Ros2 synthetic facial generation

projects/opendr_ws_2/src/data_generation/data_generation/synthetic_facial_generation.py

@@ -0,0 +1,173 @@
+#!/usr/bin/env python3.6
+# Copyright 2020-2022 OpenDR European Project
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import cv2
+import os
+import argparse
+import numpy as np
+
+import rclpy
+from rclpy.node import Node
+
+from sensor_msgs.msg import Image as ROS_Image
+from cv_bridge import CvBridge
+
+from opendr.projects.python.simulation.synthetic_multi_view_facial_image_generation.algorithm.DDFA.utils.ddfa \
+    import str2bool
+from opendr.src.opendr.engine.data import Image
+from opendr.projects.python.simulation.synthetic_multi_view_facial_image_generation.SyntheticDataGeneration \
+    import MultiviewDataGeneration
+
+
+class SyntheticDataGenerator(Node):
+
+    def __init__(self, args, input_rgb_image_topic="/image_raw",
+                 output_rgb_image_topic="/opendr/synthetic_facial_images"):
+        """
+        Creates a ROS Node for SyntheticDataGeneration
+        :param input_rgb_image_topic: Topic from which we are reading the input image
+        :type input_rgb_image_topic: str
+        :param output_rgb_image_topic: Topic to which we are publishing the synthetic facial image (if None, no image
+        is published)
+        :type output_rgb_image_topic: str
+        """
+        super().__init__('synthetic_facial_image_generation_node')
+        self.image_publisher = self.create_publisher(ROS_Image, output_rgb_image_topic, 10)
+        self.create_subscription(ROS_Image, input_rgb_image_topic, self.callback, 1)
+        self._cv_bridge = CvBridge()
+        self.ID = 0
+        self.args = args
+        self.path_in = args.path_in
+        self.key = str(args.path_3ddfa + "/example/Images/")
+        self.key1 = str(args.path_3ddfa + "/example/")
+        self.key2 = str(args.path_3ddfa + "/results/")
+        self.save_path = args.save_path
+        self.val_yaw = args.val_yaw
+        self.val_pitch = args.val_pitch
+        self.device = args.device
+
+        # Initialize the SyntheticDataGeneration
+        self.synthetic = MultiviewDataGeneration(self.args)
+
+    def callback(self, data):
+        """
+        Callback that process the input data and publishes to the corresponding topics
+        :param data: input message
+        :type data: sensor_msgs.msg.Image
+        """
+
+        # Convert sensor_msgs.msg.Image into OpenDR Image
+
+        cv_image = self._cv_bridge.imgmsg_to_cv2(data, desired_encoding="rgb8")
+        image = Image(np.asarray(cv_image, dtype=np.uint8))
+        self.ID = self.ID + 1
+        # Get an OpenCV image back
+        image = cv2.cvtColor(image.opencv(), cv2.COLOR_RGBA2BGR)
+        name = str(f"{self.ID:02d}" + "_single.jpg")
+        cv2.imwrite(os.path.join(self.path_in, name), image)
+
+        if self.ID == 10:
+            # Run SyntheticDataGeneration
+            self.synthetic.eval()
+            self.ID = 0
+            # Annotate image and publish results
+            current_directory_path = os.path.join(self.save_path, str("/Documents_orig/"))
+            for file in os.listdir(current_directory_path):
+                name, ext = os.path.splitext(file)
+                if ext == ".jpg":
+                    image_file_savepath = os.path.join(current_directory_path, file)
+                    cv_image = cv2.imread(image_file_savepath)
+                    cv_image = cv2.cvtColor(cv_image, cv2.COLOR_BGR2RGB)
+                    if self.image_publisher is not None:
+                        image = Image(np.array(cv_image, dtype=np.uint8))
+                        message = self.bridge.to_ros_image(image, encoding="rgb8")
+                        self.image_publisher.publish(message)
+            for f in os.listdir(self.path_in):
+                os.remove(os.path.join(self.path_in, f))
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    parser = argparse.ArgumentParser()
+    parser.add_argument("-i", "--input_rgb_image_topic", help="Topic name for input rgb image",
+                        type=str, default="/image_raw")
+    parser.add_argument("-o", "--output_rgb_image_topic", help="Topic name for output annotated rgb image",
+                        type=str, default="/opendr/synthetic_facial_images")
+    parser.add_argument("--path_in", default=os.path.join("opendr", "projects",
+                                                          "data_generation",
+                                                          "synthetic_multi_view_facial_image_generation",
