Skip to content

Commit

Permalink
add labeling tool
Browse files Browse the repository at this point in the history
  • Loading branch information
Chuhang Zou committed Aug 25, 2018
1 parent 5a2c5e1 commit 1456473
Show file tree
Hide file tree
Showing 2 changed files with 332 additions and 0 deletions.
283 changes: 283 additions & 0 deletions matlab/PanoLabelIm.m
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,283 @@
function PanoLabelIm(id, ANNO_ALL, config, options)
% load image
im_name = config.IMGLIST(id).name;
im = imread([config.folderName im_name '/' im_name '.jpg']);
[im_h, im_w, im_dim] = size(im);
im_o = im2double(im);
% alignment
if 1
imgSize = 320;
qError = 0.7;
global config;
config.NewProjFolder = './panoContext_code/';
config.lsdLocation = [config.NewProjFolder 'VpEstimation/lsd '];
config.bufferFolder = './Buffer_gt/';
if ~exist(config.bufferFolder, 'dir')
mkdir(config.bufferFolder);
end
[ olines, vp, views, edges, panoEdge, score, angle] = panoEdgeDetection( im_o, imgSize, qError);
save(['./label_vp/pc/' im_name '.mat'], 'vp');
%keyboard
return
end
load(['./label_vp/pc/' im_name '.mat']);
[rotImg, R] = rotatePanorama(im_o, vp(3:-1:1,:));

if exist(['./label_cor/pc/' im_name '.mat'], 'file')
gt = load(['./label_cor/pc/' im_name '.mat']);
gt = gt.cor;
keyboard
else

r_id = find([ANNO_ALL(id).ANNO3D.objects.type] == 3);
pt = ANNO_ALL(id).ANNO3D.objects(r_id).points *ANNO_ALL(id).ANNO3D.R;
pt = pt*R'; % algin pt also
[ uv ] = xyz2uvN( pt ); % transform xyz to im coordinates
[ uvcoord ] = uv2coords( uv, im_w, im_h );
%sort
[~,gt_id] = sort(uvcoord(:,1));
gt = uvcoord(gt_id,:);
for i = 1:2:size(gt,1)
gt_t = gt(i:i+1,:);
[~, gt_t_id] = sort(gt_t(:,2));
gt(i:i+1,:) = gt_t(gt_t_id,:);
end
end
gt_all = [gt;
gt(1,:);gt(3,:);gt(3,:);gt(5,:);
gt(5,:);gt(7,:);gt(7,:);gt(1,:);
gt(2,:);gt(4,:);gt(4,:);gt(6,:);
gt(6,:);gt(8,:);gt(8,:);gt(2,:)];
[ uv ] = coords2uv( gt_all, im_w, im_h );
[ xyz ] = uv2xyzN( uv);
[ lines ] = lineFromTwoPoint( xyz(1:2:end,:), xyz(2:2:end,:) );
[ panoEdgeC2 ] = paintParameterLine2(lines, im_w, im_h, rotImg, 2 );

figure(1), axis off, hold off,
ha = tight_subplot(1, 1);
axes(ha(1)), imagesc(panoEdgeC2), axis image, hold on

if 1 % corner debug
disp('Click y if label this image');
[~,~,b] = ginput(1);
if b ~= 'y'
return
end

% Allow user to input line segments; compute centers, directions, lengths
%disp('Draw Pano lines...')

% find concave lines
lines = [];
while 1
disp(' ')
disp('Draw concave lines or q to stop')
[x1,y1,b] = ginput(1);
if b=='q'
break;
end
[x2,y2, ~] = ginput(1);
% single line fitting
vert = (x1+x2)/2;
axes(ha(1)); h1 = plot([vert vert], [1 im_h], 'b');
disp('Click y if accept this line')
[~,~, b] = ginput(1);
% save
if b == 'y'
lines(end+1,:) = [vert y1 1]; % 1 for concave signal
lines(end+1,:) = [vert y2 1];
else
axes(ha(1)); delete(h1);
end
end

% find convex lines
while 1
disp(' ')
disp('Draw convex lines or q to stop')
[x1,y1,b] = ginput(1);
if b=='q'
break;
end
[x2,y2, ~] = ginput(1);
% single line fitting
vert = (x1+x2)/2;
axes(ha(1)); h1 = plot([vert vert], [1 im_h], 'r');
disp('Click y if accept this line')
[~,~, b] = ginput(1);
% save
if b == 'y'
lines(end+1,:) = [vert y1 2]; % 2 for convex signal
lines(end+1,:) = [vert y2 2];
else
axes(ha(1)); delete(h1);
end
end


