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b/datasets/dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..fa07ebaeb6ddbf57f61001dc83bb162eb2bfb674 --- /dev/null +++ b/datasets/dataset.py @@ -0,0 +1,1159 @@ +import os; os.environ["OPENCV_IO_ENABLE_OPENEXR"] = "1" +import glob +import os.path as osp +import cv2 +import torch +import torch.nn.functional as F +import numpy as np +from scipy.spatial.transform import Rotation +from torch.utils.data import Dataset +from .utils import get_camera_rays, alphanum_key, as_intrinsics_matrix + +def get_dataset(config): + ''' + Get the dataset class from the config file. + ''' + if config['dataset'] == 'replica': + dataset = ReplicaDataset + + elif config['dataset'] == 'scannet': + dataset = ScannetDataset + + elif config['dataset'] == 'synthetic': + dataset = RGBDataset + + elif config['dataset'] == 'tum': + dataset = TUMDataset + + elif config['dataset'] == 'azure': + dataset = AzureDataset + + elif config['dataset'] == 'iphone': + dataset = iPhoneDataset + + elif config['dataset'] == 'realsense': + dataset = RealsenseDataset + + elif config["dataset"] == "devindoors": + dataset = DEVIndoors + + elif config["dataset"] == "devreals": + dataset = DevRealsDataset + + elif config["dataset"] == "pseudo": + dataset = PseudoDataset + + return dataset(config, + config['data']['datadir'], + trainskip=config['data']['trainskip'], + downsample_factor=config['data']['downsample'], + sc_factor=config['data']['sc_factor']) + +class BaseDataset(Dataset): + def __init__(self, cfg): + self.png_depth_scale = cfg['cam']['png_depth_scale'] + self.H, self.W = cfg['cam']['H']//cfg['data']['downsample'],\ + cfg['cam']['W']//cfg['data']['downsample'] + + self.fx, self.fy = cfg['cam']['fx']//cfg['data']['downsample'],\ + cfg['cam']['fy']//cfg['data']['downsample'] + self.cx, self.cy = cfg['cam']['cx']//cfg['data']['downsample'],\ + cfg['cam']['cy']//cfg['data']['downsample'] + self.distortion = np.array( + cfg['cam']['distortion']) if 'distortion' in cfg['cam'] else None + self.crop_size = cfg['cam']['crop_edge'] if 'crop_edge' in cfg['cam'] else 0 + self.ignore_w = cfg['tracking']['ignore_edge_W'] + self.ignore_h = cfg['tracking']['ignore_edge_H'] + + self.total_pixels = (self.H - self.crop_size*2) * (self.W - self.crop_size*2) + self.num_rays_to_save = int(self.total_pixels * cfg['mapping']['n_pixels']) + + + def __len__(self): + raise NotImplementedError() + + def __getitem__(self, index): + raise NotImplementedError() + + +class iPhoneDataset(BaseDataset): + def __init__(self, cfg, basedir, trainskip=1, + downsample_factor=1, translation=0.0, + sc_factor=1., crop=0): + super(iPhoneDataset, self).__init__(cfg) + + self.basedir = basedir + self.trainskip = trainskip + self.downsample_factor = downsample_factor + self.translation = translation + self.sc_factor = sc_factor + self.crop = crop + + self.video_path = os.path.join(self.basedir, 'rgb.mp4') + if not os.path.exists(os.path.join(basedir, 'images')): + os.makedirs(os.path.join(basedir, 'images')) + self.process_video() + + self.img_files = [os.path.join(self.basedir, 'images', f) for f in sorted(os.listdir(os.path.join(self.basedir, 'images')), key=alphanum_key) if f.endswith('png')] + self.depth_paths = [os.path.join(self.basedir, 'depth', f) for f in sorted(os.listdir(os.path.join(basedir, 'depth')), key=alphanum_key) if f.endswith('png')] + + self.poses = self.load_poses(basedir) + + + self.rays_d = None + self.tracking_mask = None + self.frame_ids = range(0, len(self.img_files)) + self.num_frames = len(self.frame_ids) + + def __len__(self): + return self.num_frames + + def __getitem__(self, index): + color_path = self.img_files[index] + depth_path = self.depth_paths[index] + + color_data = cv2.imread(color_path) + if '.png' in depth_path: + depth_data = cv2.imread(depth_path, cv2.IMREAD_UNCHANGED) + elif '.exr' in depth_path: + raise NotImplementedError() + if self.distortion is not None: + raise NotImplementedError() + + color_data = cv2.cvtColor(color_data, cv2.COLOR_BGR2RGB) + color_data = color_data / 255. + depth_data = depth_data.astype(np.float32) / self.png_depth_scale * self.sc_factor + + H, W = depth_data.shape + color_data = cv2.resize(color_data, (W, H)) + + if self.downsample_factor > 1: + H = H // self.downsample_factor + W = W // self.downsample_factor + color_data = cv2.resize(color_data, (W, H), interpolation=cv2.INTER_AREA) + depth_data = cv2.resize(depth_data, (W, H), interpolation=cv2.INTER_NEAREST) + + if self.rays_d is None: + self.rays_d = get_camera_rays(self.H, self.W, self.fx, self.fy, self.cx, self.cy) + + color_data = torch.from_numpy(color_data.astype(np.float32)) + depth_data = torch.from_numpy(depth_data.astype(np.float32)) + + ret = { + "frame_id": self.frame_ids[index], + "c2w": self.poses[index], + "rgb": color_data, + "depth": depth_data, + "direction": self.rays_d, + } + + return ret + + def qTomatrix(self, pose): + ''' + quaternion to matrix + ''' + T_WC = np.eye(4) + T_WC[:3, :3] = Rotation.from_quat(pose[3:]).as_matrix() + T_WC[:3, 3] = pose[:3] + + T_WC[:3, 1] *= -1 + T_WC[:3, 2] *= -1 + T_WC = torch.from_numpy(T_WC).float() + + return T_WC + + def load_poses(self, basedir): + ''' + Load poses from odometry.csv + ''' + path_to_pose = os.path.join(basedir, 'odometry.csv') + pose_data = np.loadtxt(path_to_pose, delimiter=',', skiprows=1) + poses = [self.qTomatrix(pose_data[i][2:]) for i in range(pose_data.shape[0])] + + return poses + + def process_video(self): + ''' + Extract frames from video + ''' + print('processing video') + vidcap = cv2.VideoCapture(self.video_path) + frame_count = 0 + num_frames = vidcap.get(cv2.CAP_PROP_FRAME_COUNT) - 1 + print('num_frames:', num_frames) + while(frame_count < num_frames): + success,image = vidcap.read() + cv2.imwrite(os.path.join(self.basedir, 'images', "{:06d}.png".format(frame_count)), image) # save frame as JPEG file + frame_count += 1 + + print('processing video... done!') + + +class ReplicaDataset(BaseDataset): + def __init__(self, cfg, basedir, trainskip=1, + downsample_factor=1, translation=0.0, + sc_factor=1., crop=0): + super(ReplicaDataset, self).