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export-ignore -*.pyd binary - -# Jupyter notebook -*.ipynb text eol=lf - -# Note: .db, .p, and .pkl files are associated -# with the python modules ``pickle``, ``dbm.*``, -# ``shelve``, ``marshal``, ``anydbm``, & ``bsddb`` -# (among others). - -# Auto detect text files and perform LF normalization -* text=auto diff --git a/CHANGELOG.md b/CHANGELOG.md deleted file mode 100644 index 88b639c..0000000 --- a/CHANGELOG.md +++ /dev/null @@ -1,91 +0,0 @@ - -# project-name Changelog - -All notable changes to this project will be documented in this file. - -The format is based on [CHANGELOG.md][CHANGELOG.md] -and this project adheres to [Semantic Versioning][Semantic Versioning]. - - - - - - - -_______________________________________________________________________________ - -## [0.1.0] - YYYY-MM-DD - -This is the initial version of the project. - -### Added - -- The base project - -[CHANGELOG.md]: https://keepachangelog.com/en/1.1.0/ -[Semantic Versioning]: http://semver.org/ - - - diff --git a/README.md b/README.md index 6dd67ce..95609e1 100644 --- a/README.md +++ b/README.md @@ -1,9 +1 @@ -# project-name - -Remember to: - -1. Replace all instances of `project-name` with the real name of the project -2. Replace all instances of `project_name` with the "package name" of the project -3. Rename the source code folder from `project_name` to something more fitting -4. Generate a lock file -5. Rewrite the `README.md` +# FLIR WAAM \ No newline at end of file diff --git a/pyproject.toml b/pyproject.toml index c6402c1..321f1fc 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -2,216 +2,29 @@ requires = ["poetry-core>=1.8.0", "wheel",] build-backend = "poetry.core.masonry.api" - -[tool.coverage.run] -branch = true -relative_files = true -omit = [ - ".tox/*", - "tests/*", -] - - [tool.poetry] -name = "project-name" +name = "flir-waam" version = "0.1.0" -description = "A template Poetry project structure." +description = "FLIR WAAM Helper Functions." packages = [ - { include = "project_name", from = "src" }, + { include = "flir_toolbox", from = "src" }, + { include = "torch_tracking", from = "src" } ] -authors = ["Lari Liuhamo ",] -maintainers = ["Lari Liuhamo ",] +authors = ["Honglu He ",] +maintainers = ["Honglu He ",] -include = ["CHANGELOG.md", "LICENSE", "py.typed",] +include = ["CHANGELOG.md", "LICENSE", "py.typed","torch_tracking/torch.pt"] license = "BSD-3-Clause" readme = "README.md" -homepage = "" -repository = "" -documentation = "" - -keywords = [ - "python3", -] -classifiers = [ - "Development Status :: 3 - Alpha", - "Operating System :: OS Independent", - "Programming Language :: Python :: 3.8", - "Programming Language :: Python :: 3.9", - "Programming Language :: Python :: 3.10", - "Programming Language :: Python :: 3.11", - "Programming Language :: Python :: 3.12", - "Programming Language :: Python :: Implementation :: CPython", - "Programming Language :: Python :: Implementation :: PyPy", - "Typing :: Typed", -] +repository = "https://github.com/hehonglu123/flir_waam" [tool.poetry.dependencies] -python = "^3.8.1" -numpy = "^1.24.4" - - -[tool.poetry.group.dev.dependencies] -mypy = "^1.10.0" - - -[tool.poetry.group.linters] -optional = true - - -[tool.poetry.group.linters.dependencies] -ruff = "^0.4.4" - - -[tool.poetry.group.tests] -optional = true - - -[tool.poetry.group.tests.dependencies] -pytest = "^8.2.0" -pytest-cov = "^5.0.0" -tox = "^4.15.0" -tox-gh-actions = "^3.2.0" - - -[tool.poetry.urls] -"Tracker" = "" -"Changelog" = "" - - -[tool.pytest.ini_options] -minversion = "6.0" -addopts = """ ---doctest-modules \ ---cov=./ \ ---cov-append \ ---cov-report html:tests/reports/coverage-html \ ---cov-report xml:tests/reports/coverage.xml \ ---ignore=docs/ -""" -testpaths = [ - "tests", -] - - -[tool.ruff] -select = [ - "A", # Builtins - "ANN", # Annotations - "ARG", # Unused arguments - "B", # Bugbear - "BLE", # Blind except - "C4", # Comprehensions - "C90", # mccabe - "COM", # Commas - "D1", # Undocumented public elements - "D2", # Docstring conventions - "D3", # Triple double quotes - "D4", # Docstring text format - "DTZ", # Datetimes - "EM", # Error messages - "ERA", # Commented-out code - "EXE", # Executable - "F", # Pyflakes - "FA", # __future__ annotations - "FLY", # F-strings - # "FURB", # Refurb - "G", # Logging format - "I", # Isort - "ICN", # Import conventions - "INP", # Disallow PEP-420 (Implicit namespace packages) - "INT", # gettext - "ISC", # Implicit str concat - # "LOG", # Logging - "N", # PEP-8 Naming - "NPY", # Numpy - "PERF", # Unnecessary performance costs - "PGH", # Pygrep hooks - "PIE", # Unnecessary code - "PL", # Pylint - "PT", # Pytest - "PTH", # Use Pathlib - "PYI", # Stub files - "Q", # Quotes - "RET", # Return - "RUF", # Ruff - "RSE", # Raise - "S", # Bandit - "SIM", # Code simplification - "SLF", # Private member access - "SLOT", # __slots__ - "T10", # Debugger - "T20", # Print - "TCH", # Type checking - "TID", # Tidy imports - "TRY", # Exception handling - "UP", # Pyupgrade - "W", # Warnings - "YTT", # sys.version -] -ignore = [ - "D203", # One blank line before class docstring - "D212", # Multi-line summary first line - "PLR0913", # Too many arguments - "Q000", # Single quotes found but double quotes preferred -] -ignore-init-module-imports = true -line-length = 120 -# preview = true -show-fixes = true -src = ["src",] -target-version = "py38" - - -[tool.ruff.flake8-quotes] -docstring-quotes = "double" -multiline-quotes = "double" - - -[tool.ruff.mccabe] -# Unlike Flake8, default to a complexity level of 10. -max-complexity = 10 - - -[tool.ruff.per-file-ignores] -# https://beta.ruff.rs/docs/rules/ -"__init__.py" = ["F401","F403","F405",] -"tests/*" = ["ANN", "ARG", "INP001", "S101",] - - -[tool.ruff.pylint] -max-args = 15 -max-branches = 20 -max-returns = 10 -max-statements = 80 - - -[tool.ruff.flake8-tidy-imports] -ban-relative-imports = "all" - - -[tool.tox] -legacy_tox_ini = """ -[tox] -envlist = py38, py39, py310, py311, pypy3 -skip_missing_interpreters = true - -[gh-actions] -python = - 3.8: py38 - 3.9: py39 - 3.10: py310 - 3.11: py311 - pypy-3.10: pypy3 - -[testenv] -passenv = GITHUB_* -allowlist_externals = poetry - -#commands = -# poetry run pytest -# poetry run coverage report -""" +python = ">=3.8,<3.12" +numpy = "<2.0.0" +general_robotics_toolbox = "^0.7.2" +shapely = "^2.0.4" +opencv-python = "4.8.0.76" diff --git a/src/flir_toolbox/__init__.py b/src/flir_toolbox/__init__.py new file mode 100644 index 0000000..867a230 --- /dev/null +++ b/src/flir_toolbox/__init__.py @@ -0,0 +1,2 @@ +"""Stuff 'n' things.""" +from .flir_toolbox import * \ No newline at end of file diff --git a/src/flir_toolbox/flir_toolbox.py b/src/flir_toolbox/flir_toolbox.py new file mode 100644 index 0000000..ff1884c --- /dev/null +++ b/src/flir_toolbox/flir_toolbox.py @@ -0,0 +1,329 @@ +import numpy as np +import cv2, copy +from shapely.geometry import Point, Polygon, LineString +from shapely.ops import nearest_points + + + +##############################################FLIR COUNTS TO TEMPERATURE CONVERSION############################################## +####FROM https://flir.custhelp.com/app/answers/detail/a_id/3321/~/the-measurement-formula +def counts2temp(data_counts,R,B,F,J1,J0,Emiss): + # reflected energy + TRefl = 18 + + # atmospheric attenuation + TAtmC = 20 + TAtm = TAtmC + 273.15 + Tau = 0.99 #transmission + + # external optics + TExtOptics = 20 + TransmissionExtOptics = 1 + + K1 = 1 / (Tau * Emiss * TransmissionExtOptics) + + # Pseudo radiance of the reflected environment + r1 = ((1-Emiss)/Emiss) * (R/(np.exp(B/TRefl)-F)) + # Pseudo radiance of the atmosphere + r2 = ((1 - Tau)/(Emiss * Tau)) * (R/(np.exp(B/TAtm)-F)) + # Pseudo radiance of the external optics + r3 = ((1-TransmissionExtOptics) / (Emiss * Tau * TransmissionExtOptics)) * (R/(np.exp(B/TExtOptics)-F)) + + K2 = r1 + r2 + r3 + + data_obj_signal = (data_counts - J0)/J1 + data_temp = (B / np.log(R/((K1 * data_obj_signal) - K2) + F)) -273.15 + + return data_temp + + +def counts2temp_4learning(data_counts,R,B,F,J1,J0): + Emiss=data_counts[-1] + data_counts=data_counts[:-1] + # reflected energy + TRefl = 18 + + # atmospheric attenuation + TAtmC = 20 + TAtm = TAtmC + 273.15 + Tau = 0.99 #transmission + + # external optics + TExtOptics = 20 + TransmissionExtOptics = 1 + + K1 = 1 / (Tau * Emiss * TransmissionExtOptics) + + # Pseudo radiance of the reflected environment + r1 = ((1-Emiss)/Emiss) * (R/(np.exp(B/TRefl)-F)) + # Pseudo radiance of the atmosphere + r2 = ((1 - Tau)/(Emiss * Tau)) * (R/(np.exp(B/TAtm)-F)) + # Pseudo radiance of the external optics + r3 = ((1-TransmissionExtOptics) / (Emiss * Tau * TransmissionExtOptics)) * (R/(np.exp(B/TExtOptics)-F)) + + K2 = r1 + r2 + r3 + + data_obj_signal = (data_counts - J0)/J1 + data_temp = (B / np.log(R/((K1 * data_obj_signal) - K2) + F)) -273.15 + + return data_temp + + +def flame_detection(raw_img,threshold=1.2e4,area_threshold=10): + ###flame detection by raw counts thresholding and connected components labeling + #centroids: x,y + #bbox: x,y,w,h + thresholded_img=(raw_img>threshold).astype(np.uint8) + if np.max(thresholded_img)==0: + return None, None + + nb_components, labels, stats, centroids = cv2.connectedComponentsWithStats(thresholded_img, connectivity=4) + + valid_indices=np.where(stats[:, cv2.CC_STAT_AREA] > area_threshold)[0][1:] ###threshold connected area + if len(valid_indices)==0: + return None, None + + average_pixel_values = [np.mean(raw_img[labels == label]) for label in valid_indices] ###sorting + + valid_index=valid_indices[np.argmax(average_pixel_values)] ###get the area with largest average brightness value + + # Extract the centroid and bounding box of the largest component + centroid = centroids[valid_index] + bbox = stats[valid_index, :-1] + + return centroid, bbox + + +def flame_detection_no_arc(raw_img,torch_template,threshold=1.5e4,area_threshold=10,template_center_offset=2): + ###welding point detection without flame + #centroids: x,y + #bbox: x,y,w,h + + ###adaptively increase the threshold to 50% of the maximum pixel value + threshold=max(threshold,0.5*np.max(raw_img)) + + + thresholded_img=(raw_img>threshold).astype(np.uint8) + if np.max(thresholded_img)==0: #if no pixel above threshold, means not welding + print('no hotspot detected') + return None, None + + + nb_components, labels, stats, centroids = cv2.connectedComponentsWithStats(thresholded_img, connectivity=4) + #find the largest connected area + areas = stats[:, 4] + areas[0] = 0 # Exclude the background component (label 0) from the search + + if np.max(areas)threshold).astype(np.uint8) + if np.max(thresholded_img)==0: #if no pixel above threshold, means not welding + print('no hotspot detected') + return None, None + + + nb_components, labels, stats, centroids = cv2.connectedComponentsWithStats(thresholded_img, connectivity=4) + #find the largest connected area + areas = stats[:, 4] + areas[0] = 0 # Exclude the background component (label 0) from the search + + if np.max(areas)threshold).astype(np.uint8) + if np.max(thresholded_img)==0: + # print('max counts below threshold: ',np.max(raw_img)) + return None, None, None + + nb_components, labels, stats, centroids = cv2.connectedComponentsWithStats(thresholded_img, connectivity=4) + + valid_indices=np.where(stats[:, cv2.CC_STAT_AREA] > area_threshold)[0][1:] ###threshold connected area + if len(valid_indices)==0: + # print('no connected components') + return None, None, None + + average_pixel_values = [np.mean(raw_img[labels == label]) for label in valid_indices] ###sorting + + valid_index=valid_indices[np.argmax(average_pixel_values)] ###get the area with largest average brightness value + + #list of pixel coordinates + pixels=np.where(labels==valid_index) + # Extract the centroid and bounding box of the largest component + centroid = centroids[valid_index] + bbox = stats[valid_index, :-1] + + return centroid, bbox, pixels + +def torch_detect(ir_image,template,template_threshold=0.3,pixel_threshold=1e4): + ###template matching for torch, return the upper left corner of the matched region + #threshold and normalize ir image + ir_torch_tracking=ir_image.copy() + ir_torch_tracking[ir_torch_tracking>pixel_threshold]=pixel_threshold + ir_torch_tracking_normalized = ((ir_torch_tracking - np.min(ir_torch_tracking)) / (np.max(ir_torch_tracking) - np.min(ir_torch_tracking))) * 255 + + # run edge detection + edges = cv2.Canny(ir_torch_tracking_normalized.astype(np.uint8), threshold1=20, threshold2=50) + # bolden