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b/train/labeling.py @@ -0,0 +1,165 @@ +#!/usr/bin/env python3 +import argparse +import os +import math +import cv2 + +WIN = "corner_picker_png" + +def order_points_clockwise(pts): + """ + pts: list[(x,y)] length=4 + 반환: 중심 기준 각도 정렬(시계방향) + 시작점을 좌상단(최소 x+y)로 회전 + """ + cx = sum(p[0] for p in pts) / 4.0 + cy = sum(p[1] for p in pts) / 4.0 + + # 각도 기준 정렬 (atan2: -pi~pi). OpenCV 좌표계(y down)에서도 일관되게만 유지하면 OK. + pts_ang = sorted(pts, key=lambda p: math.atan2(p[1] - cy, p[0] - cx)) + + # 시작점을 "좌상단"에 가깝게(최소 x+y)로 맞춰서 회전 + start_idx = min(range(4), key=lambda i: pts_ang[i][0] + pts_ang[i][1]) + pts_ord = pts_ang[start_idx:] + pts_ang[:start_idx] + + # 시계/반시계가 뒤집힐 수 있어, 면적 부호로 한 번 더 고정(원하면) + # 여기서는 일관성만 확보하면 되므로 그대로 둠. + return pts_ord + +def to_yolo_obb_line(class_id, pts, w, h): + """ + YOLOv8 OBB 라벨 포맷: + x1 y1 x2 y2 x3 y3 x4 y4 (모두 0~1 정규화) + """ + vals = [] + for (x, y) in pts: + xn = x / float(w) + yn = y / float(h) + # 혹시 모를 경계값 클램프 + xn = 0.0 if xn < 0.0 else 1.0 if xn > 1.0 else xn + yn = 0.0 if yn < 0.0 else 1.0 if yn > 1.0 else yn + vals.extend([xn, yn]) + + return f"{int(class_id)} " + " ".join(f"{v:.6f}" for v in vals) + +def ensure_dir(p): + d = os.path.dirname(p) + if d: + os.makedirs(d, exist_ok=True) + +def default_label_path(image_path, labels_root): + """ + 예: images/train/1.png -> labels_root/train/1.txt (가능하면) + 아니면 그냥 labels_root/1.txt + """ + base = os.path.splitext(os.path.basename(image_path))[0] + ".txt" + norm = image_path.replace("\\", "/") + parts = norm.split("/") + if "images" in parts: + idx = parts.index("images") + if idx + 1 < len(parts): + split = parts[idx + 1] # train/val/test + return os.path.join(labels_root, split, base) + return os.path.join(labels_root, base) + +def main(): + ap = argparse.ArgumentParser() + ap.add_argument("image_path", help="input PNG/JPG path") + ap.add_argument("--labels-root", default="labels", help="labels root dir (default: labels/)") + ap.add_argument("--class-id", type=int, default=0, help="class id (default: 0)") + ap.add_argument("--append", action="store_true", help="append line to label file (multiple objects)") + ap.add_argument("--no-reorder", action="store_true", help="do not reorder points, use click order") + args = ap.parse_args() + + img = cv2.imread(args.image_path, cv2.IMREAD_COLOR) + if img is None: + raise FileNotFoundError(f"Failed to read: {args.image_path}") + + h, w = img.shape[:2] + pts = [] + cur = None + + out_path = default_label_path(args.image_path, args.labels_root) + + def save_yolo_label(): + nonlocal pts + pts_use = pts[:] + if not args.no_reorder: + pts_use = order_points_clockwise(pts_use) + + line = to_yolo_obb_line(args.class_id, pts_use, w, h) + + ensure_dir(out_path) + mode = "a" if args.append else "w" + with open(out_path, mode) as f: + f.write(line + "\n") + + print("\n--- YOLO OBB label saved ---") + print(f"image: {args.image_path}") + print(f"label: {os.path.abspath(out_path)}") + print(f"line : {line}") + print("format: x1 y1 x2 y2 x3 y3 x4 y4 (normalized 0~1)") + print("---------------------------\n") + + def on_mouse(event, x, y, flags, param): + nonlocal cur, pts + cur = (x, y) + if event == cv2.EVENT_LBUTTONDOWN: + pts.append((x, y)) + print(f"[{len(pts)}] uv=({x},{y})") + if len(pts) == 4: + save_yolo_label() + # 다음 객체도 찍을 수 있게 유지하려면 pts.clear()를 하지 말고, + # 한 장에 1개만 라벨이면 clear해서 다시 찍게. + pts.clear() + + cv2.namedWindow(WIN, cv2.WINDOW_NORMAL) + cv2.setMouseCallback(WIN, on_mouse) + + print("Controls: left-click add(4 points -> save) | u undo | r reset | q quit") + print(f"Image size: {w}x{h}") + print(f"Output label: {os.path.abspath(out_path)}") + print(f"class_id={args.class_id}, append={args.append}, reorder={not args.no_reorder}") + + while True: + vis = img.copy() + + # draw clicked points + for i, (u, v) in enumerate(pts): + cv2.circle(vis, (u, v), 6, (255, 0, 255), -1) + cv2.putText( + vis, f"P{i+1}({u},{v})", (u + 8, v + 18), + cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 0, 255), 2 + ) + + # draw cursor + if cur is not None: + u, v = cur + cv2.circle(vis, (u, v), 4, (0, 255, 255), -1) + cv2.putText( + vis, f"uv=({u},{v})", (u + 10, v - 10), + cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 255), 2 + ) + + # 안내 텍스트 + cv2.putText( + vis, f"click 4 corners -> save ({os.path.basename(out_path)})", + (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 0), 2 + ) + + cv2.imshow(WIN, vis) + key = cv2.waitKey(20) & 0xFF + + if key == ord('q') or key == 27: + break + elif key == ord('r'): + pts.clear() + print("Reset points") + elif key == ord('u'): + if pts: + removed = pts.pop() + print(f"Undo: removed {removed}") + + cv2.destroyAllWindows() + +if __name__ == "__main__": + main() diff --git a/train/make_yolo_split.py b/train/make_yolo_split.py new file mode 100644 index 0000000000000000000000000000000000000000..a76821a2f9a2de3830573ebaeb6dc7a7ecb42039 --- /dev/null +++ b/train/make_yolo_split.py @@ -0,0 +1,126 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +import argparse +import os +import random +import shutil +from pathlib import Path + +IMG_EXTS = [".png", ".jpg", ".jpeg", ".bmp", ".webp"] + +def is_image(p: Path) -> bool: + return p.suffix.lower() in IMG_EXTS + +def safe_mkdir(p: Path): + p.mkdir(parents=True, exist_ok=True) + +def copy_or_link(src: Path, dst: Path, mode: str): + safe_mkdir(dst.parent) + if dst.exists(): + dst.unlink() + if mode == "copy": + shutil.copy2(src, dst) + elif mode == "symlink": + os.symlink(src, dst) + elif mode == "hardlink": + os.link(src, dst) + else: + raise ValueError(f"unknown mode: {mode}") + +def main(): + ap = argparse.ArgumentParser() + ap.add_argument("--src", default="/home/jeong/data_v3", help="source images dir (contains 1.png~69.png)") + ap.add_argument("--labels", default="/home/jeong/data_v3/labels", help="source labels dir (contains 1.txt~69.txt)") + ap.add_argument("--out", default="/home/jeong/jetank_ws/data_jenga_v3_yolo", help="output dataset root") + ap.add_argument("--val_n", type=int, default=8, help="number of validation images (recommended 6~9 for 69 imgs)") + ap.add_argument("--seed", type=int, default=42, help="random seed for split") + ap.add_argument("--mode", choices=["copy", "symlink", "hardlink"], default="copy", + help="how to place files into output (copy safest; symlink fastest)") + ap.add_argument("--class_names", default="jenga", + help="comma-separated class names for data.yaml (e.g., 'jenga' or 'jenga,jenga_stack')") + args = ap.parse_args() + + src_dir = Path(args.src) + lab_dir = Path(args.labels) + out_dir = Path(args.out) + + if not src_dir.exists(): + raise FileNotFoundError(f"src not found: {src_dir}") + if not lab_dir.exists(): + raise FileNotFoundError(f"labels not found: {lab_dir}") + + # collect images + images = sorted([p for p in src_dir.iterdir() if p.is_file() and is_image(p)]) + if not images: + raise RuntimeError(f"no images found in: {src_dir}") + + # match label by stem + pairs = [] + missing_labels = [] + for img in images: + lbl = lab_dir / f"{img.stem}.txt" + if not lbl.exists(): + missing_labels.append(img.name) + continue + pairs.append((img, lbl)) + + if missing_labels: + print("[WARN] missing label files for images:") + for n in missing_labels: + print(" -", n) + print("[WARN] those will