__init__(cfg) + + self.basedir = basedir + self.trainskip = trainskip + self.downsample_factor = downsample_factor + self.translation = translation + self.sc_factor = sc_factor + self.crop = crop + self.img_files = sorted(glob.glob(f'{self.basedir}/results/frame*.jpg')) + self.depth_paths = sorted( + glob.glob(f'{self.basedir}/results/depth*.png')) + self.load_poses(os.path.join(self.basedir, 'traj.txt')) + + + self.rays_d = None + self.tracking_mask = None + self.frame_ids = range(0, len(self.img_files)) + self.num_frames = len(self.frame_ids) + + def __len__(self): + return self.num_frames + + + def __getitem__(self, index): + color_path = self.img_files[index] + depth_path = self.depth_paths[index] + + color_data = cv2.imread(color_path) + if '.png' in depth_path: + depth_data = cv2.imread(depth_path, cv2.IMREAD_UNCHANGED) + elif '.exr' in depth_path: + raise NotImplementedError() + if self.distortion is not None: + raise NotImplementedError() + + color_data = cv2.cvtColor(color_data, cv2.COLOR_BGR2RGB) + color_data = color_data / 255. + depth_data = depth_data.astype(np.float32) / self.png_depth_scale * self.sc_factor + + H, W = depth_data.shape + color_data = cv2.resize(color_data, (W, H)) + + if self.downsample_factor > 1: + H = H // self.downsample_factor + W = W // self.downsample_factor + color_data = cv2.resize(color_data, (W, H), interpolation=cv2.INTER_AREA) + depth_data = cv2.resize(depth_data, (W, H), interpolation=cv2.INTER_NEAREST) + + if self.rays_d is None: + self.rays_d = get_camera_rays(self.H, self.W, self.fx, self.fy, self.cx, self.cy) + + color_data = torch.from_numpy(color_data.astype(np.float32)) + depth_data = torch.from_numpy(depth_data.astype(np.float32)) + + ret = { + "frame_id": self.frame_ids[index], + "c2w": self.poses[index], + "rgb": color_data, + "depth": depth_data, + "direction": self.rays_d, + } + + return ret + + + def load_poses(self, path): + self.poses = [] + with open(path, "r") as f: + lines = f.readlines() + for i in range(len(self.img_files)): + line = lines[i] + c2w = np.array(list(map(float, line.split()))).reshape(4, 4) + c2w[:3, 1] *= -1 + c2w[:3, 2] *= -1 + c2w[:3, 3] *= self.sc_factor + c2w = torch.from_numpy(c2w).float() + self.poses.append(c2w) + + +class ScannetDataset(BaseDataset): + def __init__(self, cfg, basedir, trainskip=1, + downsample_factor=1, translation=0.0, + sc_factor=1., crop=0): + super(ScannetDataset, self).__init__(cfg) + + self.config = cfg + self.basedir = basedir + self.trainskip = trainskip + self.downsample_factor = downsample_factor + self.translation = translation + self.sc_factor = sc_factor + self.crop = crop + self.img_files = sorted(glob.glob(os.path.join( + self.basedir, 'color', '*.jpg')), key=lambda x: int(os.path.basename(x)[:-4])) + self.depth_paths = sorted( + glob.glob(os.path.join( + self.basedir, 'depth', '*.png')), key=lambda x: int(os.path.basename(x)[:-4])) + self.load_poses(os.path.join(self.basedir, 'pose')) + + # self.depth_cleaner = cv2.rgbd.DepthCleaner_create(cv2.CV_32F, 5) + + + self.rays_d = None + self.frame_ids = range(0, len(self.img_files)) + self.num_frames = len(self.frame_ids) + + if self.config['cam']['crop_edge'] > 0: + self.H -= self.config['cam']['crop_edge']*2 + self.W -= self.config['cam']['crop_edge']*2 + self.cx -= self.config['cam']['crop_edge'] + self.cy -= self.config['cam']['crop_edge'] + + def __len__(self): + return self.num_frames + + def __getitem__(self, index): + color_path = self.img_files[index] + depth_path = self.depth_paths[index] + + color_data = cv2.imread(color_path) + if '.png' in depth_path: + depth_data = cv2.imread(depth_path, cv2.IMREAD_UNCHANGED) + elif '.exr' in depth_path: + raise NotImplementedError() + if self.distortion is not None: + raise NotImplementedError() + + color_data = cv2.cvtColor(color_data, cv2.COLOR_BGR2RGB) + color_data = color_data / 255. + depth_data = depth_data.astype(np.float32) / self.png_depth_scale * self.sc_factor + + H, W = depth_data.shape + color_data = cv2.resize(color_data, (W, H)) + + if self.downsample_factor > 1: + H = H // self.downsample_factor + W = W // self.downsample_factor + self.fx = self.fx // self.downsample_factor + self.fy = self.fy // self.downsample_factor + color_data = cv2.resize(color_data, (W, H), interpolation=cv2.INTER_AREA) + depth_data = cv2.resize(depth_data, (W, H), interpolation=cv2.INTER_NEAREST) + + edge = self.config['cam']['crop_edge'] + if edge > 0: + # crop image edge, there are invalid value on the edge of the color image + color_data = color_data[edge:-edge, edge:-edge] + depth_data = depth_data[edge:-edge, edge:-edge] + + if self.rays_d is None: + self.rays_d = get_camera_rays(self.H, self.W, self.fx, self.fy, self.cx, self.cy) + + color_data = torch.from_numpy(color_data.astype(np.float32)) + depth_data = torch.from_numpy(depth_data.astype(np.float32)) + + ret = { + "frame_id": self.frame_ids[index], + "c2w": self.poses[index], + "rgb": color_data, + "depth": depth_data, + "direction": self.rays_d + } + + return ret + + def load_poses(self, path): + self.poses = [] + pose_paths = sorted(glob.glob(os.path.join(path, '*.txt')), + key=lambda x: int(os.path.basename(x)[:-4])) + for pose_path in pose_paths: + with open(pose_path, "r") as f: + lines = f.readlines() + ls = [] + for line in lines: + l = list(map(float, line.split(' '))) + ls.append(l) + c2w = np.array(ls).reshape(4, 4) + c2w[:3, 1] *= -1 + c2w[:3, 2] *= -1 + c2w = torch.from_numpy(c2w).float() + self.poses.append(c2w) + + +class AzureDataset(BaseDataset): + def __init__(self, cfg, basedir, trainskip=1, + downsample_factor=1, translation=0.0, + sc_factor=1., crop=0): + super(AzureDataset, self).__init__(cfg) + + self.config = cfg + self.basedir = basedir + self.trainskip = trainskip + self.downsample_factor = downsample_factor + self.translation = translation + self.sc_factor = sc_factor + self.crop = crop + self.img_files = sorted( + glob.glob(os.path.join(self.basedir, 'color', '*.jpg'))) + self.depth_paths = sorted( + glob.glob(os.path.join(self.basedir, 'depth', '*.png'))) + + self.rays_d = None + self.frame_ids = range(0, len(self.img_files)) + self.num_frames = len(self.frame_ids) + self.load_poses(os.path.join(self.basedir, 'pose')) + + if self.config['cam']['crop_edge'] > 0: + self.H -= self.config['cam']['crop_edge']*2 + self.W -= self.config['cam']['crop_edge']*2 + self.cx -= self.config['cam']['crop_edge'] + self.cy -= self.config['cam']['crop_edge'] + + def __len__(self): + return self.num_frames + + def __getitem__(self, index): + color_path = self.img_files[index] + depth_path = self.depth_paths[index] + + color_data = cv2.imread(color_path) + if '.png' in depth_path: + depth_data = cv2.imread(depth_path, cv2.IMREAD_UNCHANGED) + elif '.exr' in depth_path: + raise NotImplementedError() + if self.distortion is not None: + raise NotImplementedError() + + color_data = cv2.cvtColor(color_data, cv2.COLOR_BGR2RGB) + color_data = color_data / 255. + depth_data = depth_data.astype(np.float32) / self.png_depth_scale * self.sc_factor + + H, W = depth_data.shape + color_data = cv2.resize(color_data, (W, H)) + + if self.downsample_factor > 1: + H = H // self.downsample_factor + W = W // self.downsample_factor + self.fx = self.fx // self.downsample_factor + self.fy = self.fy // self.downsample_factor + color_data = cv2.resize(color_data, (W, H), interpolation=cv2.INTER_AREA) + depth_data = cv2.resize(depth_data, (W, H), interpolation=cv2.INTER_NEAREST) + + edge = self.config['cam']['crop_edge'] + if edge > 0: + # crop image edge, there are