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import os
import shutil
import glob
from tqdm import tqdm
import cv2
from natsort import natsorted
import json
import math
def config_setup():
config = {}
config["img_width_for_resize"] = 1024
config["input_scenes"] = ["Hospital", "Office_Room_1", "Office_Room_2", "Parking_Lot"]
config["output_folders"] = ["src/dataset/mp3d/", "src/dataset/pano/", "src/dataset/s2d3d/"]
config["output_RGB_rules"] = ["image/", "test/img/pano_", "test/img/camera_"]
config["output_json_rules"] = ["label/", "test/label_cor/pano_", "test/label_cor/camera_"]
# remove un-Manhattan aligned images
config["except_list"] = ["017_Hospital",
"044_Hospital",
"049_Hospital",
"012_Office_Room_2",
"034_Office_Room_2",
"008_Office_Room_1",
"010_Office_Room_1",
"014_Office_Room_1",
"017_Office_Room_1",
"025_Office_Room_1",
"037_Office_Room_1"
]
return config
def xyz2uv(xyz):
normXZ = math.sqrt( math.pow(xyz[0], 2) + math.pow(xyz[2], 2) )
if normXZ < 0.000001:
normXZ = 0.000001
normXYZ = math.sqrt(math.pow(xyz[0], 2) +
math.pow(xyz[1], 2) +
math.pow(xyz[2], 2) )
v = math.asin(xyz[1] / normXYZ)
u = math.asin(xyz[0] / normXZ)
if xyz[2] > 0 and u > 0:
u = math.pi - u
elif xyz[2] > 0 and u < 0:
u = -math.pi - u
uv = (u, v)
return uv
def uv2coords(uv):
coordsX = uv[0] / (2 * math.pi) + 0.5
coordsY = -uv[1] / math.pi + 0.5
coords = (coordsX, coordsY)
return coords
def write_json2txt(input_json, output_txt, img_width):
output_list = []
with open(input_json) as f:
dict_json = json.load(f)
for point in dict_json["layoutPoints"]["points"]:
layout_up = uv2coords(xyz2uv([point["xyz"][0], point["xyz"][1] + dict_json["layoutHeight"] - dict_json["cameraHeight"], point["xyz"][2]]))
layout_down = uv2coords(xyz2uv([point["xyz"][0], point["xyz"][1] - dict_json["cameraHeight"], point["xyz"][2]]))
output_list.append(" ".join([str(int(layout_up[0]*img_width)), str(int(layout_up[1]*img_width/2))]) + "\n")
output_list.append(" ".join([str(int(layout_down[0]*img_width)), str(int(layout_down[1]*img_width/2))]) + "\n")
with open(output_txt, "a") as t:
t.writelines(output_list)
return 0
def main():
config = config_setup()
for input_scene in config["input_scenes"]:
img_files = natsorted(glob.glob(input_scene+"/RGB_mh_aligned/*_equi_rgb_aligned.png"))
json_files = natsorted(glob.glob(input_scene+"/layout/*_equi_layout.json"))
for img_file, json_file in zip(img_files, json_files):
idx = img_file.split(".")[0].split("/")[-1].split(input_scene)[0]
if idx + "_" + input_scene in config["except_list"]:
continue
else:
for output_folder, output_RGB_rule, output_json_rule in zip(config["output_folders"], config["output_RGB_rules"], config["output_json_rules"]):
os.makedirs(output_folder+output_RGB_rule.split("/")[:-1], exist_ok=True)
os.makedirs(output_folder+output_json_rule.split("/")[:-1], exist_ok=True)
output_file = output_folder+output_RGB_rule+idx+"_"+input_scene+"_equi_rgb_aligned.png"
output_txt = output_folder+output_json_rule+idx+"_"+input_scene+"_equi_layout.txt"
img = cv2.resize(cv2.imread(img_file), (config["img_width_for_resize"], int(config["img_width_for_resize"]/2)))
cv2.imwrite(output_file, img)
img_width = img.shape[1]
write_json2txt(json_file, output_txt, img_width)
if __name__ == "__main__":
main() |