To handle files and eg export to your browser\r\n","import glob # To handle files and eg export to your browser\r\n","from google.colab import drive # Mount your Google drive\r\n","# matplot\r\n","import matplotlib.pyplot as plt\r\n","import matplotlib.image as mpimg\r\n","import seaborn as sns\r\n","%matplotlib inline\r\n","\r\n","from IPython.display import Image, clear_output  # to display images\r\n","np.random.seed()\r\n","sns.set(style='white', context='notebook', palette='deep')\r\n"],"execution_count":1,"outputs":[]},{"cell_type":"code","metadata":{"colab":{"base_uri":"https://localhost:8080/"},"id":"xYYeIwXBdwjs","executionInfo":{"status":"ok","timestamp":1614194903168,"user_tz":-60,"elapsed":21759,"user":{"displayName":"Charel van Hoof","photoUrl":"https://lh3.googleusercontent.com/a-/AOh14Ghd_WrtQJt_iGgcRLe2P8kGopkw-jP-gpwznOGoWQ=s64","userId":"06504628411469766090"}},"outputId":"dfea7475-05b3-4b7f-99e6-25485860d5f6"},"source":["# The way to import/export a file with google colab to you google drive\r\n","\r\n","drive.mount('/content/drive/')\r\n","\r\n","IMAGEHUB='/content/drive/My Drive/Robotsports/Robotsports_imagehub'\r\n","\r\n","\r\n","#Test it\r\n","!ls '$IMAGEHUB'"],"execution_count":2,"outputs":[{"output_type":"stream","text":["Mounted at /content/drive/\n","20201014_goalpictures\t     Other\n","20201201_iphone_test_images  Robotsport_imagehub_tools.ipynb\n","20201202_field_filtered      validation_set\n"],"name":"stdout"}]},{"cell_type":"markdown","metadata":{"id":"HpwvxoAoc0bK"},"source":["## Translate VOCXML annotation to Yolo format"]},{"cell_type":"code","metadata":{"id":"ud3zluM6c1Bk","executionInfo":{"status":"ok","timestamp":1614194908506,"user_tz":-60,"elapsed":715,"user":{"displayName":"Charel van Hoof","photoUrl":"https://lh3.googleusercontent.com/a-/AOh14Ghd_WrtQJt_iGgcRLe2P8kGopkw-jP-gpwznOGoWQ=s64","userId":"06504628411469766090"}}},"source":["#\r\n","# @author:  Noah van der Meer\r\n","# @brief:   VOC XML to YOLO annotation converter\r\n","#\r\n","# @date:    28-01-2021\r\n","#\r\n","\r\n","from typing import List, Tuple, Dict  # for Python type hinting/static typing\r\n","\r\n","import os                       # listing and reading files\r\n","import xml.dom.minidom          # parsing XML in DOM\r\n","\r\n","def voc_xml_to_yolo(dom, classes: Dict[str, int]) -> str:\r\n","    \"\"\" Convert from VOC XML to Yolo annotation format\r\n","\r\n","    Parameters\r\n","    ----------\r\n","    dom : \r\n","        loaded xml document\r\n","\r\n","    classes : Dict\r\n","        class name -> index map\r\n","\r\n","\r\n","    The YOLO format:\r\n","    <class> <x> <y> <width> <height>\r\n","\r\n","    where\r\n","    <class>             - integer number of object from 0 to (numClasses - 1)\r\n","    <x> <y>             - relative x,y coordinates of _center_ of bounding box\r\n","    <width> <height>    - relative bounding box width/height\r\n","\r\n","    More information about the YOLO format:\r\n","    https://github.com/AlexeyAB/Yolo_mark/issues/60\r\n","\r\n","\r\n","    \r\n","    Returns\r\n","    -------\r\n","    str :\r\n","        annotations encoded in YOLO format\r\n","\r\n","    \"\"\"\r\n","\r\n","    output = \"\"\r\n","\r\n","    annotation = dom.documentElement\r\n","    \r\n","    # Determine image size\r\n","    size = annotation.getElementsByTagName(\"size\")[0]\r\n","    imgWidth: int = int(size.getElementsByTagName(\"width\")[0].childNodes[0].data)\r\n","    imgHeight: int = int(size.getElementsByTagName(\"height\")[0].childNodes[0].data)\r\n","\r\n","    # Iterate through objects\r\n","    objects = annotation.getElementsByTagName(\"object\")\r\n","    for obj in objects:\r\n","        # Look up class\r\n","        name: str = obj.getElementsByTagName(\"name\")[0].childNodes[0].data\r\n","        name.replace(\" \", \"\")\r\n","        if name in classes:\r\n","            classId = classes[name]\r\n","        else:\r\n","            