invalid value on the edge of the color image + color_data = color_data[edge:-edge, edge:-edge] + depth_data = depth_data[edge:-edge, edge:-edge] + + if self.rays_d is None: + self.rays_d = get_camera_rays(self.H, self.W, self.fx, self.fy, self.cx, self.cy) + + color_data = torch.from_numpy(color_data.astype(np.float32)) + depth_data = torch.from_numpy(depth_data.astype(np.float32)) + + ret = { + "frame_id": self.frame_ids[index], + "c2w": self.poses[index], + "rgb": color_data, + "depth": depth_data, + "direction": self.rays_d + } + + return ret + + def load_poses(self, path): + principal_inertia_transform = np.array([[-0.14031718, -0.875229 , -0.46290958, 0.75258389], + [ 0.217254 , -0.48335774, 0.84803655, 0.32966271], + [-0.96597712, 0.01842514, 0.2579704 , 3.28585226], + [ 0. , 0. , 0. , 1. ]]) + principal_inertia_transform[:3, 1] *= -1 + principal_inertia_transform[:3, 2] *= -1 + self.poses = [] + if os.path.exists(path): + with open(path) as f: + content = f.readlines() + + # Load .log file. + for i in range(0, len(content), 5): + # format %d (src) %d (tgt) %f (fitness) + data = list(map(float, content[i].strip().split(' '))) + ids = (int(data[0]), int(data[1])) + fitness = data[2] + + # format %f x 16 + c2w = np.array( + list(map(float, (''.join( + content[i + 1:i + 5])).strip().split()))).reshape((4, 4)) + + c2w[:3, 1] *= -1 + c2w[:3, 2] *= -1 + c2w = torch.from_numpy(c2w).float() + self.poses.append(c2w) + else: + for i in range(self.num_frames): + c2w = principal_inertia_transform + c2w = torch.from_numpy(c2w).float() + 1e-5 + self.poses.append(c2w) + + +class RGBDataset(BaseDataset): + def __init__(self, cfg, basedir, trainskip=1, + downsample_factor=1, translation=0.0, + sc_factor=1., crop=0): + super(RGBDataset, self).__init__(cfg) + + self.basedir = basedir + self.trainskip = trainskip + self.downsample_factor = downsample_factor + self.translation = translation + self.sc_factor = sc_factor + self.crop = crop + self.img_files = [os.path.join(self.basedir, 'images', f) for f in sorted(os.listdir(os.path.join(self.basedir, 'images')), key=alphanum_key) if f.endswith('png')] + self.depth_paths = [os.path.join(self.basedir, 'depth_filtered', f) for f in sorted(os.listdir(os.path.join(self.basedir, 'depth_filtered')), key=alphanum_key) if f.endswith('png')] + self.gt_depth_paths = [os.path.join(self.basedir, 'depth', f) for f in sorted(os.listdir(os.path.join(basedir, 'depth')), key=alphanum_key) if f.endswith('png')] + + + self.all_poses, valid_poses = self.load_poses(os.path.join(self.basedir, 'trainval_poses.txt')) + self.all_gt_poses, valid_gt_poses = self.load_poses(os.path.join(basedir, 'poses.txt')) + + init_pose = np.array(self.all_poses[0]).astype(np.float32) + init_gt_pose = np.array(self.all_gt_poses[0]).astype(np.float32) + self.align_matrix = init_gt_pose @ np.linalg.inv(init_pose) + + self.poses = [] + for pose in self.all_gt_poses: + self.poses.append(torch.from_numpy(np.array(pose)).float()) + + + self.rays_d = None + self.frame_ids = self.get_frame_ids() + self.num_frames = len(self.frame_ids) + + def get_frame_ids(self): + frame_ids = [] + num_frames = len(self.img_files) + train_frame_ids = list(range(0, num_frames, self.trainskip)) + + self.frame_ids = [] + for id in train_frame_ids: + #if valid_poses[id]: + frame_ids.append(id) + + return frame_ids + + def __len__(self): + return self.num_frames + + def __getitem__(self, index): + index = self.frame_ids[index] + color_path = self.img_files[index] + depth_path = self.depth_paths[index] + + color_data = cv2.imread(color_path) + if '.png' in depth_path: + depth_data = cv2.imread(depth_path, cv2.IMREAD_UNCHANGED) + elif '.exr' in depth_path: + raise NotImplementedError() + if self.distortion is not None: + raise NotImplementedError() + + color_data = cv2.cvtColor(color_data, cv2.COLOR_BGR2RGB) + color_data = color_data / 255. + depth_data = depth_data.astype(np.float32) / self.png_depth_scale * self.sc_factor + + H, W = depth_data.shape + color_data = cv2.resize(color_data, (W, H)) + + if self.downsample_factor > 1: + H = H // self.downsample_factor + W = W // self.downsample_factor + self.fx = self.fx // self.downsample_factor + self.fy = self.fy // self.downsample_factor + color_data = cv2.resize(color_data, (W, H), interpolation=cv2.INTER_AREA) + depth_data = cv2.resize(depth_data, (W, H), interpolation=cv2.INTER_NEAREST) + + if self.rays_d is None: + self.rays_d = get_camera_rays(H, W, self.fx, self.fy, self.cx, self.cy) + + color_data = torch.from_numpy(color_data.astype(np.float32)) + depth_data = torch.from_numpy(depth_data.astype(np.float32)) + + ret = { + "frame_id": index, + "c2w": self.poses[index], + "rgb": color_data, + "depth": depth_data, + "direction": self.rays_d + } + + return ret + + def load_poses(self, path): + file = open(path, "r") + lines = file.readlines() + file.close() + poses = [] + valid = [] + lines_per_matrix = 4 + for i in range(0, len(lines), lines_per_matrix): + if 'nan' in lines[i]: + valid.append(False) + poses.append(np.eye(4, 4, dtype=np.float32).tolist()) + else: + valid.append(True) + pose_floats = [[float(x) for x in line.split()] for line in lines[i:i+lines_per_matrix]] + poses.append(pose_floats) + + return poses, valid + +class TUMDataset(BaseDataset): + def __init__(self, cfg, basedir, align=True, trainskip=1, + downsample_factor=1, translation=0.0, + sc_factor=1., crop=0, load=True): + super(TUMDataset, self).__init__(cfg) + + self.config = cfg + self.basedir = basedir + self.trainskip = trainskip + self.downsample_factor = downsample_factor + self.translation = translation + self.sc_factor = sc_factor + self.crop = crop + + self.color_paths, self.depth_paths, self.poses = self.loadtum( + basedir, frame_rate=32) + + self.frame_ids = range(0, len(self.color_paths)) + self.num_frames = len(self.frame_ids) + + self.crop_size = cfg['cam']['crop_size'] if 'crop_size' in cfg['cam'] else None + + self.rays_d = None + sx = self.crop_size[1] / self.W + sy = self.crop_size[0] / self.H + self.fx = sx*self.fx + self.fy = sy*self.fy + self.cx = sx*self.cx + self.cy = sy*self.cy + self.W = self.crop_size[1] + self.H = self.crop_size[0] + + if self.config['cam']['crop_edge'] > 0: + self.H -= self.config['cam']['crop_edge']*2 + self.W -= self.config['cam']['crop_edge']*2 + self.cx -= self.config['cam']['crop_edge'] + self.cy -= self.config['cam']['crop_edge'] + + def pose_matrix_from_quaternion(self, pvec): + """ convert 4x4 pose matrix to (t, q) """ + from scipy.spatial.transform import Rotation + + pose = np.eye(4) + pose[:3, :3] = Rotation.from_quat(pvec[3:]).as_matrix() + pose[:3, 3] = pvec[:3] + return pose + + def associate_frames(self, tstamp_image, tstamp_depth, tstamp_pose, max_dt=0.08): + """ pair images, depths, and poses """ + associations = [] + for i, t in enumerate(tstamp_image): + if tstamp_pose is