all edges + edges=cv2.dilate(edges,None,iterations=1) + + # cv2.imshow('ir_torch_tracking',ir_torch_tracking_normalized.astype(np.uint8)) + # cv2.waitKey(0) + # cv2.imshow('edges',edges) + # cv2.waitKey(0) + + + ###template matching with normalized image + res = cv2.matchTemplate(edges,template,cv2.TM_CCOEFF_NORMED) + min_val, max_val, min_loc, max_loc = cv2.minMaxLoc(res) + + if max_valpixel_threshold]=pixel_threshold + ir_torch_tracking_normalized = ((ir_torch_tracking - np.min(ir_torch_tracking)) / (np.max(ir_torch_tracking) - np.min(ir_torch_tracking))) * 255 + ir_torch_tracking_normalized = ir_torch_tracking_normalized.astype(np.uint8) + ir_torch_tracking = cv2.cvtColor(ir_torch_tracking_normalized, cv2.COLOR_GRAY2BGR) + + #run yolo + result= yolo_model.predict(ir_torch_tracking,verbose=False)[0] + if result.boxes.cls.cpu().numpy()==0: + bbox = result.boxes.cpu().xyxy[0].numpy()\ + #change bbox to opencv format + bbox[2]=bbox[2]-bbox[0] + bbox[3]=bbox[3]-bbox[1] + centroid = np.array([(bbox[0]+bbox[2])/2,(bbox[1]+bbox[3])/2]) + return centroid, bbox.astype(int) + else: + return None, None + +def get_pixel_value(ir_image,coord,window_size): + ###get top 1/4 average pixel value within the window + window = ir_image[coord[1]-window_size//2:coord[1]+window_size//2+1,coord[0]-window_size//2:coord[0]+window_size//2+1] + pixel_avg = np.mean(window) + mask = (window > 3*pixel_avg/4) # filter out background + pixel_avg = np.mean(window[mask]) + return pixel_avg \ No newline at end of file diff --git a/src/project_name/__init__.py b/src/project_name/__init__.py deleted file mode 100644 index 0300dae..0000000 --- a/src/project_name/__init__.py +++ /dev/null @@ -1 +0,0 @@ -"""Stuff 'n' things.""" diff --git a/src/project_name/lib.py b/src/project_name/lib.py deleted file mode 100644 index bef97f7..0000000 --- a/src/project_name/lib.py +++ /dev/null @@ -1,5 +0,0 @@ -"""Code.""" - -def adder(first: int, second: int) -> int: - """Lorem Ipsum dolor sit amet.""" - return first + second diff --git a/src/torch_tracking/__init__.py b/src/torch_tracking/__init__.py new file mode 100644 index 0000000..867a230 --- /dev/null +++ b/src/torch_tracking/__init__.py @@ -0,0 +1,2 @@ +"""Stuff 'n' things.""" +from .flir_toolbox import * \ No newline at end of file diff --git a/src/torch_tracking/data_gen.py b/src/torch_tracking/data_gen.py new file mode 100644 index 0000000..dd905c8 --- /dev/null +++ b/src/torch_tracking/data_gen.py @@ -0,0 +1,31 @@ +import cv2 +import pickle, sys +import numpy as np +import matplotlib.pyplot as plt + + + +data_dir='../../../../recorded_data/' +data_sets=['ER316L/wallbf_70ipm_v7_70ipm_v7/','ER316L/wallbf_150ipm_v15_150ipm_v15/', + 'ER316L/trianglebf_100ipm_v10_100ipm_v10','ER316L/cylinderspiral_100ipm_v10/'] +output_dir='../../../../recorded_data/yolov8/' + +num_images_per_set=10 +pixel_threshold=1e4 +img_counts=0 +#radmonly select 10 images from each set +for data_set in data_sets: + with open(data_dir+data_set+'/ir_recording.pickle', 'rb') as file: + ir_recording = pickle.load(file) + #select random frames + idxs=np.random.choice(range(len(ir_recording)), num_images_per_set, replace=False) + for idx in idxs: + ir_torch_tracking=np.rot90(ir_recording[idx], k=-1) + ir_torch_tracking[ir_torch_tracking>pixel_threshold]=pixel_threshold + ir_torch_tracking_normalized = ((ir_torch_tracking - np.min(ir_torch_tracking)) / (np.max(ir_torch_tracking) - np.min(ir_torch_tracking))) * 255 + #save image + print(ir_torch_tracking.shape) + cv2.imwrite(output_dir+str(img_counts)+'.png', ir_torch_tracking_normalized) + img_counts+=1 + + diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/images/0_png.rf.f55cbe97a19e13f622dfabfe5252d18a.jpg 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a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/12_png.rf.638db6c167f88e21433d2d5f758d9606.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/12_png.rf.638db6c167f88e21433d2d5f758d9606.txt new file mode 100644 index 0000000..01fae86 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/12_png.rf.638db6c167f88e21433d2d5f758d9606.txt @@ -0,0 +1 @@ +0 0.626875 0.48996874999999995 0.16908333333333334 0.15075 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/13_png.rf.755eefb14598dac9669f4b8d7ff266bb.