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| import os | |
| import cv2 | |
| import json | |
| import numpy as np | |
| import os.path as osp | |
| from collections import deque | |
| from dust3r.utils.image import imread_cv2 | |
| from .base_many_view_dataset import BaseManyViewDataset | |
| class SevenScenes(BaseManyViewDataset): | |
| def __init__(self, num_seq=1, num_frames=5, | |
| min_thresh=10, max_thresh=100, | |
| test_id=None, full_video=False, | |
| tuple_path=None, seq_id=None, | |
| kf_every=1, *args, ROOT, **kwargs): | |
| self.ROOT = ROOT | |
| super().__init__(*args, **kwargs) | |
| self.num_seq = num_seq | |
| self.num_frames = num_frames | |
| self.max_thresh = max_thresh | |
| self.min_thresh = min_thresh | |
| self.test_id = test_id | |
| self.full_video = full_video | |
| self.kf_every = kf_every | |
| self.seq_id = seq_id | |
| # load all scenes | |
| self.load_all_tuples(tuple_path) | |
| self.load_all_scenes(ROOT) | |
| def __len__(self): | |
| if self.tuple_list is not None: | |
| return len(self.tuple_list) | |
| return len(self.scene_list) * self.num_seq | |
| def load_all_tuples(self, tuple_path): | |
| if tuple_path is not None: | |
| with open(tuple_path) as f: | |
| self.tuple_list = f.read().splitlines() | |
| else: | |
| self.tuple_list = None | |
| def load_all_scenes(self, base_dir): | |
| if self.tuple_list is not None: | |
| # Use pre-defined simplerecon scene_ids | |
| self.scene_list = ['stairs/seq-06', 'stairs/seq-02', | |
| 'pumpkin/seq-06', 'chess/seq-01', | |
| 'heads/seq-02', 'fire/seq-02', | |
| 'office/seq-03', 'pumpkin/seq-03', | |
| 'redkitchen/seq-07', 'chess/seq-02', | |
| 'office/seq-01', 'redkitchen/seq-01', | |
| 'fire/seq-01'] | |
| print(f"Found {len(self.scene_list)} sequences in split {self.split}") | |
| return | |
| scenes = os.listdir(base_dir) | |
| file_split = {'train': 'TrainSplit.txt', 'test': 'TestSplit.txt'}[self.split] | |
| self.scene_list = [] | |
| for scene in scenes: | |
| if self.test_id is not None and scene != self.test_id: | |
| continue | |
| # read file split | |
| with open(osp.join(base_dir, scene, file_split)) as f: | |
| seq_ids = f.read().splitlines() | |
| for seq_id in seq_ids: | |
| # seq is string, take the int part and make it 01, 02, 03 | |
| # seq_id = 'seq-{:2d}'.format(int(seq_id)) | |
| num_part = ''.join(filter(str.isdigit, seq_id)) | |
| seq_id = f'seq-{num_part.zfill(2)}' | |
| if self.seq_id is not None and seq_id != self.seq_id: | |
| continue | |
| self.scene_list.append(f"{scene}/{seq_id}") | |
| print(f"Found {len(self.scene_list)} sequences in split {self.split}") | |
| def _get_views(self, idx, resolution, rng): | |
| if self.tuple_list is not None: | |
| line = self.tuple_list[idx].split(" ") | |
| scene_id = line[0] | |
| img_idxs = line[1:] | |
| else: | |
| scene_id = self.scene_list[idx // self.num_seq] | |
| seq_id = idx % self.num_seq | |
| data_path = osp.join(self.ROOT, scene_id) | |
| num_files = len([name for name in os.listdir(data_path) if 'color' in name]) | |
| img_idxs = [f'{i:06d}' for i in range(num_files)] | |
| img_idxs = self.sample_frame_idx(img_idxs, rng, full_video=self.full_video) | |
| # Intrinsics used in SimpleRecon | |
| fx, fy, cx, cy = 525, 525, 320, 240 | |
| intrinsics_ = np.array([[fx, 0, cx], [0, fy, cy], [0, 0, 1]], dtype=np.float32) | |
| views = [] | |
| imgs_idxs = deque(img_idxs) | |
| while len(imgs_idxs) > 0: | |
| im_idx = imgs_idxs.popleft() | |
| impath = osp.join(self.ROOT, scene_id, f'frame-{im_idx}.color.png') | |
| depthpath = osp.join(self.ROOT, scene_id, f'frame-{im_idx}.depth.proj.png') | |
| posepath = osp.join(self.ROOT, scene_id, f'frame-{im_idx}.pose.txt') | |
| rgb_image = imread_cv2(impath) | |
| depthmap = imread_cv2(depthpath, cv2.IMREAD_UNCHANGED) | |
| rgb_image = cv2.resize(rgb_image, (depthmap.shape[1], depthmap.shape[0])) | |
| depthmap[depthmap==65535] = 0 | |
| depthmap = np.nan_to_num(depthmap.astype(np.float32), 0.0) / 1000.0 | |
| depthmap[depthmap>10] = 0 | |
| depthmap[depthmap<1e-3] = 0 | |
| camera_pose = np.loadtxt(posepath).astype(np.float32) | |
| rgb_image, depthmap, intrinsics = self._crop_resize_if_necessary( | |
| rgb_image, depthmap, intrinsics_, resolution, rng=rng, info=impath) | |
| views.append(dict( | |
| img=rgb_image, | |
| depthmap=depthmap, | |
| camera_pose=camera_pose, | |
| camera_intrinsics=intrinsics, | |
| dataset='7scenes', | |
| label=osp.join(scene_id, im_idx), | |
| instance=osp.split(impath)[1], | |
| )) | |
| return views | |