None: + j = np.argmin(np.abs(tstamp_depth - t)) + if (np.abs(tstamp_depth[j] - t) < max_dt): + associations.append((i, j)) + + else: + j = np.argmin(np.abs(tstamp_depth - t)) + k = np.argmin(np.abs(tstamp_pose - t)) + + if (np.abs(tstamp_depth[j] - t) < max_dt) and \ + (np.abs(tstamp_pose[k] - t) < max_dt): + associations.append((i, j, k)) + + return associations + + def parse_list(self, filepath, skiprows=0): + """ read list data """ + data = np.loadtxt(filepath, delimiter=' ', + dtype=np.unicode_, skiprows=skiprows) + return data + + def loadtum(self, datapath, frame_rate=-1): + """ read video data in tum-rgbd format """ + if os.path.isfile(os.path.join(datapath, 'groundtruth.txt')): + pose_list = os.path.join(datapath, 'groundtruth.txt') + elif os.path.isfile(os.path.join(datapath, 'pose.txt')): + pose_list = os.path.join(datapath, 'pose.txt') + + image_list = os.path.join(datapath, 'rgb.txt') + depth_list = os.path.join(datapath, 'depth.txt') + + image_data = self.parse_list(image_list) + depth_data = self.parse_list(depth_list) + pose_data = self.parse_list(pose_list, skiprows=1) + pose_vecs = pose_data[:, 1:].astype(np.float64) + + tstamp_image = image_data[:, 0].astype(np.float64) + tstamp_depth = depth_data[:, 0].astype(np.float64) + tstamp_pose = pose_data[:, 0].astype(np.float64) + associations = self.associate_frames( + tstamp_image, tstamp_depth, tstamp_pose) + + indicies = [0] + for i in range(1, len(associations)): + t0 = tstamp_image[associations[indicies[-1]][0]] + t1 = tstamp_image[associations[i][0]] + if t1 - t0 > 1.0 / frame_rate: + indicies += [i] + + images, poses, depths, intrinsics = [], [], [], [] + inv_pose = None + for ix in indicies: + (i, j, k) = associations[ix] + images += [os.path.join(datapath, image_data[i, 1])] + depths += [os.path.join(datapath, depth_data[j, 1])] + c2w = self.pose_matrix_from_quaternion(pose_vecs[k]) + # if inv_pose is None: + # inv_pose = np.linalg.inv(c2w) + # c2w = np.eye(4) + # else: + # c2w = inv_pose@c2w + c2w[:3, 1] *= -1 + c2w[:3, 2] *= -1 + c2w = torch.from_numpy(c2w).float() + poses += [c2w] + + return images, depths, poses + + def __len__(self): + return self.num_frames + + def __getitem__(self, index): + color_path = self.color_paths[index] + depth_path = self.depth_paths[index] + + color_data = cv2.imread(color_path) + if '.png' in depth_path: + depth_data = cv2.imread(depth_path, cv2.IMREAD_UNCHANGED) + elif '.exr' in depth_path: + raise NotImplementedError() + if self.distortion is not None: + K = as_intrinsics_matrix([self.config['cam']['fx'], + self.config['cam']['fy'], + self.config['cam']['cx'], + self.config['cam']['cy']]) + color_data = cv2.undistort(color_data, K, self.distortion) + + color_data = cv2.cvtColor(color_data, cv2.COLOR_BGR2RGB) + color_data = color_data / 255. + depth_data = depth_data.astype(np.float32) / self.png_depth_scale * self.sc_factor + + H, W = depth_data.shape + color_data = cv2.resize(color_data, (W, H)) + + if self.downsample_factor > 1: + H = H // self.downsample_factor + W = W // self.downsample_factor + self.fx = self.fx // self.downsample_factor + self.fy = self.fy // self.downsample_factor + color_data = cv2.resize(color_data, (W, H), interpolation=cv2.INTER_AREA) + depth_data = cv2.resize(depth_data, (W, H), interpolation=cv2.INTER_NEAREST) + + if self.rays_d is None: + self.rays_d =get_camera_rays(self.H, self.W, self.fx, self.fy, self.cx, self.cy) + + + color_data = torch.from_numpy(color_data.astype(np.float32)) + depth_data = torch.from_numpy(depth_data.astype(np.float32)) + + if self.crop_size is not None: + # follow the pre-processing step in lietorch, actually is resize + color_data = color_data.permute(2, 0, 1) + color_data = F.interpolate( + color_data[None], self.crop_size, mode='bilinear', align_corners=True)[0] + depth_data = F.interpolate( + depth_data[None, None], self.crop_size, mode='nearest')[0, 0] + color_data = color_data.permute(1, 2, 0).contiguous() + + edge = self.config['cam']['crop_edge'] + if edge > 0: + # crop image edge, there are invalid value on the edge of the color image + color_data = color_data[edge:-edge, edge:-edge] + depth_data = depth_data[edge:-edge, edge:-edge] + + + + ret = { + "frame_id": self.frame_ids[index], + "c2w": self.poses[index], + "rgb": color_data, + "depth": depth_data, + "direction": self.rays_d + } + return ret + +class RealsenseDataset(BaseDataset): + def __init__(self, cfg, basedir, align=True, trainskip=1, + downsample_factor=1, translation=0.0, + sc_factor=1., crop=0, load=True): + super(RealsenseDataset, self).__init__(cfg) + + self.config = cfg + self.basedir = basedir + self.trainskip = trainskip + self.downsample_factor = downsample_factor + self.translation = translation + self.sc_factor = sc_factor + self.crop = crop + self.img_files = sorted( + glob.glob(os.path.join(self.basedir, 'color', '*.jpg'))) + self.depth_paths = sorted( + glob.glob(os.path.join(self.basedir, 'depth', '*.png'))) + + self.rays_d = None + self.frame_ids = range(0, len(self.img_files)) + self.num_frames = len(self.frame_ids) + self.load_poses() + + if self.config['cam']['crop_edge'] > 0: + self.H -= self.config['cam']['crop_edge']*2 + self.W -= self.config['cam']['crop_edge']*2 + self.cx -= self.config['cam']['crop_edge'] + self.cy -= self.config['cam']['crop_edge'] + + def __len__(self): + return self.num_frames + + def __getitem__(self, index): + color_path = self.img_files[index] + depth_path = self.depth_paths[index] + + color_data = cv2.imread(color_path) + if '.png' in depth_path: + depth_data = cv2.imread(depth_path, cv2.IMREAD_UNCHANGED) + elif '.exr' in depth_path: + raise NotImplementedError() + if self.distortion is not None: + raise NotImplementedError() + + color_data = cv2.cvtColor(color_data, cv2.COLOR_BGR2RGB) + color_data = color_data / 255. + depth_data = depth_data.astype(np.float32) / self.png_depth_scale * self.sc_factor + + H, W = depth_data.shape + color_data = cv2.resize(color_data, (W, H)) + + # TODO: this if statement was actually never used, and will break the program if used + if self.downsample_factor > 1: + H = H // self.downsample_factor + W = W // self.downsample_factor + self.fx = self.fx // self.downsample_factor + self.fy = self.fy // self.downsample_factor + color_data = cv2.resize(color_data, (W, H), interpolation=cv2.INTER_AREA) + depth_data = cv2.resize(depth_data, (W, H), interpolation=cv2.INTER_NEAREST) + + edge = self.config['cam']['crop_edge'] + if edge > 0: + # crop image edge, there are invalid value on the edge of the color image + color_data = color_data[edge:-edge, edge:-edge] + depth_data = depth_data[edge:-edge, edge:-edge] + + if self.rays_d is None: + self.rays_d = get_camera_rays(self.H, self.W, self.fx, self.fy, self.cx, self.cy) + + color_data = torch.from_numpy(color_data.astype(np.float32)) + depth_data = torch.from_numpy(depth_data.astype(np.float32)) + + ret = { + "frame_id": self.frame_ids[index], + "c2w": self.poses[index], + "rgb": color_data, + "depth": depth_data, + "direction": self.rays_d + } + return ret + + def load_poses(self): + self.align_mat = np.loadtxt(os.path.join(self.basedir, "align_mat.txt")) + self.poses = [] + path = os.path.join(self.basedir, "scene/trajectory.log") + if os.path.exists(path): + with open(path) as f: + content = f.readlines() + # Load .log file. + for i in range(0, len(content), 5): + # format %d (src) %d (tgt) %f (fitness) + data = list(map(float, content[i].strip().split(' '))) + ids = (int(data[0]), int(data[1])) + fitness = data[2] + + # format %f x 16 + c2w = np.array(list(map(float, (''.join(content[i + 1:i + 5])).strip().split()))).reshape((4, 4)) + # align + c2w = self.align_mat @ c2w + # To OpenGL + c2w[:3, 1] *= -1 + c2w[:3, 2] *= -1 + c2w = torch.from_numpy(c2w).float() + self.poses.append(c2w) + else: + for i in range(self.num_frames): + c2w = self.align_mat + c2w = torch.from_numpy(c2w).float() + self.poses.append(c2w) + +class DEVIndoors(BaseDataset): + def __init__(self, cfg, basedir, chunk_sz=10, trainskip=1, downsample_factor=1, translation=0.0, sc_factor=1.0, crop=0, **kwargs): + super(DEVIndoors, self).__init__(cfg) + + self.config = cfg + self.crop = crop + self.basedir = basedir + self.trainskip = trainskip + self.downsample_factor = downsample_factor + self.translation = translation + self.sc_factor = sc_factor + self.chunk_sz = chunk_sz + self.img_files = sorted(glob.glob(osp.join(self.basedir, "rgb", "*.png"))) + self.depth_paths = sorted(glob.glob(osp.join(self.basedir, "depth_mm", "*.png"))) + self.ev_paths = sorted(glob.glob(osp.join(self.basedir, f"event/chunksz_{chunk_sz}", "*.npy"))) + + self.load_poses(osp.join(self.basedir, "pose", "pose.txt")) + + self.rays_d = None + self.frame_ids = range(0, len(self.img_files)) + self.num_frames = len(self.frame_ids) + # self.num_frames = 60 # TODO: uncommet for testing + + if self.config["cam"]["crop_edge"] > 0: + self.H -= self.config["cam"]["crop_edge"] * 2 + self.W -= self.config["cam"]["crop_edge"] * 2 + self.cx -= self.config["cam"]["crop_edge"] + self.cy -= self.config["cam"]["crop_edge"] + + def get_prev_idx(self, idx, keyframe_every=1): + """get the previous frame index""" + return max(0, idx - self.chunk_sz) + + def __len__(self): + return self.num_frames + + def __getitem__(self, index): + color_path = self.img_files[index] + depth_path = self.depth_paths[index] + ev_path = self.ev_paths[index] + + color_data = cv2.imread(color_path) + if ".exr" in depth_path: + depth_data = cv2.imread(depth_path, cv2.IMREAD_ANYCOLOR | cv2.IMREAD_ANYDEPTH | cv2.IMREAD_UNCHANGED)[:, :, 0] + elif ".png" in depth_path: + depth_data = cv2.imread(depth_path, cv2.IMREAD_UNCHANGED) + if self.distortion is not None: + raise NotImplementedError() + + color_data = cv2.cvtColor(color_data, cv2.COLOR_BGR2RGB) + color_data = color_data / 255.0 + depth_data = depth_data.astype(np.float32) / self.png_depth_scale * self.sc_factor + + H, W = depth_data.shape + color_data = cv2.resize(color_data, (W, H)) + ev_data = np.load(ev_path) + ev_data = cv2.resize(ev_data, (W, H), interpolation=cv2.INTER_NEAREST) # + + if self.downsample_factor > 1: + H = H // self.downsample_factor + W = W // self.downsample_factor + self.fx = self.fx // self.downsample_factor + self.fy = self.fy // self.downsample_factor + color_data = cv2.resize(color_data, (W, H), interpolation=cv2.INTER_AREA) + depth_data = cv2.resize(depth_data, (W, H), interpolation=cv2.INTER_NEAREST) + ev_data = cv2.resize(ev_data, (W, H), interpolation=cv2.INTER_NEAREST) + + edge = self.config["cam"]["crop_edge"] + if edge > 0: + # crop image edge, there are invalid value on the edge of the color image + color_data = color_data[edge:-edge, edge:-edge] + depth_data = depth_data[edge:-edge, edge:-edge] + ev_data = ev_data[edge:-edge, edge:-edge] + + if self.rays_d is None: + self.rays_d = get_camera_rays(self.H, self.W, self.fx, self.fy, self.cx, self.cy) + + color_data = torch.from_numpy(color_data.astype(np.float32)) + depth_data = torch.from_numpy(depth_data.astype(np.float32)) + ev_data = torch.from_numpy(ev_data.astype(np.float32)) + + # * Dataset size: 2000 + ret = { + "frame_id": self.frame_ids[index], # * (bs=1,) + "c2w": self.poses[index], # * (bs=1, 4, 4) + "rgb": color_data, # * (bs=1, H=680, W=1200, 3) + "depth": depth_data, # * (bs=1, H=680, W=1200) + "event": ev_data, # * (bs=1, H=680, W=1200) + "direction": self.rays_d, # * (bs=1, H=680, W=1200, 3) + } + + return ret + + def get_prev_batch(self, idx): + """Get previous batch from current index, w/o batch size""" + prev_idx = self.get_prev_idx(idx) + batch = self.__getitem__(prev_idx) + return prev_idx, batch + + def pose_matrix_from_quaternion(self, pvec): + """convert 4x4 pose matrix to (t, q)""" + pose = np.eye(4) + pose[:3, :3] = Rotation.from_quat(pvec[3:]).as_matrix() + pose[:3, 3] = pvec[:3] + return pose + + def load_poses(self, path, skiprows=0): + self.poses = [] + pose_data = np.loadtxt(path, delimiter=" ", dtype=np.unicode_, skiprows=skiprows) + pose_vecs = pose_data[:, 1:].astype(np.float64) + + for pose_vec in pose_vecs: + c2w = self.pose_matrix_from_quaternion(pose_vec) + pose = torch.from_numpy(c2w).float() + self.poses.append(pose) + + +class DevRealsDataset(BaseDataset): + def __init__(self, cfg, basedir, chunk_sz=10, trainskip=1, downsample_factor=1, translation=0.0, sc_factor=1.0, crop=0, **kwargs): + super(DevRealsDataset, self).__init__(cfg) + + self.config = cfg + self.crop = crop + self.basedir = basedir + self.trainskip = trainskip + self.downsample_factor = downsample_factor + self.translation = translation + self.sc_factor = sc_factor + self.chunk_sz = chunk_sz + self.img_files = sorted(glob.glob(osp.join(self.basedir, "rgbd", "rgb", "*.jpg"))) + self.depth_paths = sorted(glob.glob(osp.join(self.basedir, "rgbd", "depth", "*.png"))) + self.ev_paths = sorted(glob.glob(osp.join(self.basedir, f"davis346/event_frame_{chunk_sz}", "*.npy"))) + self.load_poses(osp.join(self.basedir, "pose", "poses_interp.txt")) + + self.rays_d = None + self.frame_ids = range(0, len(self.img_files)) + self.num_frames = len(self.frame_ids) + # self.num_frames = 60 # TODO: uncommet for testing + + + self.H_ev = self.config["davis"]["H"] + self.W_ev = self.config["davis"]["W"] + self.fx_ev = self.config["davis"]["fx"] + self.fy_ev = self.config["davis"]["fy"] + self.cx_ev = self.config["davis"]["cx"] + self.cy_ev = self.config["davis"]["cy"] + + if self.config["cam"]["crop_edge"] > 0: + self.H -= self.config["cam"]["crop_edge"] * 2 + self.W -= self.config["cam"]["crop_edge"] * 2 + self.cx -= self.config["cam"]["crop_edge"] + self.cy -= self.config["cam"]["crop_edge"] + + self.ev_distortion = self.config["davis"]["distortion"] + + # * camera