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/13_png.rf.755eefb14598dac9669f4b8d7ff266bb.txt new file mode 100644 index 0000000..98ed475 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/13_png.rf.755eefb14598dac9669f4b8d7ff266bb.txt @@ -0,0 +1 @@ +0 0.3157916666666667 0.4769375 0.171875 0.14971874999999998 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/14_png.rf.baf1fdcb56217316cc6507887253b19d.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/14_png.rf.baf1fdcb56217316cc6507887253b19d.txt new file mode 100644 index 0000000..fe272f0 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/14_png.rf.baf1fdcb56217316cc6507887253b19d.txt @@ -0,0 +1 @@ +0 0.1567916666666667 0.44803125 0.17054166666666667 0.15128124999999998 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/15_png.rf.d579217b8c36020340059a88398fd979.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/15_png.rf.d579217b8c36020340059a88398fd979.txt new file mode 100644 index 0000000..4b6bcb0 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/15_png.rf.d579217b8c36020340059a88398fd979.txt @@ -0,0 +1 @@ +0 0.48524999999999996 0.37956249999999997 0.16908333333333334 0.16746875 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/16_png.rf.33846d352d417a9f56f758e77949651b.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/16_png.rf.33846d352d417a9f56f758e77949651b.txt new file mode 100644 index 0000000..ca66d03 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/16_png.rf.33846d352d417a9f56f758e77949651b.txt @@ -0,0 +1 @@ +0 0.16895833333333332 0.46028125 0.174 0.14765625 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/17_png.rf.939025c3b0ba9e6de716a3102b3d8a33.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/17_png.rf.939025c3b0ba9e6de716a3102b3d8a33.txt new file mode 100644 index 0000000..1802d04 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/17_png.rf.939025c3b0ba9e6de716a3102b3d8a33.txt @@ -0,0 +1 @@ +0 0.5175416666666667 0.48684374999999996 0.17116666666666666 0.157 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/18_png.rf.31c362c67fa8aa67f5035f8f6633735f.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/18_png.rf.31c362c67fa8aa67f5035f8f6633735f.txt new file mode 100644 index 0000000..5a8d257 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/18_png.rf.31c362c67fa8aa67f5035f8f6633735f.txt @@ -0,0 +1 @@ +0 0.567875 0.488125 0.17600000000000002 0.15025 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/19_png.rf.2e88104b48a12ea8f5018c581d16f7ce.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/19_png.rf.2e88104b48a12ea8f5018c581d16f7ce.txt new file mode 100644 index 0000000..144f5c9 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/19_png.rf.2e88104b48a12ea8f5018c581d16f7ce.txt @@ -0,0 +1 @@ +0 0.6258333333333332 0.48528125 0.17116666666666666 0.141375 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/1_png.rf.ea721fde101f270002172a1809237ec8.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/1_png.rf.ea721fde101f270002172a1809237ec8.txt new file mode 100644 index 0000000..e16f416 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/1_png.rf.ea721fde101f270002172a1809237ec8.txt @@ -0,0 +1 @@ +0 0.6296666666666667 0.456625 0.1753333333333333 0.14034375 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/20_png.rf.38ea70dd0aa5513fb84986e3128e200e.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/20_png.rf.38ea70dd0aa5513fb84986e3128e200e.txt new file mode 100644 index 0000000..414a020 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/20_png.rf.38ea70dd0aa5513fb84986e3128e200e.txt @@ -0,0 +1 @@ +0 0.474125 0.53421875 0.171875 0.15178125 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/21_png.rf.1bf71c9100102cadf1f2d9235b537bc9.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/21_png.rf.1bf71c9100102cadf1f2d9235b537bc9.txt new file mode 100644 index 0000000..2c6182a --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/21_png.rf.1bf71c9100102cadf1f2d9235b537bc9.txt @@ -0,0 +1 @@ +0 0.43070833333333336 0.3040625 0.17258333333333334 0.14771875 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/22_png.rf.6942cf1bbc7147139b6e6fcbab1c496f.