added MinFilter

dizzyi · Sep 5, 2021 · 9403150 · 9403150
1 parent 94bbae9
commit 9403150
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Showing 42 changed files with 10 additions and 5 deletions.
diff --git a/imagesave/1630836984.pickle b/imagesave/1630836984.pickle
diff --git a/imagesave/1630837017.pickle b/imagesave/1630837017.pickle
diff --git a/imagesave/1630837088.pickle b/imagesave/1630837088.pickle
diff --git a/imagesave/1630837119.pickle b/imagesave/1630837119.pickle
diff --git a/imagesave/1630837158.pickle b/imagesave/1630837158.pickle
diff --git a/imagesave/1630837197.pickle b/imagesave/1630837197.pickle
diff --git a/imagesave/1630837306.pickle b/imagesave/1630837306.pickle
diff --git a/imagesave/1630837326.pickle b/imagesave/1630837326.pickle
diff --git a/imagesave/1630837402.pickle b/imagesave/1630837402.pickle
diff --git a/imagesave/1630837402.png b/imagesave/1630837402.png
diff --git a/imagesave/1630837427.pickle b/imagesave/1630837427.pickle
diff --git a/imagesave/1630837587.pickle b/imagesave/1630837587.pickle
diff --git a/imagesave/1630837614.pickle b/imagesave/1630837614.pickle
diff --git a/imagesave/1630837698.pickle b/imagesave/1630837698.pickle
diff --git a/imagesave/1630837947.pickle b/imagesave/1630837947.pickle
diff --git a/imgseg/1630837614_bin1.png b/imgseg/1630837614_bin1.png
diff --git a/imgseg/1630837614_bin2.png b/imgseg/1630837614_bin2.png
diff --git a/imgseg/1630837614_gripper0.png b/imgseg/1630837614_gripper0.png
diff --git a/imgseg/1630837614_robot0.png b/imgseg/1630837614_robot0.png
diff --git a/imgseg/1630837614_wall.png b/imgseg/1630837614_wall.png
diff --git a/imgseg/1630837698_bin1.png b/imgseg/1630837698_bin1.png
diff --git a/imgseg/1630837698_bin2.png b/imgseg/1630837698_bin2.png
diff --git a/imgseg/1630837698_gripper0.png b/imgseg/1630837698_gripper0.png
diff --git a/imgseg/1630837698_robot0.png b/imgseg/1630837698_robot0.png
diff --git a/imgseg/1630837698_wall.png b/imgseg/1630837698_wall.png
diff --git a/imgseg/1630837947_Bread.png b/imgseg/1630837947_Bread.png
diff --git a/imgseg/1630837947_Can.png b/imgseg/1630837947_Can.png
diff --git a/imgseg/1630837947_Cereal.png b/imgseg/1630837947_Cereal.png
diff --git a/imgseg/1630837947_Milk.png b/imgseg/1630837947_Milk.png
diff --git a/imgseg/1630837947_VisualBread.png b/imgseg/1630837947_VisualBread.png
diff --git a/imgseg/1630837947_VisualCan.png b/imgseg/1630837947_VisualCan.png
diff --git a/imgseg/1630837947_VisualCereal.png b/imgseg/1630837947_VisualCereal.png
diff --git a/imgseg/1630837947_VisualMilk.png b/imgseg/1630837947_VisualMilk.png
diff --git a/imgseg/1630837947_bin1.png b/imgseg/1630837947_bin1.png
diff --git a/imgseg/1630837947_bin2.png b/imgseg/1630837947_bin2.png
diff --git a/imgseg/1630837947_floor.png b/imgseg/1630837947_floor.png
diff --git a/imgseg/1630837947_gripper0.png b/imgseg/1630837947_gripper0.png
diff --git a/imgseg/1630837947_mount0.png b/imgseg/1630837947_mount0.png
diff --git a/imgseg/1630837947_robot0.png b/imgseg/1630837947_robot0.png
diff --git a/imgseg/1630837947_wall.png b/imgseg/1630837947_wall.png
diff --git a/robosuite/utils/visual/Trainer.py b/robosuite/utils/visual/Trainer.py
@@ -1,3 +1,4 @@
+from typing import Dict
 import torch
 
 from detectron2.utils.logger import setup_logger

diff --git a/robosuite/utils/visual/VisualManager.py b/robosuite/utils/visual/VisualManager.py
@@ -378,25 +378,29 @@ def seg2anno(self, seg, env, img_id):
 
             annoDict['category_id'] = 1
             # annoDict['category_id'] = mapGeomIDtoCategoryID(_ids)
-            raise Exception('Insert Map function form geom ID to category ID here ')
+
+
+            _vis  = np.asarray(_mask * 255 / _mask.max()).astype(np.uint8)
+            _vis  = Image.fromarray(_vis, 'L').filter(ImageFilter.MinFilter(3)).convert('1')
+            _mask = np.asarray(_vis)
 
             _RLE = Mask2RLE( np.asarray( _mask,dtype=np.uint8, order= 'F') )
             annoDict['segmentation'] = _RLE
 
 
             returnDict['annotations'].append(annoDict)
-            #_vis = np.asarray(_mask * 255 / _mask.max()).astype(np.uint8)
-            #Image.fromarray(_vis, 'L').filter(ImageFilter.DETAIL).convert('1').save(os.path.join('.','imgseg',f'{img_id}_{k}.png'))
 
+            #_vis = Image.fromarray(_vis, 'L').convert('1')
+            _vis.save(os.path.join('.','imgseg',f'{img_id}_{k}.png'))
 
         return returnDict
 
-    def mask2BBox(mask):
+    def mask2BBox(self, mask):
         rows       = np.any(mask,axis=0)
         cols       = np.any(mask,axis=1)
         rmin, rmax = np.where(rows)[0][[0,-1]]
         cmin, cmax = np.where(cols)[0][[0,-1]]
-        return [rmin,cmin, rmax, cmax]
+        return [rmin, cmin, rmax, cmax]
 
 class VisualManager():
     def __init__(