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on the another side of the table", + "affordance": { + "x": 321.64948453608247, + "y": 210.30927835051546, + "width": 42.06185567010307, + "height": 39.58762886597941 + } + }, + { + "id": 1107, + "image_path": "rtx_frames_success_6/49_bridge#episode_15615/frame_0.png", + "meta_data": { + "original_dataset": "bridge", + "original_width": 640, + "original_height": 480 + }, + "instruction": "move the pear so it's above the spatula.", + "affordance": { + "x": 346.39175257731955, + "y": 291.9587628865979, + "width": 59.381443298969046, + "height": 44.53608247422679 + } + }, + { + "id": 1108, + "image_path": "rtx_frames_success_6/49_bridge#episode_15619/frame_0.png", + "meta_data": { + "original_dataset": "bridge", + "original_width": 640, + "original_height": 480 + }, + "instruction": "place the carrot to the right of the blue spoon", + "affordance": { + "x": 383.50515463917526, + "y": 145.97938144329896, + "width": 47.0103092783505, + "height": 42.061855670103114 + } + }, + { + "id": 1109, 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"image_path": "rtx_frames_success_6/49_bridge#episode_16283/frame_0.png", + "meta_data": { + "original_dataset": "bridge", + "original_width": 640, + "original_height": 480 + }, + "instruction": "put broccoli in a pot", + "affordance": { + "x": 19.793814432989688, + "y": 173.19587628865978, + "width": 61.85567010309278, + "height": 49.48453608247422 + } + }, + { + "id": 1161, + "image_path": "rtx_frames_success_6/49_bridge#episode_16286/frame_0.png", + "meta_data": { + "original_dataset": "bridge", + "original_width": 640, + "original_height": 480 + }, + "instruction": "put a carrot on the plate", + "affordance": { + "x": 267.21649484536084, + "y": 277.11340206185565, + "width": 44.5360824742268, + "height": 51.958762886597924 + } + }, + { + "id": 1162, + "image_path": "rtx_frames_success_6/49_bridge#episode_16286/frame_15.png", + "meta_data": { + "original_dataset": "bridge", + "original_width": 640, + "original_height": 480 + }, + "instruction": "put carrot on plate", + "affordance": 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"image_path": "rtx_frames_success_6/49_bridge#episode_16366/frame_0.png", + "meta_data": { + "original_dataset": "bridge", + "original_width": 640, + "original_height": 480 + }, + "instruction": "placing a piece of sushi into a bowl", + "affordance": { + "x": 430.5154639175257, + "y": 180.61855670103094, + "width": 47.01030927835054, + "height": 61.85567010309277 + } + }, + { + "id": 1171, + "image_path": "rtx_frames_success_6/49_bridge#episode_16367/frame_0.png", + "meta_data": { + "original_dataset": "bridge", + "original_width": 640, + "original_height": 480 + }, + "instruction": "take the blue fork and place it onto the yellow towel", + "affordance": { + "x": 96.49484536082474, + "y": 183.0927835051546, + "width": 49.48453608247422, + "height": 54.43298969072166 + } + }, + { + "id": 1172, + "image_path": "rtx_frames_success_6/49_bridge#episode_16370/frame_0.png", + "meta_data": { + "original_dataset": "bridge", + "original_width": 640, + "original_height": 480 + }, + "instruction": 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pan on the purple towel", + "affordance": { + "x": 424.6153846153845, + "y": 189.8901098901099, + "width": 47.47252747252751, + "height": 42.19780219780218 + } + }, + { + "id": 1278, + "image_path": "rtx_frames_success_7/49_bridge#episode_17289/frame_0.png", + "meta_data": { + "original_dataset": "bridge", + "original_width": 640, + "original_height": 480 + }, + "instruction": "move a knife to the other side of a table", + "affordance": { + "x": 52.747252747252745, + "y": 181.97802197802196, + "width": 50.10989010989013, + "height": 55.38461538461539 + } + }, + { + "id": 1279, + "image_path": "rtx_frames_success_7/49_bridge#episode_17315/frame_0.png", + "meta_data": { + "original_dataset": "bridge", + "original_width": 640, + "original_height": 480 + }, + "instruction": "pick up the potato and put it into the stainless steel wok", + "affordance": { + "x": 242.63736263736268, + "y": 152.96703296703296, + "width": 55.38461538461534, + "height": 42.197802197802204 + } + }, + { + "id": 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@@ +import json +import os +import cv2 +import numpy as np + +img_dir = './images' +affordance_json = './affordance.json' +output_img_dir = './visualized_images' + +count = 0 +with open(affordance_json, 'r') as f: + data = json.load(f) + for item in data: + filepath = os.path.join(img_dir, item['image_path']) + + image = cv2.imread(filepath) + color = (255, 0, 0) + thickness = 2 + + x_min,y_min = item['affordance']['x'], item['affordance']['y'] + x_max,y_max = item['affordance']['x']+item['affordance']['width'], item['affordance']['y']+item['affordance']['height'] + + # 定义矩形的四个顶点坐标 + pts = np.array([ + [x_min, y_min], # 左上角 + [x_max, y_min], # 右上角 + [x_max, y_max], # 右下角 + [x_min, y_max] # 左下角 + ], dtype=np.float32) + + # 绘制矩形框 + cv2.polylines(image, [pts.astype(int)], isClosed=True, color=color, thickness=thickness) + + # 获取相对路径并拼接目标路径 + relative_path = os.path.relpath(filepath, img_dir) # 获取相对于 img_dir 的相对路径 + output_img_path = os.path.join(output_img_dir, relative_path) # 拼接目标路径 + + # 创建目标文件夹 + output_directory = os.path.dirname(output_img_path) + if not os.path.exists(output_directory): + os.makedirs(output_directory) + + # 打印调试信息 + print(f"Input filepath: {filepath}") + print(f"Output image path: {output_img_path}") + print(f"Output directory: {output_directory}") + + # 保存图像 + count += 1 + cv2.imwrite(output_img_path, image) + +print(count) \ No newline at end of file