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/22_png.rf.6942cf1bbc7147139b6e6fcbab1c496f.txt new file mode 100644 index 0000000..39029a7 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/22_png.rf.6942cf1bbc7147139b6e6fcbab1c496f.txt @@ -0,0 +1 @@ +0 0.492875 0.5774375 0.17604166666666668 0.14446874999999998 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/23_png.rf.d923896418b80e936834d1496c11ba87.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/23_png.rf.d923896418b80e936834d1496c11ba87.txt new file mode 100644 index 0000000..c349652 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/23_png.rf.d923896418b80e936834d1496c11ba87.txt @@ -0,0 +1 @@ +0 0.5845416666666666 0.468625 0.17600000000000002 0.1580625 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/24_png.rf.8086db447fff6ea7c2c9054aa4f092bc.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/24_png.rf.8086db447fff6ea7c2c9054aa4f092bc.txt new file mode 100644 index 0000000..4d68177 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/24_png.rf.8086db447fff6ea7c2c9054aa4f092bc.txt @@ -0,0 +1 @@ +0 0.6671666666666667 0.575875 0.16629166666666664 0.14134375 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/25_png.rf.ac02a2bbf5eccf54fa67de04dee28e54.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/25_png.rf.ac02a2bbf5eccf54fa67de04dee28e54.txt new file mode 100644 index 0000000..e720edf --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/25_png.rf.ac02a2bbf5eccf54fa67de04dee28e54.txt @@ -0,0 +1 @@ +0 0.32899999999999996 0.43346875 0.17329166666666668 0.147125 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/26_png.rf.79be78034adc146ddde13d321106fb3b.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/26_png.rf.79be78034adc146ddde13d321106fb3b.txt new file mode 100644 index 0000000..253fc29 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/26_png.rf.79be78034adc146ddde13d321106fb3b.txt @@ -0,0 +1 @@ +0 0.3842083333333333 0.33268749999999997 0.1795 0.14875 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/27_png.rf.bc432789950d27b0974532222b6c1ff9.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/27_png.rf.bc432789950d27b0974532222b6c1ff9.txt new file mode 100644 index 0000000..6670f4a --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/27_png.rf.bc432789950d27b0974532222b6c1ff9.txt @@ -0,0 +1 @@ +0 0.26791666666666664 0.4285 0.16558333333333333 0.152875 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/28_png.rf.bb1aa2c1a06ab6046dd411813a4a3868.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/28_png.rf.bb1aa2c1a06ab6046dd411813a4a3868.txt new file mode 100644 index 0000000..e0b7e95 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/28_png.rf.bb1aa2c1a06ab6046dd411813a4a3868.txt @@ -0,0 +1 @@ +0 0.6512083333333333 0.569125 0.16766666666666669 0.14656249999999998 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/29_png.rf.be899db7e8b1c87e56a32526a3552297.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/29_png.rf.be899db7e8b1c87e56a32526a3552297.txt new file mode 100644 index 0000000..92a5356 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/29_png.rf.be899db7e8b1c87e56a32526a3552297.txt @@ -0,0 +1 @@ +0 0.3203333333333333 0.49309375 0.17675000000000002 0.15075 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/2_png.rf.384840254b3acfc7745db4eb82bcde5e.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/2_png.rf.384840254b3acfc7745db4eb82bcde5e.txt new file mode 100644 index 0000000..b54aacd --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/2_png.rf.384840254b3acfc7745db4eb82bcde5e.txt @@ -0,0 +1 @@ +0 0.5585 0.4735625 0.17808333333333334 0.15231250000000002 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/30_png.rf.0971a2c2d86bf76299a739b019758aa0.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/30_png.rf.0971a2c2d86bf76299a739b019758aa0.txt new file mode 100644 index 0000000..a9daa85 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/30_png.rf.0971a2c2d86bf76299a739b019758aa0.txt @@ -0,0 +1 @@ +0 0.41370833333333334 0.45975 0.17604166666666668 0.15909374999999998 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/31_png.rf.356a7be308f5e7c40de287b36b5c6a89.