% sort lines
[~,l_id] = sort(lines(:,1));
lines = lines(l_id,:);
for i = 2:2:size(lines,1)
sub_l = lines(i-1:i,:);
[~,l_id] = sort(sub_l,1);
lines(i-1,:) = sub_l(l_id(1),:);
lines(i,:) = sub_l(l_id(2),:);
end
end

% solve for pano
if size(lines,1) == 8
[wall_d, x, f] = pano_line_solver(lines, im_w, options); % bos-shape case
else if size(lines,1) == 12
[wall_d, x, f] = pano_line_solver_6(lines, im_w, options); % L-shape case
else if size(lines,1) == 16
[wall_d, x, f] = pano_line_solver_8(lines, im_w, options); % T-shape case
end
end
end

lines_ = lines;
% annotate box height
cor = [];
%c_h = 1.7;
flag = 0;
while 1
disp('Draw corners or q to stop')
[x1,y1,b] = ginput(1);
axes(ha(1)); h1 = plot(x1, y1, 'xr');
if b=='q'
break;
end
[x2,y2] = ginput(1);
axes(ha(1)); h3 = plot(x2, y2, 'xr');
disp('Click y if accept this corner');
[~,~,b] = ginput(1);
if b == 'y'
cor(end+1,:) = [x1 y1];
cor(end+1,:) = [x2 y2];
% find closet wall
%keyboard
vert = (x1+x2)/2;
cor_d = abs(lines(:,1) - vert);
[~, l_id] = min(cor_d);
cor = [lines(l_id,1) cor(1,2); lines(l_id,1) cor(2,2)];
% solve for all walls
[~, cor_id] = sort(cor(:,2));
cor = cor(cor_id,:);
theta_y = pi*cor(2,2)/im_h-pi/2;
d = abs(cot(theta_y));lines_ = lines;%c_h*abs(cot(theta_y));
theta_y_ = pi/2 - pi*cor(1,2)/im_h;
h = d*tan(theta_y_);%c_h + d*tan(theta_y_);
d_m = d/wall_d((l_id+1)/2);
line_ya = [];
line_ya_ = [];
for i = 1:2:size(lines,1)
if i == l_id
continue
end
line_d = d_m*wall_d((i+1)/2);
line_theta_y = acot(line_d);%acot(line_d/c_h);
line_y = (line_theta_y + pi/2)*im_h/pi;
cor = [cor;lines(i,1) line_y];
line_y_ = atan(h/line_d);%atan((h-c_h)/line_d);
line_y_ = (pi/2-line_y_)*im_h/pi;
cor = [cor;lines(i,1) line_y_ ];
axes(ha(1)); h1 = plot([lines(i,1) lines(i,1)], [line_y line_y_], 'xr');
end
% sort cor
[~, cor_id] = sort(cor(:,1));
cor = cor(cor_id,:);
for i = 1:2:size(cor,1)
cor_sub = cor(i:i+1,:);
[~, cor_id] = sort(cor_sub(:,2));
cor(i,:) = cor_sub(cor_id(1),:);
cor(i+1,:) = cor_sub(cor_id(2),:);
end

% visual full
if size(cor,1) == 8
cor_all = [cor;
cor(1,:);cor(3,:);cor(3,:);cor(5,:);
cor(5,:);cor(7,:);cor(7,:);cor(1,:);
cor(2,:);cor(4,:);cor(4,:);cor(6,:);
cor(6,:);cor(8,:);cor(8,:);cor(2,:)];
else if size(cor,1) == 12
cor_all = [cor;
cor(1,:);cor(3,:);cor(3,:);cor(5,:);
cor(5,:);cor(7,:);cor(7,:);cor(9,:);
cor(9,:);cor(11,:);cor(11,:);cor(1,:);
cor(2,:);cor(4,:);cor(4,:);cor(6,:);
cor(6,:);cor(8,:);cor(8,:);cor(10,:);
cor(10,:);cor(12,:);cor(12,:);cor(2,:)];
else if size(cor,1) == 16
cor_all = [cor;
cor(1,:);cor(3,:);cor(3,:);cor(5,:);
cor(5,:);cor(7,:);cor(7,:);cor(9,:);
cor(9,:);cor(11,:);cor(11,:);cor(13,:);
cor(13,:);cor(15,:);cor(15,:);cor(1,:);
cor(2,:);cor(4,:);cor(4,:);cor(6,:);
cor(6,:);cor(8,:);cor(8,:);cor(10,:);
cor(10,:);cor(12,:);cor(12,:);cor(14,:);
cor(14,:);cor(16,:);cor(16,:);cor(2,:)];
end
end
end
[ uv ] = coords2uv( cor_all, im_w, im_h );
[ xyz ] = uv2xyzN( uv);
[ lines ] = lineFromTwoPoint( xyz(1:2:end,:), xyz(2:2:end,:) );
[ panoEdgeC ] = paintParameterLine2(lines, im_w, im_h, rotImg, 1 );
axes(ha(1));imagesc(panoEdgeC); axis image; hold on;
for i = 1:size(line,1)
axes(ha(1)); plot([lines(i,1) lines(i,1)], [1 im_h], 'b');
axes(ha(1)); plot([lines(i,1) lines(i,1)], [line_y line_y_], 'xr');
end

