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| ''' | |
| This file is to match the selected frames with the bridge dataset | |
| We need to use some tricks to select the item | |
| ''' | |
| import os, sys, shutil | |
| import cv2 | |
| import numpy as np | |
| def compare_img(imageA, imageB): | |
| # the 'Mean Squared Error' between the two images is the | |
| # sum of the squared difference between the two images; | |
| # NOTE: the two images must have the same dimension | |
| err = np.sum((imageA.astype("float") - imageB.astype("float")) ** 2) | |
| err /= float(imageA.shape[0] * imageA.shape[1]) | |
| # return the MSE, the lower the error, the more "similar" | |
| # the two images are | |
| return err | |
| def search_path(dataset_path, target_path, store_txt_path): | |
| # We only needs to care about Bridge v1 dataset area | |
| target_img_path = os.path.join(target_path, "im_0.jpg") | |
| if not os.path.exists(target_img_path): | |
| print("The image we read is False") | |
| return False | |
| target_img = cv2.imread(target_img_path) | |
| # Iterate all the folders inside | |
| for scene_name in sorted(os.listdir(dataset_path)): | |
| scene_dir = os.path.join(dataset_path, scene_name) | |
| for task_name in sorted(os.listdir(scene_dir)): | |
| task_dir = os.path.join(scene_dir, task_name) | |
| for order_name in sorted(os.listdir(task_dir)): | |
| order_dir = os.path.join(task_dir, order_name) | |
| for time_clock in sorted(os.listdir(order_dir)): | |
| if time_clock == "lmdb": | |
| continue # Skip lmdb folder | |
| time_dir = os.path.join(order_dir, time_clock, "raw", "traj_group0") | |
| if not os.path.exists(time_dir): | |
| continue | |
| for traj_name in sorted(os.listdir(time_dir)): | |
| traj_path = os.path.join(time_dir, traj_name) | |
| if not os.path.isdir(traj_path): | |
| continue | |
| # Directly move policy_out_file_path; just in case there is also valuable information there | |
| policy_out_file_path = os.path.join(traj_path, "policy_out.pkl") | |
| if not os.path.exists(policy_out_file_path): | |
| continue | |
| # Check the lang txt file | |
| lang_txt_file_path = os.path.join(traj_path, "lang.txt") | |
| if not os.path.exists(lang_txt_file_path): | |
| continue | |
| for img_name in sorted(os.listdir(traj_path)): | |
| if img_name != "images0": # Only consider one camera angle | |
| continue | |
| img_folder_path = os.path.join(traj_path, img_name) | |
| if not os.path.isdir(img_folder_path): | |
| continue | |
| # Compare two image | |
| img_path = os.path.join(img_folder_path, "im_0.jpg") | |
| if not os.path.exists(img_path): | |
| print(img_folder_path + " doesn't even have im_0.jpg") | |
| continue | |
| # print("img_folder_path is ", img_path) | |
| compare_sample_img = cv2.imread(img_path) | |
| # try: | |
| # compare_sample_img.shape | |
| # except Exception: | |
| # print("The compare_sample_img cannot be red") | |
| # continue | |
| error = compare_img(target_img, compare_sample_img) | |
| if error == 0: | |
| # Continue to all the rest for at least 5 images | |
| status = True | |
| for idx in range (10): | |
| idx_img_path = os.path.join(img_folder_path, "im_"+str(idx)+".jpg") | |
| idx_target_img_path = os.path.join(target_path, "im_"+str(idx)+".jpg") | |
| if not os.path.exists(idx_img_path): | |
| print("The idx_img_path long idx we see only at ", idx) | |
| continue | |
| if not os.path.exists(idx_target_img_path): | |
| print("The idx_target_img_path long idx we see only at ", idx) | |
| continue | |
| idx_compare_sample_img = cv2.imread(idx_img_path) | |
| idx_target_img = cv2.imread(idx_target_img_path) | |
| error = compare_img(idx_target_img, idx_compare_sample_img) | |
| if error != 0: | |
| status = False | |
| break | |
| if status: | |
| print("We found one at ", img_path) | |
| f = open(store_txt_path, "a") | |
| f.write(target_path + " " + img_folder_path + "\n") | |
| return True | |
| return False | |
| if __name__ == "__main__": | |
| input_path = "/nfs/turbo/jjparkcv-turbo-large/boyangwa/datasets_rob/Bridge_v2_test_raw" | |
| dataset_path = "/nfs/turbo/jjparkcv-turbo-large/boyangwa/raw/bridge_data_v2" # 直接从本地新unzip的获取，怕之前的被xuweiyi改动过 | |
| store_txt_path = "match_info_v2_p1.txt" | |
| start_idx = 0 | |
| end_idx = 500 | |
| if os.path.exists(store_txt_path): | |
| os.remove(store_txt_path) | |
| for img_name in sorted(os.listdir(input_path))[start_idx:end_idx]: | |
| target_path = os.path.join(input_path, img_name) | |
| print("We are finding for ", target_path) | |
| status = search_path(dataset_path, target_path, store_txt_path) | |
| if not status: | |
| print("we cannot find one") |