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/31_png.rf.356a7be308f5e7c40de287b36b5c6a89.txt new file mode 100644 index 0000000..cc29695 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/31_png.rf.356a7be308f5e7c40de287b36b5c6a89.txt @@ -0,0 +1 @@ +0 0.4185833333333333 0.45403125 0.18575 0.16015625 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/32_png.rf.87d4cbf38723325ffa083e09ba951c70.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/32_png.rf.87d4cbf38723325ffa083e09ba951c70.txt new file mode 100644 index 0000000..c76c043 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/32_png.rf.87d4cbf38723325ffa083e09ba951c70.txt @@ -0,0 +1 @@ +0 0.41579166666666667 0.54203125 0.18020833333333333 0.15490625 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/33_png.rf.f4a0c58d4f17daea8ca8ed28bb3fcefe.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/33_png.rf.f4a0c58d4f17daea8ca8ed28bb3fcefe.txt new file mode 100644 index 0000000..e0b94a7 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/33_png.rf.f4a0c58d4f17daea8ca8ed28bb3fcefe.txt @@ -0,0 +1 @@ +0 0.41579166666666667 0.4405 0.18020833333333333 0.14556249999999998 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/34_png.rf.7f838d42caccc879c3be87d9ca5a8d36.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/34_png.rf.7f838d42caccc879c3be87d9ca5a8d36.txt new file mode 100644 index 0000000..f53cf23 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/34_png.rf.7f838d42caccc879c3be87d9ca5a8d36.txt @@ -0,0 +1 @@ +0 0.4185833333333333 0.4483125 0.17254166666666665 0.1486875 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/35_png.rf.5a1dcef3e166da072295216269f8f416.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/35_png.rf.5a1dcef3e166da072295216269f8f416.txt new file mode 100644 index 0000000..5f0e4b8 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/35_png.rf.5a1dcef3e166da072295216269f8f416.txt @@ -0,0 +1 @@ +0 0.41683333333333333 0.52771875 0.18645833333333334 0.148125 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/36_png.rf.538074e2d45eef206815e40acb48554b.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/36_png.rf.538074e2d45eef206815e40acb48554b.txt new file mode 100644 index 0000000..f6d23ed --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/36_png.rf.538074e2d45eef206815e40acb48554b.txt @@ -0,0 +1 @@ +0 0.41579166666666667 0.52978125 0.18641666666666667 0.15231250000000002 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/37_png.rf.4a7a0c5155a8aaff963a4855908cc8ce.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/37_png.rf.4a7a0c5155a8aaff963a4855908cc8ce.txt new file mode 100644 index 0000000..7ca8398 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/37_png.rf.4a7a0c5155a8aaff963a4855908cc8ce.txt @@ -0,0 +1 @@ +0 0.41683333333333333 0.5386562500000001 0.178125 0.15125 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/38_png.rf.f74dea637ca51e0bb7cdfbda0dc150c3.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/38_png.rf.f74dea637ca51e0bb7cdfbda0dc150c3.txt new file mode 100644 index 0000000..3578b5a --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/38_png.rf.f74dea637ca51e0bb7cdfbda0dc150c3.txt @@ -0,0 +1 @@ +0 0.4185833333333333 0.44675000000000004 0.18087499999999998 0.1518125 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/39_png.rf.69c2d51e55312a748938cbdbc04266bf.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/39_png.rf.69c2d51e55312a748938cbdbc04266bf.txt new file mode 100644 index 0000000..44fabdb --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/39_png.rf.69c2d51e55312a748938cbdbc04266bf.txt @@ -0,0 +1 @@ +0 0.4202916666666667 0.49309375 0.17675000000000002 0.15075 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/3_png.rf.7c2534fdf721044595babb847dd229a8.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/3_png.rf.7c2534fdf721044595babb847dd229a8.txt new file mode 100644 index 0000000..c0e3939 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/3_png.rf.7c2534fdf721044595babb847dd229a8.txt @@ -0,0 +1 @@ +0 0.6081666666666667 0.38996875000000003 0.18508333333333335 0.15703125 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/4_png.rf.7a4406080843c0298da0dbaca5574023.