be skipped.") + + if len(pairs) < 2: + raise RuntimeError("not enough (image,label) pairs to split.") + + # split + random.seed(args.seed) + random.shuffle(pairs) + + val_n = args.val_n + val_n = max(1, min(val_n, len(pairs) - 1)) # ensure at least 1 train + val_pairs = pairs[:val_n] + train_pairs = pairs[val_n:] + + # output dirs + img_train = out_dir / "images" / "train" + img_val = out_dir / "images" / "val" + lab_train = out_dir / "labels" / "train" + lab_val = out_dir / "labels" / "val" + for d in [img_train, img_val, lab_train, lab_val]: + safe_mkdir(d) + + # copy/link + for img, lbl in train_pairs: + copy_or_link(img, img_train / img.name, args.mode) + copy_or_link(lbl, lab_train / lbl.name, args.mode) + + for img, lbl in val_pairs: + copy_or_link(img, img_val / img.name, args.mode) + copy_or_link(lbl, lab_val / lbl.name, args.mode) + + # write data.yaml (Ultralytics format) + class_names = [c.strip() for c in args.class_names.split(",") if c.strip()] + if not class_names: + class_names = ["jenga"] + + data_yaml = out_dir / "data.yaml" + yaml_txt = ( + f"path: {out_dir}\n" + f"train: images/train\n" + f"val: images/val\n" + f"names:\n" + + "".join([f" {i}: {name}\n" for i, name in enumerate(class_names)]) + ) + data_yaml.write_text(yaml_txt, encoding="utf-8") + + print("✅ Done.") + print(f"- total pairs: {len(pairs)}") + print(f"- train: {len(train_pairs)}") + print(f"- val: {len(val_pairs)}") + print(f"- out: {out_dir}") + print(f"- data.yaml: {data_yaml}") + +if __name__ == "__main__": + main() diff --git a/train/runs/obb/jenga_final/BoxF1_curve.png b/train/runs/obb/jenga_final/BoxF1_curve.png new file mode 100644 index 0000000000000000000000000000000000000000..7a5521d2acbe66f006d3199713bd12c140607faf Binary files /dev/null and b/train/runs/obb/jenga_final/BoxF1_curve.png differ diff --git a/train/runs/obb/jenga_final/BoxPR_curve.png b/train/runs/obb/jenga_final/BoxPR_curve.png new file mode 100644 index 0000000000000000000000000000000000000000..89b13aa1c128b7c42c4749af2b719f685d934646 Binary files /dev/null and b/train/runs/obb/jenga_final/BoxPR_curve.png differ 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0000000000000000000000000000000000000000..b5819c27ea93f989fe10d91668a05789522b5824 --- /dev/null +++ b/train/runs/obb/jenga_v3/pred_val/55.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c804e4cc1e051fca2e602d2ea0bd915853b9e37dc649469c3720bb0f641c632 +size 254392 diff --git a/train/runs/obb/jenga_v3/pred_val/64.jpg b/train/runs/obb/jenga_v3/pred_val/64.jpg new file mode 100644 index 0000000000000000000000000000000000000000..9307d6aaeeb5100f1adacb2a589fccfea6634d1e --- /dev/null +++ b/train/runs/obb/jenga_v3/pred_val/64.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9cf9c8635c15d8c41eed3412854dd37e78e94a62d84c21a2e1c06bd0ba830e10 +size 282162 diff --git a/train/save_one_color.py b/train/save_one_color.py new file mode 100644 index 0000000000000000000000000000000000000000..0cf36753cee9cbe32de0355122cd995552012e36 --- /dev/null +++ b/train/save_one_color.py @@ -0,0 +1,39 @@ +#!/usr/bin/env python3 +import time +import os +import rclpy +from rclpy.node import Node +from sensor_msgs.msg import Image +from cv_bridge import CvBridge +import cv2 + +TOPIC = "/camera/d435i/color/image_raw" + +class SaveOne(Node): + def __init__(self): + super().