print(\"-- voc_xml_to_yolo() error: class '\", name, \r\n","                    \"' not known! Skipping object\")\r\n","            continue\r\n","\r\n","        # Interpret bounding box\r\n","        bndbox = obj.getElementsByTagName(\"bndbox\")[0]\r\n","        xmin: int = int(bndbox.getElementsByTagName(\"xmin\")[0].childNodes[0].data)\r\n","        ymin: int = int(bndbox.getElementsByTagName(\"ymin\")[0].childNodes[0].data)\r\n","        xmax: int = int(bndbox.getElementsByTagName(\"xmax\")[0].childNodes[0].data)\r\n","        ymax: int = int(bndbox.getElementsByTagName(\"ymax\")[0].childNodes[0].data)\r\n","        \r\n","        xCenter: float = (xmin + xmax) / (2 * imgWidth)\r\n","        yCenter: float = (ymin + ymax) / (2 * imgHeight)\r\n","        bndWidth: float = (xmax - xmin) / imgWidth\r\n","        bndHeight: float = (ymax - ymin) / imgHeight\r\n","\r\n","        output = output + str(classId) + \" \" + str(xCenter) + \" \" + str(yCenter) + \" \" + str(bndWidth) + \" \" + str(bndHeight) + \"\\n\"\r\n","\r\n","    return output\r\n","\r\n","\r\n","def voc_xml_directory_to_yolo(sourceDirectory: str, targetDirectory: str, classes: Dict[str, int]):\r\n","    \"\"\" Convert from VOC XML annotations to Yolo annotation format\r\n","\r\n","    Parameters\r\n","    ----------\r\n","    sourceDirectory : str\r\n","        path to source directory containing annotations in VOC XML format. This method\r\n","        will attempt to load any file with the *.xml extension, and it ignores other files\r\n","\r\n","    targetDirectory : str\r\n","        target directory for writing the annotation files in Yolo format\r\n","\r\n","    classes : Dict\r\n","        class name -> index map\r\n","\r\n","    \"\"\"\r\n","\r\n","    files: List[str] = os.listdir(sourceDirectory)\r\n","    print(\"voc_xml_directory_to_yolo() : found\", len(files), \"files in directory\", sourceDirectory)\r\n","\r\n","    for filename in files:\r\n","\r\n","        # check file extension\r\n","        if len(filename) < 3:\r\n","            continue\r\n","        if filename[-3:] != \"xml\":\r\n","            continue\r\n","        \r\n","        targetFilename = filename[0:-3] + \"txt\"\r\n","        print(\"voc_xml_directory_to_yolo() :\", filename, \"->\", targetFilename)\r\n","\r\n","        dom = xml.dom.minidom.parse(sourceDirectory + \"/\" + filename)\r\n","        yl: str = voc_xml_to_yolo(dom, classes)\r\n","\r\n","        # write to file\r\n","        fo = open(targetDirectory + \"/\" + targetFilename, \"w\")\r\n","        fo.write(yl)\r\n","        fo.close()\r\n","\r\n","\r\n"],"execution_count":3,"outputs":[]},{"cell_type":"code","metadata":{"colab":{"base_uri":"https://localhost:8080/"},"id":"qvMMOZbvc3Jq","executionInfo":{"status":"ok","timestamp":1614196392962,"user_tz":-60,"elapsed":4657,"user":{"displayName":"Charel van Hoof","photoUrl":"https://lh3.googleusercontent.com/a-/AOh14Ghd_WrtQJt_iGgcRLe2P8kGopkw-jP-gpwznOGoWQ=s64","userId":"06504628411469766090"}},"outputId":"302d8d22-f68e-4a25-ed90-2cfe52a8cf6b"},"source":["classes = {\"ball\": 0, \"robot\": 1, \"human\": 2, \"goalpost\": 3, \"goal\": 4}\r\n","\r\n","DIR = '20201201_iphone_test_images'  # @param\r\n","\r\n","voc_xml_directory_to_yolo(IMAGEHUB+'/' + DIR + '/VOCXML', \r\n","                        IMAGEHUB+'/' + DIR +'/YOLO',\r\n","                        classes)"],"execution_count":6,"outputs":[{"output_type":"stream","text":["voc_xml_directory_to_yolo() : found 10 files in directory /content/drive/My Drive/Robotsports/Robotsports_imagehub/20201201_iphone_test_images/VOCXML\n","voc_xml_directory_to_yolo() : IMG_2865.xml -> IMG_2865.txt\n","voc_xml_directory_to_yolo() : IMG_2866.xml -> IMG_2866.txt\n","voc_xml_directory_to_yolo() : IMG_2867.xml -> IMG_2867.txt\n","voc_xml_directory_to_yolo() : IMG_2868.xml -> IMG_2868.txt\n","voc_xml_directory_to_yolo() : IMG_2869.xml -> IMG_2869.txt\n","voc_xml_directory_to_yolo() : IMG_2870.xml -> IMG_2870.txt\n","voc_xml_directory_to_yolo() : IMG_2871.xml -> IMG_2871.txt\n","voc_xml_directory_to_yolo() : IMG_2872.xml -> IMG_2872.txt\n","voc_xml_directory_to_yolo() : IMG_2874.xml -> IMG_2874.txt\n","voc_xml_directory_to_yolo() : IMG_2873.xml -> IMG_2873.txt\n"],"name":"stdout"}]},{"cell_type":"markdown","metadata":{"id":"mftptKQXdCcR"},"source":["## Convert PGN to JPG images"]},{"cell_type":"code","metadata":{"id":"XLlFumhMdOrr"},"source":["#\r\n","# @author:  Noah van der Meer\r\n","# @brief:   PNG to JPG image conversion through OpenCV\r\n","#\r\n","# @date:    14-02-2021\r\n","#\r\n","\r\n","from typing import List, Tuple, Dict  # for Python type hinting/static typing\r\n","\r\n","import cv2                            # PNG and JPEG encoding\r\n","\r\n","import os                             # listing files\r\n","\r\n","def png_directory_to_jpg(sourceDirectory: str, targetDirectory: str):\r\n","    \"\"\" Convert from PNG image format to JPEG image format\r\n","\r\n","    Note: \r\n","    - The 'targetDirectory' must exist already\r\n","    - Any metadata (e.g. XMP) that might be present in the source files\r\n","        is generally lost in the target files\r\n","\r\n","    Parameters\r\n","    ----------\r\n","    sourceDirectory : str\r\n","        path to source directory containing images saved in PNG format. This method\r\n","        will attempt to load any file with the *.png extension, and it ignores other files\r\n","\r\n","    targetDirectory : str\r\n","        target directory for writing the JPEG files\r\n","\r\n","    \"\"\"\r\n","\r\n","    files: List[str] = os.listdir(sourceDirectory)\r\n","    print(\"png_directory_to_jpg() : found\", len(files), \"files in directory\", sourceDirectory)\r\n","\r\n","    for filename in files:\r\n","\r\n","        # check file extension\r\n","        if len(filename) < 3:\r\n","            continue\r\n","        if filename[-3:] != \"png\":\r\n","            continue\r\n","        \r\n","        targetFilename = filename[0:-3] + \"jpg\"\r\n","        print(\"png_directory_to_jpg() :\", filename, \"->\", targetFilename)\r\n","\r\n","        image = cv2.imread(sourceDirectory + \"/\" + filename)    # read PNG image\r\n","        cv2.imwrite(targetDirectory + \"/\" + targetFilename, image)              # write JPEG\r\n","\r\n","\r\n"],"execution_count":null,"outputs":[]},{"cell_type":"code","metadata":{"colab":{"base_uri":"https://localhost:8080/"},"id":"Tj2YtxkTdcbc","executionInfo":{"status":"ok","timestamp":1613490517222,"user_tz":-60,"elapsed":447272,"user":{"displayName":"Charel van Hoof","photoUrl":"https://lh3.googleusercontent.com/a-/AOh14Ghd_WrtQJt_iGgcRLe2P8kGopkw-jP-gpwznOGoWQ=s64","userId":"06504628411469766090"}},"outputId":"f8b6fa9e-13f5-492c-d2b5-353fc887532d"},"source":["png_directory_to_jpg(IMAGEHUB+'/20201014_goalpictures_PGN', \r\n","                        IMAGEHUB+'/20201014_goalpictures')"],"execution_count":null,"outputs":[{"output_type":"stream","text":["png_directory_to_jpg() : found 490 files in directory /content/drive/My Drive/Robotsports/Robotsports_imagehub/20201014_goalpictures_PGN\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_56_05_color.png -> 3dsense_2020_10_14__21_56_05_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_56_18_color.png -> 3dsense_2020_10_14__21_56_18_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_56_20_color.png -> 3dsense_2020_10_14__21_56_20_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_56_22_color.png -> 3dsense_2020_10_14__21_56_22_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_56_24_color.png -> 3dsense_2020_10_14__21_56_24_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_56_27_color.png -> 3dsense_2020_10_14__21_56_27_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_56_29_color.png -> 3dsense_2020_10_14__21_56_29_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_56_31_color.png -> 3dsense_2020_10_14__21_56_31_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_56_33_color.png -> 3dsense_2020_10_14__21_56_33_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_56_37_color.png -> 3dsense_2020_10_14__21_56_37_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_56_40_color.png -> 3dsense_2020_10_14__21_56_40_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_56_42_color.png -> 3dsense_2020_10_14__21_56_42_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_56_44_color.png -> 3dsense_2020_10_14__21_56_44_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_56_46_color.png -> 3dsense_2020_10_14__21_56_46_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_56_48_color.png -> 3dsense_2020_10_14__21_56_48_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_57_05_color.png -> 3dsense_2020_10_14__21_57_05_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_57_20_color.png -> 3dsense_2020_10_14__21_57_20_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_57_22_color.png -> 3dsense_2020_10_14__21_57_22_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_57_25_color.png -> 3dsense_2020_10_14__21_57_25_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_57_27_color.png -> 3dsense_2020_10_14__21_57_27_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_57_31_color.png -> 3dsense_2020_10_14__21_57_31_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_57_34_color.png -> 3dsense_2020_10_14__21_57_34_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_57_37_color.png -> 3dsense_2020_10_14__21_57_37_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_57_39_color.png -> 3dsense_2020_10_14__21_57_39_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_57_41_color.png -> 3dsense_2020_10_14__21_57_41_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_57_43_color.png -> 3dsense_2020_10_14__21_57_43_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_57_46_color.png -> 3dsense_2020_10_14__21_57_46_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_57_48_color.png -> 3dsense_2020_10_14__21_57_48_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_57_50_color.png -> 3dsense_2020_10_14__21_57_50_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_57_52_color.png -> 3dsense_2020_10_14__21_57_52_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_57_54_color.png -> 3dsense_2020_10_14__21_57_54_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_57_56_color.png -> 3dsense_2020_10_14__21_57_56_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_57_58_color.png -> 3dsense_2020_10_14__21_57_58_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_58_00_color.png -> 3dsense_2020_10_14__21_58_00_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_58_02_color.png -> 3dsense_2020_10_14__21_58_02_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_58_04_color.png -> 3dsense_2020_10_14__21_58_04_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_58_06_color.png -> 3dsense_2020_10_14__21_58_06_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_58_10_color.png -> 3dsense_2020_10_14__21_58_10_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_58_12_color.png -> 3dsense_2020_10_14__21_58_12_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_58_14_color.png -> 3dsense_2020_10_14__21_58_14_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_58_16_color.png -> 3dsense_2020_10_14__21_58_16_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_58_18_color.png -> 3dsense_2020_10_14__21_58_18_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_58_21_color.png -> 3dsense_2020_10_14__21_58_21_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_58_23_color.png -> 3dsense_2020_10_14__21_58_23_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_58_24_color.png -> 3dsense_2020_10_14__21_58_24_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_58_27_color.png -> 3dsense_2020_10_14__21_58_27_color.jpg\n","png_directory_to_jpg() : 3dsense_2020_10_14__21_58_29_color.png -> 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