common/io_utils.py

import csv
import pickle
import json
import cv2
import yaml
import numpy as np
from pathlib import Path
import torch
import open3d
from plyfile import PlyData

def make_dir(dir_path):
    if not Path(dir_path).exists():
        Path(dir_path).mkdir(parents=True, exist_ok=True)


def load_imgs(img_paths, option=cv2.IMREAD_COLOR):
    imgs = [cv2.imread(img_path, option) for img_path in img_paths]
    return imgs


def load_pickle(filename):
    with Path(filename).open("rb") as f:
        return pickle.load(f)


def save_pickle(data, filename):
    with Path(filename).open("wb") as f:
        pickle.dump(data, f, protocol=pickle.HIGHEST_PROTOCOL)


def load_json(filename):
    with Path(filename).open("rb") as f:
        return json.load(f)


def save_json(data, filename, save_pretty=True, sort_keys=False):
    with Path(filename).open("w") as f:
        if save_pretty:
            f.write(json.dumps(data, indent=4, sort_keys=sort_keys))
        else:
            json.dump(data, f)


def load_jsonl(filename):
    with Path(filename).open("r") as f:
        return [json.loads(l.strip("\n")) for l in f.readlines()]


def save_jsonl(data, filename):
    with Path(filename).open("w") as f:
        f.write("\n".join([json.dumps(e) for e in data]))


def load_yaml(filename):
    with Path(filename).open("r") as f:
        return yaml.load(f, Loader=yaml.SafeLoader)


def save_yaml(data, filename):
    with Path(filename).open("w") as f:
        yaml.dump(data, f, default_flow_style=False)


def load_csv(filename, delimiter=","):
    idx2key = None
    contents = {}
    with Path(filename).open("r") as f:
        reader = csv.reader(f, delimiter=delimiter)
        for l_idx, row in reader:
            if l_idx == 0:
                idx2key = row
                for k_idx, key in enumerate(idx2key):
                    contents[key] = []
            else:
                for c_idx, col in enumerate(row):
                    contents[idx2key[c_idx]].append(col)
    return contents, idx2key


def save_csv(data, filename, cols=None, delimiter=","):
    with Path(filename).open("w") as f:
        writer = csv.writer(f, delimiter=delimiter)
        num_entries = len(data[list(data.keys())[0]])
        assert cols is not None, "Must have column names for dumping csv files."
        writer.writerow(cols)
        for l_idx in range(num_entries):
            row = [data[key][l_idx] for key in cols]
            writer.writerow(row)


def load_numpy(filename):
    return np.load(filename, allow_pickle=True)


def save_numpy(data, filename):
    np.save(filename, data, allow_pickle=True)


def load_tensor(filename):
    return torch.load(filename)


def save_tensor(data, filename):
    torch.save(data, filename)


def load_ply(filepath):
    with open(filepath, "rb") as f:
        plydata = PlyData.read(f)
    data = plydata.elements[0].data
    coords = np.array([data["x"], data["y"], data["z"]], dtype=np.float32).T
    feats = None
    labels = None
    if ({"red", "green", "blue"} - set(data.dtype.names)) == set():
        feats = np.array([data["red"], data["green"], data["blue"]], dtype=np.uint8).T
    if "label" in data.dtype.names:
        labels = np.array(data["label"], dtype=np.uint32)
    return coords, feats, labels

    
def load_ply_with_normals(filepath):
    mesh = open3d.io.read_triangle_mesh(str(filepath))
    if not mesh.has_vertex_normals():
        mesh.compute_vertex_normals()
    vertices = np.asarray(mesh.vertices)
    normals = np.asarray(mesh.vertex_normals)

    coords, feats, labels = load_ply(filepath)
    assert np.allclose(coords, vertices), "different coordinates"
    feats = np.hstack((feats, normals))

    return coords, feats, labels