to davis + self.cam2davis = torch.from_numpy(np.array(self.config["cam2davis"]).reshape((4, 4))).float() + self.set_cams() + + def set_cams(self): + self.Kcam = torch.from_numpy(as_intrinsics_matrix([self.fx, self.fy, self.cx, self.cy])).float() + self.Kdavis = torch.from_numpy(as_intrinsics_matrix([self.fx_ev, self.fy_ev, self.cx_ev, self.cy_ev])).float() + + def pose2evcam(self, pose): + """get davis pose from camera pose""" + return self.cam2davis.to(pose) @ pose + + def get_prev_idx(self, idx, keyframe_every=1): + """get the previous frame index""" + return max(0, idx - self.chunk_sz) + + def __len__(self): + return self.num_frames + + def __getitem__(self, index): + color_path = self.img_files[index] + depth_path = self.depth_paths[index] + ev_path = self.ev_paths[index] + + color_data = cv2.imread(color_path) + if ".exr" in depth_path: + depth_data = cv2.imread(depth_path, cv2.IMREAD_ANYCOLOR | cv2.IMREAD_ANYDEPTH | cv2.IMREAD_UNCHANGED)[:, :, 0] + elif ".png" in depth_path: + depth_data = cv2.imread(depth_path, cv2.IMREAD_UNCHANGED) + if self.distortion is not None: + raise NotImplementedError() + + color_data = cv2.cvtColor(color_data, cv2.COLOR_BGR2RGB) + color_data = color_data / 255.0 + depth_data = depth_data.astype(np.float32) / self.png_depth_scale * self.sc_factor + + H, W = depth_data.shape + color_data = cv2.resize(color_data, (W, H)) + ev_data = np.load(ev_path) + # ev_data = cv2.resize(ev_data, (W, H), interpolation=cv2.INTER_NEAREST) # + + if self.downsample_factor > 1: + H = H // self.downsample_factor + W = W // self.downsample_factor + self.fx = self.fx // self.downsample_factor + self.fy = self.fy // self.downsample_factor + color_data = cv2.resize(color_data, (W, H), interpolation=cv2.INTER_AREA) + depth_data = cv2.resize(depth_data, (W, H), interpolation=cv2.INTER_NEAREST) + # ev_data = cv2.resize(ev_data, (W, H), interpolation=cv2.INTER_NEAREST) + self.set_cams() + + edge = self.config["cam"]["crop_edge"] + if edge > 0: + # crop image edge, there are invalid value on the edge of the color image + color_data = color_data[edge:-edge, edge:-edge] + depth_data = depth_data[edge:-edge, edge:-edge] + # ev_data = ev_data[edge:-edge, edge:-edge] + + if self.rays_d is None: + self.rays_d = get_camera_rays(self.H, self.W, self.fx, self.fy, self.cx, self.cy) + self.rays_d_davis = get_camera_rays(self.H_ev, self.W_ev, self.fx_ev, self.fy_ev, self.cx_ev, self.cy_ev, self.ev_distortion) + + color_data = torch.from_numpy(color_data.astype(np.float32)) + depth_data = torch.from_numpy(depth_data.astype(np.float32)) + ev_data = torch.from_numpy(ev_data.astype(np.float32)) + + # * Dataset size: 2000 + ret = { + "frame_id": self.frame_ids[index], # * (bs=1,) + "c2w": self.poses[index], # * (bs=1, 4, 4) + "rgb": color_data, # * (bs=1, H=680, W=1200, 3) + "depth": depth_data, # * (bs=1, H=680, W=1200) + "event": ev_data, # * (bs=1, H=680, W=1200) + "direction": self.rays_d, # * (bs=1, H=680, W=1200, 3) + "ev_direction": self.rays_d_davis # * (bs=1, H=260, W=346, 3) + } + + return ret + + def get_prev_batch(self, idx): + """Get previous batch from current index, w/o batch size""" + prev_idx = self.get_prev_idx(idx) + batch = self.__getitem__(prev_idx) + return prev_idx, batch + + def pose_matrix_from_quaternion(self, pvec): + """convert 4x4 pose matrix to (t, q)""" + pose = np.eye(4) + pose[:3, :3] = Rotation.from_quat(pvec[3:]).as_matrix() + pose[:3, 3] = pvec[:3] + return pose + + def load_poses(self, path, skiprows=0): + self.poses = [] + pose_data = np.loadtxt(path, delimiter=" ", dtype=np.unicode_, skiprows=skiprows) + pose_vecs = pose_data[:, 1:].astype(np.float64) + + for pose_vec in pose_vecs: + c2w = self.pose_matrix_from_quaternion(pose_vec) + # c2w[:3, 1] *= -1 + # c2w[:3, 2] *= -1 + # c2w[:3, 3] *= self.sc_factor + pose = torch.from_numpy(c2w).float() + self.poses.append(pose) diff --git a/datasets/utils.py b/datasets/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..1d853d8a309d06afa3a53d3e808fdc23e366b72b --- /dev/null +++ b/datasets/utils.py @@ -0,0 +1,75 @@ +import torch +import re +import numpy as np +import cv2 as cv + + +def as_intrinsics_matrix(intrinsics): + """ + Get matrix representation of intrinsics. + + """ + K = np.eye(3) + K[0, 0] = intrinsics[0] + K[1, 1] = intrinsics[1] + K[0, 2] = intrinsics[2] + K[1, 2] = intrinsics[3] + return K + +def alphanum_key(s): + """ Turn a string into a list of string and number chunks. + "z23a" -> ["z", 23, "a"] + """ + return [int(x) if x.isdigit() else x for x in re.split('([0-9]+)', s)] + +def radial_distortion(grid_x, grid_y, fx, fy, cx, cy, dists): + """ + radial distortion, + """ + k1, k2, k3 = dists[0], dists[1], dists[2] + x, y = (grid_x - cx) / fx, (grid_y - cy) / fy + r2 = x ** 2 + y ** 2 + grid_x = fx * (x * (1 + k1 * r2 + k2 * r2 ** 2 + k3 * r2 ** 3)) + cx + grid_y = fy * (y * (1 + k1 * r2 + k2 * r2 ** 2 + k3 * r2 ** 3)) + cy + return grid_x, grid_y + +# * TODO: add camera distorsion +def get_camera_rays(H, W, fx, fy=None, cx=None, cy=None, davis_distortion=None, type='OpenGL'): + """Get ray origins, directions from a pinhole camera.""" + # ----> i + # | + # | + # j + i, j = torch.meshgrid(torch.arange(W, dtype=torch.float32), torch.arange(H, dtype=torch.float32), indexing='xy') + + # View direction (X, Y, Lambda) / lambda + # Move to the center of the screen + # ------------- + # | y | + # | | | + # | .-- x | + # | | + # | | + # ------------- + if cx is None: + cx, cy = 0.5 * W, 0.5 * H + + if fy is None: + fy = fx + + # * remove distorsion use undistortPoints + if davis_distortion is not None: + points = np.stack((i.numpy(), j.numpy()), axis=-1).reshape(-1, 1, 2) # (N, 1, 2) + points = cv.undistortPoints(points, as_intrinsics_matrix([fx, fy, cx, cy]), np.array(davis_distortion)) + points = torch.from_numpy(points).reshape(H, W, 2) * torch.tensor([fx, fy]) + torch.tensor([cx, cy]) + i, j = points[...,0], points[..., 1] + + if type is 'OpenGL': + dirs = torch.stack([(i - cx)/fx, -(j - cy)/fy, -torch.ones_like(i)], -1) + elif type is 'OpenCV': + dirs = torch.stack([(i - cx)/fx, (j - cy)/fy, torch.ones_like(i)], -1) + else: + raise NotImplementedError() + + rays_d = dirs + return rays_d \ No newline at end of file diff --git a/dev_indoors_config.tar.gz b/dev_indoors_config.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..6965e52bd34529c305f4a47c4ae77d114e306211 --- /dev/null +++ b/dev_indoors_config.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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+size 2147483648 diff --git a/groundtruth_workshop_rgb.tar.gz.part002 b/groundtruth_workshop_rgb.tar.gz.part002 new file mode 100644 index 0000000000000000000000000000000000000000..581b22a09b0d6573846aa10de8fcbac2f02e2708 --- /dev/null +++ b/groundtruth_workshop_rgb.tar.gz.part002 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f21d252e1701cb7498953e5cdb090b478ba7ba32de7163374fc22e4babef24f +size 29289459 diff --git a/groundtruth_workshop_workshop.tar.gz b/groundtruth_workshop_workshop.