__init__("save_one_color") + self.bridge = CvBridge() + self.saved = False + self.create_subscription(Image, TOPIC, self.cb, 10) + self.get_logger().info(f"Waiting for 1 frame on {TOPIC} ...") + + def cb(self, msg: Image): + if self.saved: + return + img = self.bridge.imgmsg_to_cv2(msg, desired_encoding="bgr8") + fname = f"color_{int(time.time())}.png" + ok = cv2.imwrite(fname, img) + if ok: + self.get_logger().info(f"Saved: {fname} (cwd={os.getcwd()})") + else: + self.get_logger().error("cv2.imwrite failed") + self.saved = True + rclpy.shutdown() + +def main(): + rclpy.init() + node = SaveOne() + rclpy.spin(node) + +if __name__ == "__main__": + main() diff --git a/train/train_final.sh b/train/train_final.sh new file mode 100644 index 0000000000000000000000000000000000000000..cdc27553b672c559619b39e5e56e3533323c3a6c --- /dev/null +++ b/train/train_final.sh @@ -0,0 +1,117 @@ +#!/usr/bin/env bash +set -euo pipefail + +BASE_WEIGHTS="${1:-}" +if [[ -z "${BASE_WEIGHTS}" ]]; then + echo "Usage: $0 /path/to/best.pt" + exit 1 +fi +if [[ ! -f "${BASE_WEIGHTS}" ]]; then + echo "ERROR: base weights not found: ${BASE_WEIGHTS}" + exit 1 +fi + +# 원본 데이터 +IMG_DIR="/home/jeong/data" +LBL_DIR="/home/jeong/data/labels" + +# 최종 데이터셋(ultralytics용) 생성 위치 +OUT_ROOT="/home/jeong/jetank_ws/data_final" +TRAIN_IMG="${OUT_ROOT}/images/train" +VAL_IMG="${OUT_ROOT}/images/val" +TRAIN_LBL="${OUT_ROOT}/labels/train" +VAL_LBL="${OUT_ROOT}/labels/val" + +rm -rf "${OUT_ROOT}" +mkdir -p "${TRAIN_IMG}" "${VAL_IMG}" "${TRAIN_LBL}" "${VAL_LBL}" + +# 1) train에 전체 40장 전부 복사 (라벨 포함) +for img in "${IMG_DIR}"/*.png; do + base="$(basename "${img}" .png)" + lbl="${LBL_DIR}/${base}.txt" + if [[ ! -f "${lbl}" ]]; then + echo "WARN: label missing for ${img} -> ${lbl} (skip)" + continue + fi + cp -f "${img}" "${TRAIN_IMG}/" + cp -f "${lbl}" "${TRAIN_LBL}/" +done + +# 2) val은 '최소'로 2장만 (지표 목적 X, 동작용) +# 파일명 정렬 기준으로 1.png, 2.png가 있으면 그걸 쓰고, 없으면 앞에서 2장 +VAL_LIST=() +for k in 1 2; do + if [[ -f "${IMG_DIR}/${k}.png" && -f "${LBL_DIR}/${k}.txt" ]]; then + VAL_LIST+=("${k}") + fi +done +if [[ ${#VAL_LIST[@]} -lt 2 ]]; then + # fallback: 정렬된 전체 중 앞 2장 + mapfile -t imgs < <(ls -1 "${IMG_DIR}"/*.png | sort | head -n 2) + VAL_LIST=() + for img in "${imgs[@]}"; do + VAL_LIST+=("$(basename "${img}" .png)") + done +fi + +for base in "${VAL_LIST[@]}"; do + cp -f "${IMG_DIR}/${base}.png" "${VAL_IMG}/" + cp -f "${LBL_DIR}/${base}.txt" "${VAL_LBL}/" +done + +# 3) data.yaml 생성 +cat > "${OUT_ROOT}/data.yaml" < best_v2.pt 로 복사 (원본 best.pt와 같은 폴더로) +RUN_BEST="runs/obb/jenga_final/weights/best.pt" +if [[ ! -f "${RUN_BEST}" ]]; then + echo "ERROR: trained best.pt not found: ${RUN_BEST}" + exit 1 +fi + +DEST_DIR="$(dirname "${BASE_WEIGHTS}")" +DEST="${DEST_DIR}/best_v2.pt" +cp -f "${RUN_BEST}" "${DEST}" + +echo +echo "✅ Final best saved to: ${DEST}" +ls -lh "${DEST}" diff --git a/train/train_kfold.sh b/train/train_kfold.sh new file mode 100644 index 0000000000000000000000000000000000000000..13f9514cd1c514779333492cf5635882ef076901 --- /dev/null +++ b/train/train_kfold.sh @@ -0,0 +1,41 @@ +#!/usr/bin/env bash +set -euo pipefail + +WEIGHTS="${1:-best.pt}" # 기존 best.pt 경로 +FOLDS_ROOT="/home/jeong/jetank_ws/data_folds" +PROJECT="runs/obb/jenga_kfold" + +# 하이퍼파라미터(원하는대로 조절) +EPOCHS=300 +IMGSZ=640 +BATCH=8 # VRAM에 따라 4/8/16 조절 +DEVICE=0 + +# "valset 최대한 적게" + 40장 -> k=10이면 fold_00~fold_09 +for FOLD in $(ls -d ${FOLDS_ROOT}/fold_* | sort); do + NAME=$(basename "$FOLD") + YAML="${FOLD}/data.yaml" + + echo "=== TRAIN ${NAME} ===" + yolo task=obb mode=train \ + model="${WEIGHTS}" \ + data="${YAML}" \ + epochs=${EPOCHS} \ + imgsz=${IMGSZ} \ + batch=${BATCH} \ + device=${DEVICE} \ + workers=4 \ + patience=80 \ + cache=false \ + cos_lr=true \ + close_mosaic=0 \ + mosaic=1.0 \ + mixup=0.2 \ + copy_paste=0.0 \ + hsv_h=0.015 hsv_s=0.7 hsv_v=0.4 \ + degrees=10 translate=0.2 scale=0.6 shear=2.0 perspective=0.0 \ + fliplr=0.5 flipud=0.0 \ + project="${PROJECT}" \ + name="${NAME}" \ + exist_ok=true +done