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/4_png.rf.7a4406080843c0298da0dbaca5574023.txt new file mode 100644 index 0000000..42e8f12 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/4_png.rf.7a4406080843c0298da0dbaca5574023.txt @@ -0,0 +1 @@ +0 0.6702916666666667 0.34390624999999997 0.17670833333333333 0.16175 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/5_png.rf.7b75163152477d95895b5fae1512cbae.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/5_png.rf.7b75163152477d95895b5fae1512cbae.txt new file mode 100644 index 0000000..8398e4f --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/5_png.rf.7b75163152477d95895b5fae1512cbae.txt @@ -0,0 +1 @@ +0 0.4907916666666667 0.4451875 0.18645833333333334 0.1486875 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/6_png.rf.c5096b93983615f0368db9f0aeb37ff4.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/6_png.rf.c5096b93983615f0368db9f0aeb37ff4.txt new file mode 100644 index 0000000..fc643ad --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/6_png.rf.c5096b93983615f0368db9f0aeb37ff4.txt @@ -0,0 +1 @@ +0 0.2515833333333333 0.48631250000000004 0.17258333333333334 0.14971874999999998 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/7_png.rf.d5742de586680469def3ab1fc035a9f9.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/7_png.rf.d5742de586680469def3ab1fc035a9f9.txt new file mode 100644 index 0000000..dd40f7b --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/7_png.rf.d5742de586680469def3ab1fc035a9f9.txt @@ -0,0 +1 @@ +0 0.33037500000000003 0.4285 0.16770833333333332 0.146625 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/8_png.rf.4808c6c1b781d2f2dac4a7bb3f663c50.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/8_png.rf.4808c6c1b781d2f2dac4a7bb3f663c50.txt new file mode 100644 index 0000000..f875488 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/8_png.rf.4808c6c1b781d2f2dac4a7bb3f663c50.txt @@ -0,0 +1 @@ +0 0.38004166666666667 0.4535 0.17045833333333332 0.14034375 \ No newline at end of file diff --git a/src/torch_tracking/datasets/torch_yolov8_data/train/labels/9_png.rf.e50b221840b8af1cb6740afecc3b48f5.txt b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/9_png.rf.e50b221840b8af1cb6740afecc3b48f5.txt new file mode 100644 index 0000000..c66dd81 --- /dev/null +++ b/src/torch_tracking/datasets/torch_yolov8_data/train/labels/9_png.rf.e50b221840b8af1cb6740afecc3b48f5.txt @@ -0,0 +1 @@ +0 0.43316666666666664 0.39440624999999996 0.18158333333333332 0.16278125000000002 \ No newline at end of file diff --git a/src/torch_tracking/test.py b/src/torch_tracking/test.py new file mode 100644 index 0000000..3107533 --- /dev/null +++ b/src/torch_tracking/test.py @@ -0,0 +1,46 @@ +import ultralytics +from ultralytics import YOLO +import cv2 +import pickle, sys +import numpy as np +import matplotlib.pyplot as plt +from shapely.geometry import Point, Polygon +from shapely.ops import nearest_points + + +if __name__ == "__main__": + + # Load the IR recording data from the pickle file + data_dir='../../../../recorded_data/ER316L/wallbf_100ipm_v10_100ipm_v10/' + + + with open(data_dir+'/ir_recording.pickle', 'rb') as file: + ir_recording = pickle.load(file) + ir_ts=np.loadtxt(data_dir+'/ir_stamps.csv', delimiter=',') + + # Set the colormap (inferno) and normalization range for the color bar + cmap = cv2.COLORMAP_INFERNO + + frame=639 + pixel_threshold=1e4 + ir_torch_tracking = np.rot90(ir_recording[frame], k=-1) + ir_torch_tracking[ir_torch_tracking>pixel_threshold]=pixel_threshold + ir_torch_tracking_normalized = ((ir_torch_tracking - np.min(ir_torch_tracking)) / (np.max(ir_torch_tracking) - np.min(ir_torch_tracking))) * 255 + ir_torch_tracking_normalized = ir_torch_tracking_normalized.astype(np.uint8) + ir_torch_tracking = cv2.cvtColor(ir_torch_tracking_normalized, cv2.COLOR_GRAY2BGR) + + #run yolo + model = YOLO("best.pt") + # results = 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