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..0821d9c7b7c4f7a6171b66e25f0d20cf31b22f0f --- /dev/null +++ b/groundtruth_workshop_workshop.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b766f3e7d9a50b6f76a360546e4ca3590a9c5482bc1fb64a99a2f0c2e57f024 +size 47353248 diff --git a/scripts/camera_intrinsic.py b/scripts/camera_intrinsic.py new file mode 100755 index 0000000000000000000000000000000000000000..4293f693fdd4686e017dd9eeb6dce46e27b76840 --- /dev/null +++ b/scripts/camera_intrinsic.py @@ -0,0 +1,65 @@ +""" +the blender script to get the camera intrinsic matrix +""" + +import bpy +import numpy as np + +def get_calibration_matrix_K_from_blender(mode='simple'): + + scene = bpy.context.scene + + scale = scene.render.resolution_percentage / 100 + width = scene.render.resolution_x * scale # px + height = scene.render.resolution_y * scale # px + + camdata = scene.camera.data + + if mode == 'simple': + aspect_ratio = width / height + K = np.zeros((3,3), dtype=np.float32) + K[0][0] = width / 2 / np.tan(camdata.angle / 2) + K[1][1] = height / 2. / np.tan(camdata.angle / 2) * aspect_ratio + K[0][2] = width / 2. + K[1][2] = height / 2. + K[2][2] = 1. + K.transpose() + + if mode == 'complete': + + focal = camdata.lens # mm + sensor_width = camdata.sensor_width # mm + sensor_height = camdata.sensor_height # mm + pixel_aspect_ratio = scene.render.pixel_aspect_x / scene.render.pixel_aspect_y + + if (camdata.sensor_fit == 'VERTICAL'): + # the sensor height is fixed (sensor fit is horizontal), + # the sensor width is effectively changed with the pixel aspect ratio + s_u = width / sensor_width / pixel_aspect_ratio + s_v = height / sensor_height + else: # 'HORIZONTAL' and 'AUTO' + # the sensor width is fixed (sensor fit is horizontal), + # the sensor height is effectively changed with the pixel aspect ratio + pixel_aspect_ratio = scene.render.pixel_aspect_x / scene.render.pixel_aspect_y + s_u = width / sensor_width + s_v = height * pixel_aspect_ratio / sensor_height + + # parameters of intrinsic calibration matrix K + alpha_u = focal * s_u + alpha_v = focal * s_v + u_0 = width / 2 + v_0 = height / 2 + skew = 0 # only use rectangular pixels + + K = np.array([ + [alpha_u, skew, u_0], + [ 0, alpha_v, v_0], + [ 0, 0, 1] + ], dtype=np.float32) + + return K + +K = get_calibration_matrix_K_from_blender('complete') + + +np.savetxt('./camera_para.txt', K) \ No newline at end of file diff --git a/scripts/camera_pose.py b/scripts/camera_pose.py new file mode 100755 index 0000000000000000000000000000000000000000..a6606a622546f15a8bd65d41f98de2d25108d500 --- /dev/null +++ b/scripts/camera_pose.py @@ -0,0 +1,93 @@ +""" +the blender script to export camera pose to TUM format +""" + +import bpy + +def write_some_data(context, filepath, use_some_setting): + print("running write_some_data...") + camera = context.active_object + mw = camera.matrix_world + scene = context.scene + frame = scene.frame_start + + f = open(filepath, 'w', encoding='utf-8') + + # Write the header line + f.write("# TUM format ground truth pose, timestamp x y z q_x q_y q_z q_w\n") + + while frame <= scene.frame_end: + scene.frame_set(frame) + x, y, z = mw.to_translation() + q = mw.to_quaternion() + f.write("%04d %f %f %f %f %f %f %f\n" % (frame, x, y, z, q.x, q.y, q.z, q.w)) + frame += 1 + f.close() + + return {'FINISHED'} + + +# ExportHelper is a helper class, defines filename and +# invoke() function which calls the file selector. +from bpy_extras.io_utils import ExportHelper +from bpy.props import StringProperty, BoolProperty, EnumProperty +from bpy.types import Operator + + +class ExportSomeData(Operator, ExportHelper): + """This appears in the tooltip of the operator and in the generated docs""" + bl_idname = "export_test.some_data" # important since its how bpy.ops.import_test.some_data is constructed + bl_label = "Export Some Data" + + # ExportHelper mixin class uses this + filename_ext = ".txt" + + filter_glob: StringProperty( + default="*.txt", + options={'HIDDEN'}, + maxlen=255, # Max internal buffer length, longer would be clamped. + ) + + # List of operator properties, the attributes will be assigned + # to the class instance from the operator settings before calling. + use_setting: BoolProperty( + name="Example Boolean", + description="Example Tooltip", + default=True, + ) + + type: EnumProperty( + name="Example Enum", + description="Choose between two items", + items=( + ('OPT_A', "First Option", "Description one"), + ('OPT_B', "Second Option", "Description two"), + ), + default='OPT_A', + ) + + def execute(self, context): + return write_some_data(context, self.filepath, self.use_setting) + + +# Only needed if you want to add into a dynamic menu +def menu_func_export(self, context): + self.layout.operator(ExportSomeData.bl_idname, text="Text Export Operator") + + +# Register and add to the "file selector" menu (required to use F3 search "Text Export Operator" for quick access). +def register(): + bpy.utils.register_class(ExportSomeData) + bpy.types.TOPBAR_MT_file_export.append(menu_func_export) + + +def unregister(): + bpy.utils.unregister_class(ExportSomeData) + bpy.types.TOPBAR_MT_file_export.remove(menu_func_export) + + +if __name__ == "__main__": + register() + + # test call + bpy.ops.export_test.some_data('INVOKE_DEFAULT') diff --git a/scripts/compress_dataset.py b/scripts/compress_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..e445cba00e34d224265da31f18dd360659eaa938 --- /dev/null +++ b/scripts/compress_dataset.py @@ -0,0 +1,46 @@ +import os +# import tarfile +from pathlib import Path +import argparse + +arg_parser = argparse.ArgumentParser() +arg_parser.add_argument("--input", type=str, default=".", help="Path to the folder to compress") +arg_parser.add_argument("--output", type=str, default="EN-SLAM-HF", help="Output Path to the folder to compress") +args = arg_parser.parse_args() + +def compress_and_split(path: Path, max_size_gb=2): + max_size_bytes = max_size_gb * 1024 * 1024 * 1024 + tar_file = f"{args.output}/{path.parent.parent.name}_{path.parent.name}_{path.stem}.tar.gz" + + print(f"compressing ... {path}") + # with tarfile.open(tar_file, "w:gz") as tar: tar.add(path) + os.system(f"tar -czvf {tar_file} {path}") + print(f"DONE!") + + if os.path.getsize(tar_file) > max_size_bytes: + print(f"{tar_file} > {max_size_gb}GB, spliting ...") + split_tar(tar_file, max_size_bytes) + os.remove(tar_file) + print(f"FNISHED!") + +def split_tar(tar_file, max_size_bytes): + part_num = 1 + with open(tar_file, "rb") as f: + while chunk := f.read(max_size_bytes): + part_file = f"{tar_file}.part{part_num:03d}" + with open(part_file, "wb") as part: + part.write(chunk) + print(f"Generate