From 9686f7579a9de9f1bcd8c7469b983205370356d4 Mon Sep 17 00:00:00 2001
From: Jiandong Chen <jiandong.chen@rwth-aachen.de>
Date: Fri, 20 Oct 2023 19:10:31 +0200
Subject: [PATCH] add postprocess infrared images
---
dataset_converter/pohang.py | 49 ++++++++++++++++++++++++++++++++++---
1 file changed, 45 insertions(+), 4 deletions(-)
diff --git a/dataset_converter/pohang.py b/dataset_converter/pohang.py
index 6b7e227..df98fdd 100644
--- a/dataset_converter/pohang.py
+++ b/dataset_converter/pohang.py
@@ -2,6 +2,7 @@ import rospy
import rosbag
import cv2
import cv_bridge
+import numpy as np
import dataset_converter.util as util
from pathlib import Path
from sensor_msgs.msg import Imu
@@ -45,6 +46,10 @@ STEREO_FOLDER = {"left_images", "right_images", "timestamp.txt"}
INFRARED_FOLDER = {"images", "timestamp.txt"}
OMNI_FOLDER = {"cam_0", "cam_1", "cam_2", "cam_3", "cam_4", "cam_5", "timestamp.txt"}
+# Other setup
+MIN_INFRARED_TEMPERTURE = 20
+MAX_INFRARED_TEMPERTURE = 50
+
def is_datafolder_valid(folder: Path):
print(f"Checking Folder: {folder}")
@@ -74,7 +79,12 @@ def is_datafolder_valid(folder: Path):
def process_images(
- data_path: Path, rosbag_path: Path, topic: str, frame_id: str, dst_fmt=None
+ data_path: Path,
+ rosbag_path: Path,
+ topic: str,
+ frame_id: str,
+ dst_fmt=None,
+ is_infrared=False,
):
# read the images path and sort based on file name
images = util.get_sorted_file_list(data_path)
@@ -93,9 +103,9 @@ def process_images(
# store all images into bag
bridge = cv_bridge.CvBridge()
+ postprocess_func = np.vectorize(postprocess_infrared)
bagmode = check_bag_mode(rosbag_path)
-
with rosbag.Bag(rosbag_path, bagmode) as bag:
for img_path, time_list in zip(images, timestamps):
t = rospy.Time.from_sec(float(time_list[0]))
@@ -110,7 +120,13 @@ def process_images(
)
break
- img = cv2.imread(img_path.as_posix())
+ if is_infrared:
+ img = cv2.imread(img_path.as_posix(), -1)
+ img = postprocess_func(img)
+ img = img.astype(np.uint8)
+ else:
+ img = cv2.imread(img_path.as_posix())
+
msg = bridge.cv2_to_compressed_imgmsg(
img, dst_format=dst_fmt if dst_fmt is not None else "jpg"
)
@@ -177,6 +193,7 @@ def process_navigation(data_folder: Path, rosbag_path: Path):
print("Baseline Done!")
+
def process_stereo(data_folder: Path, rosbag_path: Path):
data_path = data_folder.joinpath("stereo")
for k, v in STEREO_PROCESS.items():
@@ -188,7 +205,16 @@ def process_stereo(data_folder: Path, rosbag_path: Path):
def process_infrared(data_folder: Path, rosbag_path: Path):
data_path = data_folder.joinpath("infrared")
for k, v in INFRARED_PROCESS.items():
- process_images(data_path / k, rosbag_path, v[1], v[0], "png")
+ process_images(data_path / k, rosbag_path, v[1], v[0], "png", is_infrared=True)
+
+ # raw data
+ process_images(
+ data_path / "images",
+ rosbag_path,
+ "/infrared/raw/image/compressed",
+ INFRARED_PROCESS["images"][0],
+ "png",
+ )
print("Infrared Done!")
@@ -221,3 +247,18 @@ def check_bag_mode(rosbag_path: Path):
bagmode = "w"
return bagmode
+
+
+def postprocess_infrared(data):
+ # computer temperture
+ temp = data * 0.04 - 273.15
+ if temp <= MIN_INFRARED_TEMPERTURE:
+ return 0
+ elif temp >= MAX_INFRARED_TEMPERTURE:
+ return 255 # 2^8 - 1
+ else:
+ return int(
+ (temp - MIN_INFRARED_TEMPERTURE)
+ / (MAX_INFRARED_TEMPERTURE - MIN_INFRARED_TEMPERTURE)
+ * 255
+ )
--
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