+                                                          "demos", "imgs_input"),
+                        type=str, help='Give the path of image folder')
+    parser.add_argument('--path_3ddfa', default=os.path.join("opendr", "projects",
+                                                             "data_generation",
+                                                             "synthetic_multi_view_facial_image_generation",
+                                                             "algorithm", "DDFA"),
+                        type=str, help='Give the path of DDFA folder')
+    parser.add_argument('--save_path', default=os.path.join("opendr", "projects",
+                                                            "data_generation",
+                                                            "synthetic_multi_view_facial_image_generation",
+                                                            "results"),
+                        type=str, help='Give the path of results folder')
+    parser.add_argument('--val_yaw', default="10 20", nargs='+', type=str, help='yaw poses list between [-90,90]')
+    parser.add_argument('--val_pitch', default="30 40", nargs='+', type=str, help='pitch poses list between [-90,90]')
+    parser.add_argument("--device", default="cuda", type=str, help="choose between cuda or cpu ")
+    parser.add_argument('-f', '--files', nargs='+',
+                        help='image files paths fed into network, single or multiple images')
+    parser.add_argument('--show_flg', default='false', type=str2bool, help='whether show the visualization result')
+    parser.add_argument('--dump_res', default='true', type=str2bool,
+                        help='whether write out the visualization image')
+    parser.add_argument('--dump_vertex', default='false', type=str2bool,
+                        help='whether write out the dense face vertices to mat')
+    parser.add_argument('--dump_ply', default='true', type=str2bool)
+    parser.add_argument('--dump_pts', default='true', type=str2bool)
+    parser.add_argument('--dump_roi_box', default='false', type=str2bool)
+    parser.add_argument('--dump_pose', default='true', type=str2bool)
+    parser.add_argument('--dump_depth', default='true', type=str2bool)
+    parser.add_argument('--dump_pncc', default='true', type=str2bool)
+    parser.add_argument('--dump_paf', default='true', type=str2bool)
+    parser.add_argument('--paf_size', default=3, type=int, help='PAF feature kernel size')
+    parser.add_argument('--dump_obj', default='true', type=str2bool)
+    parser.add_argument('--dlib_bbox', default='true', type=str2bool, help='whether use dlib to predict bbox')
+    parser.add_argument('--dlib_landmark', default='true', type=str2bool,
+                        help='whether use dlib landmark to crop image')
+    parser.add_argument('-m', '--mode', default='gpu', type=str, help='gpu or cpu mode')
+    parser.add_argument('--bbox_init', default='two', type=str,
+                        help='one|two: one-step bbox initialization or two-step')
+    parser.add_argument('--dump_2d_img', default='true', type=str2bool, help='whether to save 3d rendered image')
+    parser.add_argument('--dump_param', default='true', type=str2bool, help='whether to save param')
+    parser.add_argument('--dump_lmk', default='true', type=str2bool, help='whether to save landmarks')
+    parser.add_argument('--save_dir', default='./algorithm/DDFA/results', type=str, help='dir to save result')
+    parser.add_argument('--save_lmk_dir', default='./example', type=str, help='dir to save landmark result')
+    parser.add_argument('--img_list', default='./txt_name_batch.txt', type=str, help='test image list file')
+    parser.add_argument('--rank', default=0, type=int, help='used when parallel run')
+    parser.add_argument('--world_size', default=1, type=int, help='used when parallel run')
+    parser.add_argument('--resume_idx', default=0, type=int)
+    args = parser.parse_args()
+
+    synthetic_data_generation_node = SyntheticDataGenerator(args=args,
+                                                            input_rgb_image_topic=args.input_rgb_image_topic,
+                                                            output_rgb_image_topic=args.output_rgb_image_topic)
+
+    rclpy.spin(synthetic_data_generation_node)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    synthetic_data_generation_node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