chunks: {part_file}") + part_num += 1 + +def main(): + base_dir = Path(args.input) + for path in base_dir.iterdir(): + print(f"Processing ... {path}") + # if path.is_dir() and path.name == "depth": + compress_and_split(path) + + +if __name__ == "__main__": + main() + diff --git a/scripts/extract_dataset.py b/scripts/extract_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..7e08ca795c4b365f8e42d60becd70e83c4423086 --- /dev/null +++ b/scripts/extract_dataset.py @@ -0,0 +1,27 @@ +import shutil +import tarfile +from pathlib import Path +from tqdm import tqdm + +def main(): + base_path = Path(".") + part_files = list(base_path.glob("*.tar.gz.part001")) + for part_file in part_files: + prefix = str(part_file).rsplit(".part", 1)[0] + part_files = sorted(base_path.glob(f"{prefix}.part*")) + tar_file = f"{prefix}.tar.gz" + print(f"merging {part_files} into {tar_file} ...") + with open(tar_file, "wb") as tar: + for part in part_files: + with open(part, "rb") as part_file: shutil.copyfileobj(part_file, tar) + + tar_files = list(base_path.glob("*.tar.gz")) + for tar_file in tqdm(tar_files): + print(f"extracting {tar_file} ...") + with tarfile.open(tar_file, "r") as tar: + tar.extractall() + print(f"DONE!") + + +if __name__ == "__main__": + main() diff --git a/scripts/npzs_to_frame.py b/scripts/npzs_to_frame.py new file mode 100755 index 0000000000000000000000000000000000000000..f0999f85af9174993a4d90420b2a3fb5d79df49a --- /dev/null +++ b/scripts/npzs_to_frame.py @@ -0,0 +1,69 @@ +""" +convert the event file to frame (npy file). +""" +import argparse +from pathlib import Path +import numpy as np +from tqdm import tqdm +import numba +import cv2 as cv + +parser = argparse.ArgumentParser(description="Convert the event file to frame.") +parser.add_argument("--input", type=str, help="the path of npz files.") +parser.add_argument("--timestamp", type=str, help="the path of timestamp files.") +parser.add_argument("--output", type=str, help="the dir of out event.") +parser.add_argument("--rgb", type=str, help="the dir of rgb frames.") +parser.add_argument("--sort_by_num", action="store_true", help="sort by number.") +parser.add_argument("--winsz", type=int, default=5, help="the window size of event frame.") +args = parser.parse_args() + +@numba.jit() +def accumulate_events(xs, ys, ps, size, ev_frame = None, resolution_level=1, polarity_offset=0): + if ev_frame is None: + ev_frame = np.zeros(size, dtype=np.float32) + for i in range(len(xs)): + x, y, p = xs[i], ys[i], ps[i] + ev_frame[y // resolution_level, x // resolution_level] += (p + polarity_offset) + return ev_frame + +def get_info(timestamp_path, npz_path, rgb_path, sort_by_num=False): + timestamps = np.loadtxt(timestamp_path) + npz_list = list(Path(npz_path).iterdir()) + image_list = list(Path(rgb_path).iterdir()) + + size = cv.imread(str(image_list[0])).shape[:2] + ev_list = [str(rgb.stem) for rgb in image_list] + + if sort_by_num: + ev_list = sorted(ev_list, key=lambda x: int(x)) + npz_list = sorted(npz_list, key=lambda x: int(x.stem)) + else: + ev_list = sorted(ev_list) + npz_list = sorted(npz_list) + + return timestamps, npz_list, ev_list, size + +if __name__ == "__main__": + print(args) + + out_path = Path(args.output) + out_path.mkdir(parents=True, exist_ok=True) + timestamps, npz_list, ev_list, size = get_info(args.timestamp, args.input, args.rgb, args.sort_by_num) + num_cam = len(ev_list) + print(f"=== start convert {args.input}, winsz {args.winsz}, {num_cam} frames, size {size}, npzs {len(npz_list)} ===") + + for i in tqdm(range(num_cam-2, num_cam-1)): # [winsz, num_cam-1] + start_time = max(0, i - args.winsz) / (num_cam - 1) + end_time = i / (num_cam - 1) + assert start_time <= end_time + + start = np.searchsorted(timestamps, start_time * timestamps.max()) + end = np.searchsorted(timestamps, end_time * timestamps.max()) + + ev_frame = np.zeros(size, dtype=np.float32) + print(f"start {start}, end {end}, {end-start}") + for npz_path in npz_list[start:end]: + print(npz_path) + ev_data = np.load(npz_path) + ev_frame = accumulate_events(ev_data["x"], ev_data["y"], ev_data["p"], size, ev_frame) + np.save(out_path / str(ev_list[i]), ev_frame) \ No newline at end of file diff --git a/scripts/read_ev.py b/scripts/read_ev.py new file mode 100755 index 0000000000000000000000000000000000000000..33204791781afc696bb24450c7e282e926eebe31 --- /dev/null +++ b/scripts/read_ev.py @@ -0,0 +1,26 @@ +# read the h5 file +import h5py +import numpy as np +import argparse +from pathlib import Path + + +# create a parser +parser = argparse.ArgumentParser(description="Read h5 file and convert to mm depth") +parser.add_argument("--input", type=str, help="input h5 file or dir") + + +if __name__ == "__main__": + # parse the arguments + args = parser.parse_args() + inputs = sorted(Path(args.input).glob("*.h5")) if Path(args.input).is_dir() else [Path(args.input)] + + for input in tqdm(inputs): + # read h5 file + f = h5py.File(input, 'r') + image = np.array(f['depth']) + image = image * 1000.0 + image = image.astype("uint16") + cv.imwrite(str(output / (input.stem + ".png")), image) + + print("=== Done ===") \ No newline at end of file diff --git a/scripts/viz_ev_frame.py b/scripts/viz_ev_frame.py new file mode 100755 index 0000000000000000000000000000000000000000..dbd02e336a9ffe850c6dfe625074b05ed255cdb2 --- /dev/null +++ b/scripts/viz_ev_frame.py @@ -0,0 +1,51 @@ +""" +visulize event frame (npy file). +""" +import argparse +from pathlib import Path +import numpy as np +from tqdm import tqdm +import cv2 as cv + +parser = argparse.ArgumentParser(description="Convert the event file to frame.") +parser.add_argument("--input", type=str, help="the path of npz file or dir.") +parser.add_argument("--output", type=str, help="the dir of out event.") +parser.add_argument("--show", action="store_true", help="show the event frame on screen.") +parser.add_argument("--save", action="store_true", help="write the visualization results to dir.") +args = parser.parse_args() + +def render_ev_accumulation(ev_frame) -> np.ndarray: + + + img= np.full((*ev_frame.shape, 3), fill_value=255, dtype="uint8") + + # img[ev_frame == 0] = [255, 255, 255] + # img[ev_frame < 0] = [255, 0, 0] + # img[ev_frame > 0] = [0, 0, 255] + + img[ev_frame < -1] = [255, 0, 0] + img[ev_frame > 1] = [0, 0, 255] + + return img + +if __name__ == "__main__": + print(args) + in_path = Path(args.input) + out_path = Path(args.output) + out_path.mkdir(parents=True, exist_ok=True) + + if in_path.is_dir(): + ev_list = list(in_path.glob("*.npy")) + else: + ev_list = [in_path] + + for ev_path in tqdm(ev_list): + ev_frame = np.load(ev_path) + img = render_ev_accumulation(ev_frame) + if args.save: + cv.imwrite(str(out_path / ev_path.stem) + ".png", img) + + if args.show: + cv.imshow("img", img) + cv.waitKey(0) + cv.destroyAllWindows() \ No newline at end of file