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目标检测透视变换数据增强包含label(yolov5格式)_数据增强 透视变换

作者：IT小白 | 2024-06-15 22:10:48

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数据增强 透视变换
  1. # -*- coding:utf-8 -*-
  2. import cv2
  3. import numpy as np
  4. import sys
  5.  
  6.  
  7. def rad(x):
  8.     return x * np.pi / 180
  9.  
  10.  
  11. def get_warpR():
  12.     global anglex, angley, anglez, fov, W, H, r
  13.     # 镜头与图像间的距离，21为半可视角，算z的距离是为了保证在此可视角度下恰好显示整幅图像
  14.     z = np.sqrt(H ** 2 + W ** 2) / 2 / np.tan(rad(fov / 2))
  15.     # 齐次变换矩阵
  16.     rx = np.array([[1, 0, 0, 0],
  17.                    [0, np.cos(rad(anglex)), -np.sin(rad(anglex)), 0],
  18.                    [0, -np.sin(rad(anglex)), np.cos(rad(anglex)), 0, ],
  19.                    [0, 0, 0, 1]], np.float32)
  20.  
  21.     ry = np.array([[np.cos(rad(angley)), 0, np.sin(rad(angley)), 0],
  22.                    [0, 1, 0, 0],
  23.                    [-np.sin(rad(angley)), 0, np.cos(rad(angley)), 0, ],
  24.                    [0, 0, 0, 1]], np.float32)
  25.  
  26.     rz = np.array([[np.cos(rad(anglez)), np.sin(rad(anglez)), 0, 0],
  27.                    [-np.sin(rad(anglez)), np.cos(rad(anglez)), 0, 0],
  28.                    [0, 0, 1, 0],
  29.                    [0, 0, 0, 1]], np.float32)
  30.  
  31.     r = rx.dot(ry).dot(rz)
  32.  
  33.     # 四对点的生成
  34.     pcenter = np.array([W / 2, H / 2, 0, 0], np.float32)
  35.  
  36.     p1 = np.array([0, 0, 0, 0], np.float32) - pcenter
  37.     p2 = np.array([H, 0, 0, 0], np.float32) - pcenter
  38.     p3 = np.array([0, W, 0, 0], np.float32) - pcenter
  39.     p4 = np.array([H, W, 0, 0], np.float32) - pcenter
  40.  
  41.     dst1 = r.dot(p1)
  42.     dst2 = r.dot(p2)
  43.     dst3 = r.dot(p3)
  44.     dst4 = r.dot(p4)
  45.  
  46.     list_dst = [dst1, dst2, dst3, dst4]
  47.  
  48.     org = np.array([[0, 0],
  49.                     [H, 0],
  50.                     [0, W],
  51.                     [H, W]], np.float32)
  52.  
  53.     dst = np.zeros((4, 2), np.float32)
  54.  
  55.     # 投影至成像平面
  56.     for i in range(4):
  57.         dst[i, 0] = list_dst[i][0] * z / (z - list_dst[i][2]) + pcenter[0]
  58.         dst[i, 1] = list_dst[i][1] * z / (z - list_dst[i][2]) + pcenter[1]
  59.  
  60.     warpR = cv2.getPerspectiveTransform(org, dst)
  61.     return warpR
  62.  
