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import os.path as osp |
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import numpy as np |
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from dust3r.datasets.base.base_stereo_view_dataset import BaseStereoViewDataset |
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from dust3r.utils.image import imread_cv2 |
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class Waymo (BaseStereoViewDataset): |
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""" Dataset of outdoor street scenes, 5 images each time |
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""" |
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def __init__(self, *args, ROOT, **kwargs): |
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self.ROOT = ROOT |
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super().__init__(*args, **kwargs) |
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self._load_data() |
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def _load_data(self): |
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with np.load(osp.join(self.ROOT, 'waymo_pairs.npz')) as data: |
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self.scenes = data['scenes'] |
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self.frames = data['frames'] |
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self.inv_frames = {frame: i for i, frame in enumerate(data['frames'])} |
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self.pairs = data['pairs'] |
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assert self.pairs[:, 0].max() == len(self.scenes) - 1 |
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def __len__(self): |
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return len(self.pairs) |
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def get_stats(self): |
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return f'{len(self)} pairs from {len(self.scenes)} scenes' |
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def _get_views(self, pair_idx, resolution, rng): |
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seq, img1, img2 = self.pairs[pair_idx] |
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seq_path = osp.join(self.ROOT, self.scenes[seq]) |
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views = [] |
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for view_index in [img1, img2]: |
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impath = self.frames[view_index] |
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image = imread_cv2(osp.join(seq_path, impath + ".jpg")) |
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depthmap = imread_cv2(osp.join(seq_path, impath + ".exr")) |
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camera_params = np.load(osp.join(seq_path, impath + ".npz")) |
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intrinsics = np.float32(camera_params['intrinsics']) |
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camera_pose = np.float32(camera_params['cam2world']) |
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image, depthmap, intrinsics = self._crop_resize_if_necessary( |
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image, depthmap, intrinsics, resolution, rng, info=(seq_path, impath)) |
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views.append(dict( |
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img=image, |
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depthmap=depthmap, |
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camera_pose=camera_pose, |
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camera_intrinsics=intrinsics, |
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dataset='Waymo', |
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label=osp.relpath(seq_path, self.ROOT), |
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instance=impath)) |
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return views |
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if __name__ == '__main__': |
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from dust3r.datasets.base.base_stereo_view_dataset import view_name |
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from dust3r.viz import SceneViz, auto_cam_size |
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from dust3r.utils.image import rgb |
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dataset = Waymo(split='train', ROOT="data/megadepth_processed", resolution=224, aug_crop=16) |
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for idx in np.random.permutation(len(dataset)): |
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views = dataset[idx] |
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assert len(views) == 2 |
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print(idx, view_name(views[0]), view_name(views[1])) |
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viz = SceneViz() |
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poses = [views[view_idx]['camera_pose'] for view_idx in [0, 1]] |
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cam_size = max(auto_cam_size(poses), 0.001) |
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for view_idx in [0, 1]: |
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pts3d = views[view_idx]['pts3d'] |
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valid_mask = views[view_idx]['valid_mask'] |
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colors = rgb(views[view_idx]['img']) |
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viz.add_pointcloud(pts3d, colors, valid_mask) |
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viz.add_camera(pose_c2w=views[view_idx]['camera_pose'], |
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focal=views[view_idx]['camera_intrinsics'][0, 0], |
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color=(idx * 255, (1 - idx) * 255, 0), |
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image=colors, |
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cam_size=cam_size) |
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viz.show() |
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