projects/opendr_ws_2/src/data_generation/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>data_generation</name>
+  <version>1.0.0</version>
+  <description>OpenDR ROS2 node for synthetic multiview facial image generation</description>
+  <maintainer email="tefas@csd.auth.gr">tefas</maintainer>
+  <license>Apache License v2.0</license>
+
+  <depend>rclcpp></depend>
+  <depend>sensor_msgs</depend>
+
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>opendr_ros2_bridge</exec_depend>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

projects/opendr_ws_2/src/data_generation/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/data_generation
+[install]
+install-scripts=$base/lib/data_generation

projects/opendr_ws_2/src/data_generation/setup.py

@@ -0,0 +1,40 @@
+# Copyright 2020-2022 OpenDR European Project
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from setuptools import setup
+
+package_name = 'data_generation'
+
+setup(
+    name=package_name,
+    version='1.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='OpenDR Project Coordinator',
+    maintainer_email='tefas@csd.auth.gr',
+    description='OpenDR ROS2 node for synthetic multiview facial image generation',
+    license='Apache License v2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'synthetic_facial_generation = data_generation.synthetic_facial_generation:main'
+        ],
+    },
+)

projects/opendr_ws_2/src/data_generation/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

projects/opendr_ws_2/src/data_generation/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

projects/opendr_ws_2/src/data_generation/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

projects/python/simulation/synthetic_multi_view_facial_image_generation/SyntheticDataGeneration.py

@@ -40,9 +40,9 @@
 from shutil import copyfile
 import cv2
 import os
-from algorithm.DDFA import preprocessing_1
-from algorithm.DDFA import preprocessing_2
-from algorithm.Rotate_and_Render import test_multipose
+from .algorithm.DDFA import preprocessing_1
+from .algorithm.DDFA import preprocessing_2
+from .algorithm.Rotate_and_Render import test_multipose
 
 
 class MultiviewDataGeneration():

projects/python/simulation/synthetic_multi_view_facial_image_generation/algorithm/Rotate_and_Render/models/networks/__init__.py

@@ -1,18 +1,18 @@
 import torch
-from algorithm.Rotate_and_Render.models.networks.base_network import BaseNetwork
-from algorithm.Rotate_and_Render.models.networks import loss
-from algorithm.Rotate_and_Render.models.networks import discriminator
-from algorithm.Rotate_and_Render.models.networks import generator
-from algorithm.Rotate_and_Render.models.networks import encoder
-from algorithm.Rotate_and_Render.models.networks.render import Render
-import algorithm.Rotate_and_Render.util.util as util
+from .base_network import BaseNetwork
+from . import loss
+from . import discriminator
+from . import generator
+from . import encoder
+from .render import Render
+from ...util.util import find_class_in_module
 __all__ = ['loss', 'discriminator', 'generator', 'encoder', 'Render']
 
 
 def find_network_using_name(target_network_name, filename):
     target_class_name = target_network_name + filename
     module_name = 'algorithm.Rotate_and_Render.models.networks.' + filename
-    network = util.find_class_in_module(target_class_name, module_name)
+    network = find_class_in_module(target_class_name, module_name)
 
     assert issubclass(network, BaseNetwork), \
         "Class %s should be a subclass of BaseNetwork" % network

projects/python/simulation/synthetic_multi_view_facial_image_generation/algorithm/Rotate_and_Render/options/base_options.py

@@ -4,8 +4,8 @@
 import os
 from ..util import util
 import torch
-from algorithm.Rotate_and_Render import models
-from algorithm.Rotate_and_Render import data
+from .. import models
+from .. import data
 import pickle
 __all__ = ['math']
 

projects/python/simulation/synthetic_multi_view_facial_image_generation/algorithm/Rotate_and_Render/test_multipose.py

@@ -14,7 +14,7 @@
 import torch
 import math
 from .models.networks.rotate_render import TestRender
-from algorithm.Rotate_and_Render.data import dataset_info
+from .data import dataset_info
 multiprocessing.set_start_method('spawn', force=True)
 __all__ = ['dataset_info']
 

tests/test_license.py

@@ -108,6 +108,7 @@ def setUp(self):
             'src/opendr/perception/facial_expression_recognition/landmark_based_facial_expression_recognition',
             'projects/opendr_ws_2/src/opendr_perception/test',
             'projects/opendr_ws_2/src/opendr_ros2_bridge/test',
+            'projects/opendr_ws_2/src/data_generation/test',
             'projects/opendr_ws_2/src/opendr_simulation/test',
         ]
 
@@ -123,6 +124,7 @@ def setUp(self):
             'src/opendr/perception/multimodal_human_centric/audiovisual_emotion_learner/algorithm/utils.py',
             'projects/opendr_ws_2/src/opendr_perception/setup.py',
             'projects/opendr_ws_2/src/opendr_ros2_bridge/setup.py',
+            'projects/opendr_ws_2/src/data_generation/setup.py',
             'projects/opendr_ws_2/src/opendr_simulation/setup.py',
         ]