  63. # ccc = 0
  64. # for i in range(1,8):
  65. #     for angley in [i*10,-i*10]:
  66. #         labels = []
  67. #         with open('/home/lixuan/Arduino/sku_recogniztion/imgs/000368.txt') as f:
  68. #             boxs = []
  69. #             datas = f.readlines()
  70. #             for data in datas:
  71. #                 label = []
  72. #                 data = data.strip()
  73. #                 data = data.split(' ')[1:]
  74. #                 x = float(data[0]) * W
  75. #                 y = float(data[1]) * H
  76. #                 w = float(data[2]) * W
  77. #                 h = float(data[3]) * H
  78. #                 x1 = int(x - w / 2)
  79. #                 y1 = int(y - h / 2)
  80. #                 x2 = int(x + w / 2)
  81. #                 y2 = int(y + h / 2)
  82. #                 label.append([x1, y1])
  83. #                 label.append([x2, y1])
  84. #                 label.append([x2, y2])
  85. #                 label.append([x1, y2])
  86. #                 xs = []
  87. #                 ys = []
  88. #                 for xys in label:
  89. #                     xs.append(xys[0])
  90. #                     ys.append(xys[1])
  91. #                 contour = np.vstack((xs, ys))  # 将x，y竖着拼接
  92. #                 contour = np.array(contour.T, dtype=np.float32)
  93. #                 box = cv2.boundingRect(contour)
  94. #                 boxs.append([int(box[0]), int(box[1]), int(box[0] + box[2]), int(box[1] + box[3])])
  95. #             bboxes = []
  96. #             for box in boxs:
  97. #                 bboxes.append([[box[0],box[1]],[box[2],box[3]]])
  98. #             #     # img = cv2.rectangle(img, (box[0], box[1]), (box[2], box[3]), (0, 255, 0), 2)
  99. #
  100. #             warpR = get_warpR()
  101. #
  102. #             result = cv2.warpPerspective(img, warpR, (W, H))
  103. #
  104. #             matrix = warpR
  105. #             for label in bboxes:
  106. #                 box = []
  107. #                 for p in label:
  108. #                     px = (matrix[0][0] * p[0] + matrix[0][1] * p[1] + matrix[0][2]) / (
  109. #                         (matrix[2][0] * p[0] + matrix[2][1] * p[1] + matrix[2][2]))
  110. #                     py = (matrix[1][0] * p[0] + matrix[1][1] * p[1] + matrix[1][2]) / (
  111. #                         (matrix[2][0] * p[0] + matrix[2][1] * p[1] + matrix[2][2]))
  112. #                     p_after = (int(px), int(py))  # after transformation
  113. #                     box.append(list(p_after))
  114. #                 if box[0][0] < 0:
  115. #                     box[0][0] = 0
  116. #                 if box[0][1] < 0:
  117. #                     box[0][1] = 0
  118. #                 if box[1][0] < 0:
  119. #                     box[1][0] = 0
  120. #                 if box[1][1] < 0:
  121. #                     box[1][1] = 0
  122. #                 if box[0][0] > W:
  123. #                     box[0][0] = W
  124. #                 if box[1][0] > W:
  125. #                     box[1][0] = W
  126. #                 if box[0][1] > H:
  127. #                     box[0][1] = H
  128. #                 if box[1][1] > H:
  129. #                     box[1][1] = H
  130. #                 result = cv2.rectangle(result, (box[0][0], box[0][1]), (box[1][0], box[1][1]), (0, 255, 0), 2)
  131. #                     # result = cv2.circle(result, p_after, 10, (0, 0, 255), -1)
  132. #
  133. #             # cv2.namedWindow('result', 2)
  134. #             # cv2.imshow("result", result)
  135. #             # c = cv2.waitKey(0)
  136. #             cv2.imwrite('/home/lixuan/sku_data/cailiao/{}.jpg'.format(ccc),result)
  137. #             ccc += 1
  138.  
  139.  
  140.  
