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gen_calib_noisy.py
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gen_calib_noisy.py
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import numpy as np
import os
class GenCalibNoisy:
def __init__(self, calib_path):
self.calib_path = calib_path
# 生成x轴的干扰噪声
def _gen_x_noise(self, x_dis):
Rx = np.array([[1, 0, 0],
[0, np.cos(x_dis), -np.sin(x_dis)],
[0, np.sin(x_dis), np.cos(x_dis)]])
return Rx
# 生成y轴的干扰噪声
def _gen_y_noise(self, y_dis):
Ry = np.array([[np.cos(y_dis), 0, np.sin(y_dis)],
[0, 1, 0],
[-np.sin(y_dis), 0, np.cos(y_dis)]])
return Ry
def _gen_z_noise(self, z_dis):
Rz = np.array([[np.cos(z_dis), -np.sin(z_dis), 0],
[np.sin(z_dis), np.cos(z_dis), 0],
[0, 0, 1]])
return Rz
def _gen_noise_matrix(self, x_dis, y_dis, z_dis):
Rx = self._gen_x_noise(x_dis)
Ry = self._gen_y_noise(y_dis)
Rz = self._gen_z_noise(z_dis)
R = np.dot(Rz, np.dot(Ry, Rx))
return R
def _gen_noise(self, mean_deg, std_deg):
'''
input:
mean_deg: 噪声的均值 单位为角度制
std_deg: 噪声的标准差 单位为角度制
return:
R: 生成的噪声矩阵
'''
# 将角度转换为弧度
mean_rad = np.deg2rad(mean_deg)
# 转换为弧度
std_rad = np.deg2rad(std_deg)
x_dis = np.random.normal(mean_deg, std_deg)
y_dis = np.random.normal(mean_deg, std_deg)
z_dis = np.random.normal(mean_deg, std_deg)
R = self._gen_noise_matrix(x_dis, y_dis, z_dis)
return R
def gen_rotation_noise_calib(self, mean_deg=0, std_deg=5, out_path="output"):
'''
input:
mean_deg: 噪声的均值 单位为角度制
std_deg: 噪声的标准差 单位为角度制
功能：
将calib的标注文件加入噪声
'''
# 获取self.calib_path目录下的所有txt文件
calib_list = os.listdir(self.calib_path)
for calib_file in calib_list:
calib_file_path = os.path.join(self.calib_path, calib_file)
with open(calib_file_path, 'r') as f:
lines = f.readlines()
obj = lines[5].strip().split(" ")[1:]
Tr_velo_to_cam = np.array(obj, dtype=np.float32).reshape(3, 4)
# 计算新的旋转矩阵
R = self._gen_noise(mean_deg, std_deg)
new_R = np.dot(R, Tr_velo_to_cam[:, :3])
# 保留原始平移向量
new_t = Tr_velo_to_cam[:, 3]
# 构造新的Tr_velo_to_cam矩阵
new_Tr_velo_to_cam = np.hstack((new_R, new_t.reshape(-1, 1)))
# 更新lines[5],使得其为新的Tr_velo_to_cam矩阵
# lines[5] = "Tr_velo_to_cam: 6.927964000000e-03 -9.999722000000e-01 -2.757829000000e-03 -2.457729000000e-02 -1.162982000000e-03 2.749836000000e-03 -9.999955000000e-01 -6.127237000000e-02 9.999753000000e-01 6.931141000000e-03 -1.143899000000e-03 -3.321029000000e-01"
lines[5] = "Tr_velo_to_cam: " + " ".join(map(str, new_Tr_velo_to_cam.reshape(-1))) + "\n"
if not os.path.exists(out_path):
os.mkdir(out_path)
save_path = os.path.join(out_path, calib_file)
with open(save_path, 'w') as f:
f.writelines(lines)
def gen_translation_noise_calib(self, mean_m=0, std_m=0.05, out_path="output"):
'''
input:
mean_m: 噪声的均值 单位为米
std_m: 噪声的标准差 单位为米
功能：
将calib的标注文件加入平移噪声
'''
# 获取self.calib_path目录下的所有txt文件
calib_list = os.listdir(self.calib_path)
for calib_file in calib_list:
calib_file_path = os.path.join(self.calib_path, calib_file)
with open(calib_file_path, 'r') as f:
lines = f.readlines()
obj = lines[5].strip().split(" ")[1:]
Tr_velo_to_cam = np.array(obj, dtype=np.float32).reshape(3, 4)
# 计算新的平移向量
noisy_t = np.array([np.random.normal(mean_m, std_m), np.random.normal(mean_m, std_m), np.random.normal(mean_m, std_m)])
new_t = Tr_velo_to_cam[:, 3] + noisy_t
new_Tr_velo_to_cam = np.hstack((Tr_velo_to_cam[:, :3], new_t.reshape(-1, 1)))
# 更新lines[5],使得其为新的Tr_velo_to_cam矩阵
lines[5] = "Tr_velo_to_cam: " + " ".join(map(str, new_Tr_velo_to_cam.reshape(-1))) + "\n"
if not os.path.exists(out_path):
os.mkdir(out_path)
save_path = os.path.join(out_path, calib_file)
with open(save_path, 'w') as f:
f.writelines(lines)
def gen_noise_calib(self, mean_deg=5, std_deg=1, mean_m=0.05, std_m=0.01, out_path="output"):
'''
input:
mean_deg: 噪声的均值 单位为角度制
std_deg: 噪声的标准差 单位为角度制
mean_m: 噪声的均值 单位为米
std_m: 噪声的标准差 单位为米
out_path: 保存路径
功能：
将calib的标注文件加入平移噪声和旋转噪声
'''
# 获取self.calib_path目录下的所有txt文件
calib_list = os.listdir(self.calib_path)
for calib_file in calib_list:
calib_file_path = os.path.join(self.calib_path, calib_file)
with open(calib_file_path, 'r') as f:
lines = f.readlines()
obj = lines[5].strip().split(" ")[1:]
Tr_velo_to_cam = np.array(obj, dtype=np.float32).reshape(3, 4)
# 计算新的旋转矩阵
R = self._gen_noise(mean_deg, std_deg)
new_R = np.dot(R, Tr_velo_to_cam[:, :3])
# 计算新的平移向量
new_t = Tr_velo_to_cam[:, 3] + np.random.normal(mean_m, std_m)
new_Tr_velo_to_cam = np.hstack((new_R, new_t.reshape(-1, 1)))
# 更新lines[5],使得其为新的Tr_velo_to_cam矩阵
lines[5] = "Tr_velo_to_cam: " + " ".join(map(str, new_Tr_velo_to_cam.reshape(-1))) + "\n"