disp('Click y if accept this box');
[~,~,b] = ginput(1);
if b == 'y'
flag = 1;
break
else
axes(ha(1)); imagesc(rotImg), axis image, hold on
for i = 1:size(lines,1)
axes(ha(1)); plot([lines(i,1) lines(i,1)], [1 im_h], 'b');
end
cor = [];
end
else
axes(ha(1)); delete(h1); delete(h3);
end
if flag
break
end
end

if 0
% sort cor
[~, cor_id] = sort(cor(:,1));
cor = cor(cor_id,:);
for i = 1:2:size(cor,1)
cor_sub = cor(i:i+1,:);
[~, cor_id] = sort(cor_sub(:,2));
cor(i,:) = cor_sub(cor_id(1),:);
cor(i+1,:) = cor_sub(cor_id(2),:);
end

% visual full
cor_all = [cor;
cor(1,:);cor(3,:);cor(3,:);cor(5,:);
cor(5,:);cor(7,:);cor(7,:);cor(1,:);
cor(2,:);cor(4,:);cor(4,:);cor(6,:);
cor(6,:);cor(8,:);cor(8,:);cor(2,:)];
[ uv ] = coords2uv( cor_all, im_w, im_h );
[ xyz ] = uv2xyzN( uv);
[ lines ] = lineFromTwoPoint( xyz(1:2:end,:), xyz(2:2:end,:) );
[ panoEdgeC ] = paintParameterLine2(lines, im_w, im_h, rotImg, 1 );
axes(ha(1));imagesc(panoEdgeC); axis image;
end

cor = [cor lines_(:,3)];

imwrite(panoEdgeC, ['./label_vis/pc/' im_name '.png'], 'png');
save(['./label_cor/pc/' im_name '.mat'], 'cor');
49 changes: 49 additions & 0 deletions matlab/panoLabelTool.m
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,49 @@
% shell script for labeling panos
clear;
clc;
close all;

% path
addpath(genpath('./minFunc_2012/'));
addpath(genpath('./panoContext_code/'));

% data
% train & test split
config.folderName = '../panoContext_data/bedroom/';
config.annotationfile = [config.folderName 'ANNO_ALL.mat'];
load(config.annotationfile);
load([config.folderName 'IMGLIST.mat']); % image name
config.IMGLIST = IMGLIST;
clear IMGLIST
anno_valid = false( 1, length(ANNO_ALL));
for i = 1:length(anno_valid)
anno_valid(i) = ~isempty(ANNO_ALL(i).ANNO3D) && ANNO_ALL(i).ANNO3D.b_singleroom;
end
%clear ANNO_ALL;
config.anno_valid = anno_valid;

config.valid_anno_id = find(anno_valid);
config.valid_data_id = 1:sum(anno_valid);

clear anno_valid
clear i

config.TEST_DATA_IDS = [4 5 8 14 16 18 22 25 28 33 36 38 44 48 68 72 99 111 112 118 ...
122 124 137 142 159 196 199 201 205 211 215 222 224 231 238 255 ...
256 264 274 275 286 315 328 333 341 342 354 363 368 370 401 404 417];
config.TRAIN_DATA_IDS = setdiff(config.valid_anno_id, config.TEST_DATA_IDS);


% options
options = [];
options.display = 'none';
options.MaxIter = 100;
options.Method = 'lbfgs';
options.LS_init = 2;

% run
for i = 1:numel(config.TEST_DATA_IDS)

id = config.TEST_DATA_IDS(i);
PanoLabelIm(id, ANNO_ALL, config, options);
end

0 comments on commit 1456473

Please sign in to comment.