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| # Copyright (C) 2024-present Naver Corporation. All rights reserved. | |
| # Licensed under CC BY-NC-SA 4.0 (non-commercial use only). | |
| # | |
| # -------------------------------------------------------- | |
| # 7 Scenes dataloader | |
| # -------------------------------------------------------- | |
| import os | |
| import kapture | |
| import numpy as np | |
| import PIL.Image | |
| import torch | |
| from dust3r.datasets.utils.transforms import ImgNorm | |
| from dust3r.utils.geometry import ( | |
| depthmap_to_absolute_camera_coordinates, | |
| geotrf, | |
| xy_grid, | |
| ) | |
| from dust3r_visloc.datasets.base_dataset import BaseVislocDataset | |
| from dust3r_visloc.datasets.utils import ( | |
| cam_to_world_from_kapture, | |
| get_resize_function, | |
| rescale_points3d, | |
| ) | |
| from kapture.io.csv import kapture_from_dir | |
| from kapture.io.records import depth_map_from_file | |
| from kapture_localization.utils.pairsfile import get_ordered_pairs_from_file | |
| class VislocSevenScenes(BaseVislocDataset): | |
| def __init__(self, root, subscene, pairsfile, topk=1): | |
| super().__init__() | |
| self.root = root | |
| self.subscene = subscene | |
| self.topk = topk | |
| self.num_views = self.topk + 1 | |
| self.maxdim = None | |
| self.patch_size = None | |
| query_path = os.path.join(self.root, subscene, "query") | |
| kdata_query = kapture_from_dir(query_path) | |
| assert ( | |
| kdata_query.records_camera is not None | |
| and kdata_query.trajectories is not None | |
| and kdata_query.rigs is not None | |
| ) | |
| kapture.rigs_remove_inplace(kdata_query.trajectories, kdata_query.rigs) | |
| kdata_query_searchindex = { | |
| kdata_query.records_camera[(timestamp, sensor_id)]: (timestamp, sensor_id) | |
| for timestamp, sensor_id in kdata_query.records_camera.key_pairs() | |
| } | |
| self.query_data = { | |
| "path": query_path, | |
| "kdata": kdata_query, | |
| "searchindex": kdata_query_searchindex, | |
| } | |
| map_path = os.path.join(self.root, subscene, "mapping") | |
| kdata_map = kapture_from_dir(map_path) | |
| assert ( | |
| kdata_map.records_camera is not None | |
| and kdata_map.trajectories is not None | |
| and kdata_map.rigs is not None | |
| ) | |
| kapture.rigs_remove_inplace(kdata_map.trajectories, kdata_map.rigs) | |
| kdata_map_searchindex = { | |
| kdata_map.records_camera[(timestamp, sensor_id)]: (timestamp, sensor_id) | |
| for timestamp, sensor_id in kdata_map.records_camera.key_pairs() | |
| } | |
| self.map_data = { | |
| "path": map_path, | |
| "kdata": kdata_map, | |
| "searchindex": kdata_map_searchindex, | |
| } | |
| self.pairs = get_ordered_pairs_from_file( | |
| os.path.join(self.root, subscene, "pairfiles/query", pairsfile + ".txt") | |
| ) | |
| self.scenes = kdata_query.records_camera.data_list() | |
| def __len__(self): | |
| return len(self.scenes) | |
| def __getitem__(self, idx): | |
| assert self.maxdim is not None and self.patch_size is not None | |
| query_image = self.scenes[idx] | |
| map_images = [p[0] for p in self.pairs[query_image][: self.topk]] | |
| views = [] | |
| dataarray = [(query_image, self.query_data, False)] + [ | |
| (map_image, self.map_data, True) for map_image in map_images | |
| ] | |
| for idx, (imgname, data, should_load_depth) in enumerate(dataarray): | |
| imgpath, kdata, searchindex = map( | |
| data.get, ["path", "kdata", "searchindex"] | |
| ) | |
| timestamp, camera_id = searchindex[imgname] | |
| # for 7scenes, SIMPLE_PINHOLE | |
| camera_params = kdata.sensors[camera_id].camera_params | |
| W, H, f, cx, cy = camera_params | |
| distortion = [0, 0, 0, 0] | |
| intrinsics = np.float32([(f, 0, cx), (0, f, cy), (0, 0, 1)]) | |
| cam_to_world = cam_to_world_from_kapture(kdata, timestamp, camera_id) | |
| # Load RGB image | |
| rgb_image = PIL.Image.open( | |
| os.path.join(imgpath, "sensors/records_data", imgname) | |
| ).convert("RGB") | |
| rgb_image.load() | |
| W, H = rgb_image.size | |
| resize_func, to_resize, to_orig = get_resize_function( | |
| self.maxdim, self.patch_size, H, W | |
| ) | |
| rgb_tensor = resize_func(ImgNorm(rgb_image)) | |
| view = { | |
| "intrinsics": intrinsics, | |
| "distortion": distortion, | |
| "cam_to_world": cam_to_world, | |
| "rgb": rgb_image, | |
| "rgb_rescaled": rgb_tensor, | |
| "to_orig": to_orig, | |
| "idx": idx, | |
| "image_name": imgname, | |
| } | |
| # Load depthmap | |
| if should_load_depth: | |
| depthmap_filename = os.path.join( | |
| imgpath, | |
| "sensors/records_data", | |
| imgname.replace("color.png", "depth.reg"), | |
| ) | |
| depthmap = depth_map_from_file( | |
| depthmap_filename, (int(W), int(H)) | |
| ).astype(np.float32) | |
| pts3d_full, pts3d_valid = depthmap_to_absolute_camera_coordinates( | |
| depthmap, intrinsics, cam_to_world | |
| ) | |
| pts3d = pts3d_full[pts3d_valid] | |
| pts2d_int = xy_grid(W, H)[pts3d_valid] | |
| pts2d = pts2d_int.astype(np.float64) | |
| # nan => invalid | |
| pts3d_full[~pts3d_valid] = np.nan | |
| pts3d_full = torch.from_numpy(pts3d_full) | |
| view["pts3d"] = pts3d_full | |
| view["valid"] = pts3d_full.sum(dim=-1).isfinite() | |
| HR, WR = rgb_tensor.shape[1:] | |
| _, _, pts3d_rescaled, valid_rescaled = rescale_points3d( | |
| pts2d, pts3d, to_resize, HR, WR | |
| ) | |
| pts3d_rescaled = torch.from_numpy(pts3d_rescaled) | |
| valid_rescaled = torch.from_numpy(valid_rescaled) | |
| view["pts3d_rescaled"] = pts3d_rescaled | |
| view["valid_rescaled"] = valid_rescaled | |
| views.append(view) | |
| return views | |