if not os.path.exists(out_path):
os.mkdir(out_path)
save_path = os.path.join(out_path, calib_file)
with open(save_path, 'w') as f:
f.writelines(lines)
if __name__ == '__main__':
# gen = GenCalibNoisy(r'/home/dell/workspace/motion/cd/data/V2X_I/training/calib')
gen = GenCalibNoisy(r'/home/dell/workspace/motion/cd/data/kitti/training/calib')
# gen.gen_rotation_noise_calib(mean_deg=0, std_deg=5, out_path=r"E:\calib_noise_rot") #
# gen.gen_translation_noise_calib(mean_m=0.0, std_m=0.05, out_path=r"E:\calib_noise_trans")
## 消融实验生成的六组噪声数据
# gen.gen_noise_calib(mean_deg=0, std_deg=0.005, mean_m=0.0, std_m=0.0001, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise1")
# gen.gen_noise_calib(mean_deg=0, std_deg=0.000, mean_m=0.0, std_m=0.0001, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise2")
# gen.gen_noise_calib(mean_deg=0, std_deg=0.005, mean_m=0.0, std_m=0.0000, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise3")
# gen.gen_noise_calib(mean_deg=0, std_deg=0.01, mean_m=0.0, std_m=0.0002, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise4")
# gen.gen_noise_calib(mean_deg=0, std_deg=0.00, mean_m=0.0, std_m=0.0002, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise5")
# gen.gen_noise_calib(mean_deg=0, std_deg=0.01, mean_m=0.0, std_m=0.0000, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise6")
# 消融实验补充，平移噪声加大
# gen.gen_noise_calib(mean_deg=0, std_deg=0.01, mean_m=0.0, std_m=0.0005, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise7")
# gen.gen_noise_calib(mean_deg=0, std_deg=0.00, mean_m=0.0, std_m=0.0005, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise8")
# gen.gen_noise_calib(mean_deg=0, std_deg=0.01, mean_m=0.0, std_m=0.0000, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise9")
# # 消融实验补充，平移噪声加大
# gen.gen_noise_calib(mean_deg=0, std_deg=0.02, mean_m=0.0, std_m=0.001, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise10")
# gen.gen_noise_calib(mean_deg=0, std_deg=0.00, mean_m=0.0, std_m=0.001, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise11")
# gen.gen_noise_calib(mean_deg=0, std_deg=0.02, mean_m=0.0, std_m=0.0000, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise12")
# print("done")
# # 消融实验补充，平移噪声加大
# gen.gen_noise_calib(mean_deg=0, std_deg=0.015, mean_m=0.0, std_m=0.0008, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise13")
# gen.gen_noise_calib(mean_deg=0, std_deg=0.00, mean_m=0.0, std_m=0.0008, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise14")
# gen.gen_noise_calib(mean_deg=0, std_deg=0.015, mean_m=0.0, std_m=0.0000, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise15")
# print("done")
# 消融实验补充，平移噪声加大
# gen.gen_noise_calib(mean_deg=0, std_deg=0.012, mean_m=0.0, std_m=0.0007, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise16")
# gen.gen_noise_calib(mean_deg=0, std_deg=0.000, mean_m=0.0, std_m=0.0007, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise17")
# gen.gen_noise_calib(mean_deg=0, std_deg=0.012, mean_m=0.0, std_m=0.0000, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise18")
# print("done")
# 消融实验补充，平移噪声加大
# gen.gen_noise_calib(mean_deg=0, std_deg=0.01, mean_m=0.0, std_m=0.001, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise19")
# gen.gen_noise_calib(mean_deg=0, std_deg=0.000, mean_m=0.0, std_m=0.001, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise20")
# gen.gen_noise_calib(mean_deg=0, std_deg=0.01, mean_m=0.0, std_m=0.0000, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise21")
# print("done")
# # 消融实验补充，平移噪声加大
# gen.gen_noise_calib(mean_deg=0, std_deg=0.01, mean_m=0.0, std_m=0.002, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise22")
# gen.gen_noise_calib(mean_deg=0, std_deg=0.000, mean_m=0.0, std_m=0.002, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise23")
# gen.gen_noise_calib(mean_deg=0, std_deg=0.01, mean_m=0.0, std_m=0.0000, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise24")
# print("done")
# 消融实验补充，平移噪声加大
gen.gen_noise_calib(mean_deg=0, std_deg=0.00, mean_m=0.0, std_m=0.05, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise25")
# gen.gen_noise_calib(mean_deg=0, std_deg=0.000, mean_m=0.0, std_m=0.002, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise23")
# gen.gen_noise_calib(mean_deg=0, std_deg=0.01, mean_m=0.0, std_m=0.0000, out_path=r"/home/dell/workspace/motion/cd/data/kitti/training/calib_noise24")
print("done")