  141. import os
  142. ccc = 0
  143. anglex = 0
  144. angley = 0
  145. anglez = 0  # 是旋转
  146. fov = 42
  147. r = 0
  148. for imgfile in os.listdir('/home/lixuan/sku_data/local/images'):
  149.     img = cv2.imread('/home/lixuan/sku_data/local/images/{}'.format(imgfile))
  150.     H, W = img.shape[0:2]
  151.     for i in range(1,8):
  152.         for angley in [i*10,-i*10]:
  153.             labels = []
  154.             with open(os.path.join('/home/lixuan/sku_data/local/labels',imgfile.replace('jpg','txt'))) as f:
  155.                 boxs = []
  156.                 datas = f.readlines()
  157.                 for data in datas:
  158.                     label = []
  159.                     data = data.strip()
  160.                     data = data.split(' ')[1:]
  161.                     x = float(data[0]) * W
  162.                     y = float(data[1]) * H
  163.                     w = float(data[2]) * W
  164.                     h = float(data[3]) * H
  165.                     x1 = int(x - w / 2)
  166.                     y1 = int(y - h / 2)
  167.                     x2 = int(x + w / 2)
  168.                     y2 = int(y + h / 2)
  169.                     label.append([x1, y1])
  170.                     label.append([x2, y1])
  171.                     label.append([x2, y2])
  172.                     label.append([x1, y2])
  173.                     xs = []
  174.                     ys = []
  175.                     for xys in label:
  176.                         xs.append(xys[0])
  177.                         ys.append(xys[1])
  178.                     contour = np.vstack((xs, ys))  # 将x，y竖着拼接
  179.                     contour = np.array(contour.T, dtype=np.float32)
  180.                     box = cv2.boundingRect(contour)
  181.                     boxs.append([int(box[0]), int(box[1]), int(box[0] + box[2]), int(box[1] + box[3])])
  182.                 bboxes = []
  183.                 for box in boxs:
  184.                     bboxes.append([[box[0],box[1]],[box[2],box[3]]])
  185.                 #     # img = cv2.rectangle(img, (box[0], box[1]), (box[2], box[3]), (0, 255, 0), 2)
  186.  
  187.                 warpR = get_warpR()
  188.  
  189.                 result = cv2.warpPerspective(img, warpR, (W, H))
  190.  
  191.                 matrix = warpR
  192.                 fw = open('/home/lixuan/sku_data/local/labelscopy/sku_{}.txt'.format(ccc),'w')
  193.                 for label in bboxes:
  194.                     box = []
  195.                     for p in label:
  196.                         px = (matrix[0][0] * p[0] + matrix[0][1] * p[1] + matrix[0][2]) / (
  197.                             (matrix[2][0] * p[0] + matrix[2][1] * p[1] + matrix[2][2]))
  198.                         py = (matrix[1][0] * p[0] + matrix[1][1] * p[1] + matrix[1][2]) / (
  199.                             (matrix[2][0] * p[0] + matrix[2][1] * p[1] + matrix[2][2]))
  200.                         p_after = (int(px), int(py))  # after transformation
  201.                         box.append(list(p_after))
  202.                     if box[0][0] < 0:
  203.                         box[0][0] = 0
  204.                     if box[0][1] < 0:
  205.                         box[0][1] = 0
  206.                     if box[1][0] < 0:
  207.                         box[1][0] = 0
  208.                     if box[1][1] < 0:
  209.                         box[1][1] = 0
  210.                     if box[0][0] > W:
  211.                         box[0][0] = W
  212.                     if box[1][0] > W:
  213.                         box[1][0] = W
  214.                     if box[0][1] > H:
  215.                         box[0][1] = H
  216.                     if box[1][1] > H:
  217.                         box[1][1] = H
  218.                     x1 = box[0][0] / W
  219.                     y1 = box[0][1] / H
  220.                     x2 = box[1][0] / W
  221.                     y2 = box[1][1] / H
  222.                     x = (x1+x2)/2
  223.                     y = (y1+y2)/2
  224.                     w = x2-x1
  225.                     h = y2-y1
  226.                     fw.write('0 ' + str(x) + ' ' + str(y) + ' ' + str(w) + ' ' + str(h) + '\n')
  227.                     # result = cv2.rectangle(result, (box[0][0], box[0][1]), (box[1][0], box[1][1]), (0, 255, 0), 2)
  228.                         # result = cv2.circle(result, p_after, 10, (0, 0, 255), -1)
  229.  
  230.                 # cv2.namedWindow('result', 2)
  231.                 # cv2.imshow("result", result)
  232.                 # c = cv2.waitKey(0)
  233.                 fw.close()
  234.                 cv2.imwrite('/home/lixuan/sku_data/local/imagescopy/sku_{}.jpg'.format(ccc),result)
  235.                 ccc += 1

 

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