| """Exact PNG-derived BOP visible/valid metrics, preserving raw writer metadata. |
| |
| Only derived annotation fields change; RGB, depth, masks, poses and camera K do |
| not. Full silhouette area/box remain the writer's padded-image measurement, |
| except the area is bounded below by the saved, clipped amodal-mask area. |
| """ |
| import json |
| from pathlib import Path |
| import cv2 |
| import numpy as np |
| from scripts.audit_handal40_render import sha |
|
|
|
|
| def canonicalize(root): |
| scene=root/'bop_data/handal/train_pbr/000000';path=scene/'scene_gt_info.json' |
| if (root/'visible_count_canonicalization.json').exists(): |
| receipt=json.loads((root/'visible_count_canonicalization.json').read_text()) |
| if sha(path)!=receipt['canonical_info_sha256']:raise ValueError('previously canonicalized metadata changed') |
| return receipt |
| raw=path.read_bytes();info=json.loads(raw);changes=[] |
| for frame,rows in info.items(): |
| depth=cv2.imread(str(scene/'depth'/f'{int(frame):06d}.png'),cv2.IMREAD_UNCHANGED) |
| if depth is None:raise ValueError('missing depth') |
| for i,row in enumerate(rows): |
| mask=cv2.imread(str(scene/'mask'/f'{int(frame):06d}_{i:06d}.png'),0) |
| vis=cv2.imread(str(scene/'mask_visib'/f'{int(frame):06d}_{i:06d}.png'),0) |
| if mask is None or vis is None or mask.shape!=depth.shape or vis.shape!=depth.shape:raise ValueError('mask/depth dimensions') |
| if not set(np.unique(mask))<={0,255} or not set(np.unique(vis))<={0,255}:raise ValueError('non-binary mask') |
| m=mask>0;v=vis>0 |
| if np.any(v&~m):raise ValueError('visible pixels outside amodal silhouette') |
| visible=int(v.sum());valid=int((m&(depth>0)).sum());all_pixels=max(row['px_count_all'],int(m.sum())) |
| if not 0<=visible<=valid<=all_pixels:raise ValueError('invalid BOP pixel count ordering') |
| differences=[abs(visible-row['px_count_visib']),abs(valid-row['px_count_valid']),abs(all_pixels-row['px_count_all'])] |
| if max(differences)>8:raise ValueError('raster-derived count adjustment exceeds8 pixels; investigate') |
| x,y,w,h=cv2.boundingRect(vis) |
| bbox=[x,y,w-1,h-1] if visible else [-1,-1,-1,-1] |
| after={**row,'px_count_all':all_pixels,'px_count_valid':valid,'px_count_visib':visible, |
| 'visib_fract':visible/all_pixels if all_pixels else 0.,'bbox_visib':bbox} |
| if after!=row:changes.append({'frame':int(frame),'instance':i,'before':dict(row),'after':after}) |
| rows[i]=after |
| archive=root/'writer_raw';archive.mkdir(exist_ok=True) |
| original=archive/'scene_gt_info.json' |
| if original.exists() and original.read_bytes()!=raw:raise ValueError('raw writer metadata already differs') |
| original.write_bytes(raw) |
| path.write_text(json.dumps(info,indent=2)+'\n') |
| result={'method':'saved PNG visible/valid counts and visible bbox; full amodal lower bound', |
| 'max_allowed_pixel_count_correction':8,'raw_info_sha256':sha(original), |
| 'canonical_info_sha256':sha(path),'implementation_sha256':sha(Path(__file__)), |
| 'changed_instances':len(changes),'changes':changes} |
| (root/'visible_count_canonicalization.json').write_text(json.dumps(result,indent=2)+'\n') |
| return result |
|
|
