Update single_image (102 files)

lift_3d_pcd.py

@@ -32,6 +32,7 @@ Examples:
     python lift_3d_pcd.py --scene 3084 --frame camera       # frame of sceneobjgt / Gen3DSR
     python lift_3d_pcd.py --mask fg --gt-style mesh         # only foreground (object) pixels
     python lift_3d_pcd.py --stride 2 --save --no-viz        # -> out/lift_3d_pcd/003025/
+    python lift_3d_pcd.py --scene all --save --no-viz       # every scene, headless export
 """
 
 from __future__ import annotations
@@ -71,6 +72,17 @@ def resolve_scene_dir(scene: str, data_root: Path) -> Path:
     raise FileNotFoundError(f"scene folder not found: {scene} (also tried {data_root / scene})")
 
 
+def resolve_scene_dirs(scene: str, data_root: Path) -> list[Path]:
+    """Same as resolve_scene_dir, plus 'all' = every scene folder under the data root."""
+    if scene == "all":
+        dirs = sorted(p for p in data_root.iterdir()
+                      if p.is_dir() and any(p.glob("annotation_*.json")))
+        if not dirs:
+            raise FileNotFoundError(f"no scene folders found under {data_root}")
+        return dirs
+    return [resolve_scene_dir(scene, data_root)]
+
+
 def find_one(scene_dir: Path, pattern: str) -> Path | None:
     hits = sorted(scene_dir.glob(pattern))
     return hits[0] if hits else None
@@ -379,38 +391,9 @@ def run_checks(sample: Sample, pts_cv: np.ndarray) -> None:
 
 
 # --------------------------------------------------------------------------------------
-def main() -> None:
-    ap = argparse.ArgumentParser(description=__doc__,
-                                 formatter_class=argparse.RawDescriptionHelpFormatter)
-    ap.add_argument("--scene", default="3025", help="scene id (e.g. 3025) or path to scene folder")
-    ap.add_argument("--data-root", type=Path, default=DEFAULT_DATA_ROOT)
-    ap.add_argument("--frame", choices=["world", "camera"], default="world",
-                    help="output frame: 3D-FRONT world (z up) or OpenCV camera (= sceneobjgt)")
-    ap.add_argument("--stride", type=int, default=1, help="pixel stride when unprojecting")
-    ap.add_argument("--voxel", type=float, default=0.0, help="voxel size for downsampling (m)")
-    ap.add_argument("--mask", choices=["all", "fg", "bg"], default="all",
-                    help="keep all pixels, or only foreground/background (needs bgdepth)")
-    ap.add_argument("--fg-thresh", type=float, default=0.02,
-                    help="bgdepth - depth threshold (m) for a foreground pixel")
-    ap.add_argument("--color-by", choices=["rgb", "object", "height", "depth"], default="rgb")
-    ap.add_argument("--gt", dest="gt", action="store_true", default=True,
-                    help="overlay sceneobjgt_*.ply in orange (default on)")
-    ap.add_argument("--no-gt", dest="gt", action="store_false")
-    ap.add_argument("--gt-style", choices=["points", "mesh", "wire"], default="points")
-    ap.add_argument("--gt-points", type=int, default=200_000)
-    ap.add_argument("--boxes", dest="boxes", action="store_true", default=True,
-                    help="draw the annotated 3D boxes (default on)")
-    ap.add_argument("--no-boxes", dest="boxes", action="store_false")
-    ap.add_argument("--no-checks", dest="checks", action="store_false", default=True)
-    ap.add_argument("--save", action="store_true",
-                    help="write the lifted cloud into <out-dir>/<scene_id>/")
-    ap.add_argument("--out-dir", type=Path, default=Path("out") / "lift_3d_pcd",
-                    help="parent folder for saved clouds, relative to the current directory "
-                         "(default: out/lift_3d_pcd)")
-    ap.add_argument("--no-viz", dest="viz", action="store_false", default=True)
-    args = ap.parse_args()
-
-    sample = Sample(resolve_scene_dir(args.scene, args.data_root))
+def process_scene(scene_dir: Path, args) -> None:
+    """Lift one scene: build the cloud, run the checks, save and/or visualize."""
+    sample = Sample(scene_dir)
     print(sample)
     print(f"K =\n{np.array2string(sample.K, precision=2, suppress_small=True)}")
     print(f"frame = {args.frame} | mask = {args.mask} | stride = {args.stride} | "
@@ -455,5 +438,61 @@ def main() -> None:
             width=1400, height=900)
 
 
+def main() -> None:
+    ap = argparse.ArgumentParser(description=__doc__,
+                                 formatter_class=argparse.RawDescriptionHelpFormatter)
+    ap.add_argument("--scene", default="3025",
+                    help="scene id (e.g. 3025), path to a scene folder, or 'all' for every "
+                         "scene under --data-root (with the viewer on, one window per scene, "
+                         "q closes it and opens the next)")
+    ap.add_argument("--data-root", type=Path, default=DEFAULT_DATA_ROOT)
+    ap.add_argument("--frame", choices=["world", "camera"], default="world",
+                    help="output frame: 3D-FRONT world (z up) or OpenCV camera (= sceneobjgt)")
+    ap.add_argument("--stride", type=int, default=1, help="pixel stride when unprojecting")
+    ap.add_argument("--voxel", type=float, default=0.0, help="voxel size for downsampling (m)")
+    ap.add_argument("--mask", choices=["all", "fg", "bg"], default="all",
+                    help="keep all pixels, or only foreground/background (needs bgdepth)")
+    ap.add_argument("--fg-thresh", type=float, default=0.02,
+                    help="bgdepth - depth threshold (m) for a foreground pixel")
+    ap.add_argument("--color-by", choices=["rgb", "object", "height", "depth"], default="rgb")
+    ap.add_argument("--gt", dest="gt", action="store_true", default=True,
+                    help="overlay sceneobjgt_*.ply in orange (default on)")
+    ap.add_argument("--no-gt", dest="gt", action="store_false")
+    ap.add_argument("--gt-style", choices=["points", "mesh", "wire"], default="points")
+    ap.add_argument("--gt-points", type=int, default=200_000)
+    ap.add_argument("--boxes", dest="boxes", action="store_true", default=True,
+                    help="draw the annotated 3D boxes (default on)")
+    ap.add_argument("--no-boxes", dest="boxes", action="store_false")
+    ap.add_argument("--no-checks", dest="checks", action="store_false", default=True)
+    ap.add_argument("--save", action="store_true",
+                    help="write the lifted cloud into <out-dir>/<scene_id>/")
+    ap.add_argument("--out-dir", type=Path, default=Path("out") / "lift_3d_pcd",
+                    help="parent folder for saved clouds, relative to the current directory "
+                         "(default: out/lift_3d_pcd)")
+    ap.add_argument("--no-viz", dest="viz", action="store_false", default=True)
+    args = ap.parse_args()
+
+    scene_dirs = resolve_scene_dirs(args.scene, args.data_root)
+    if len(scene_dirs) == 1:
+        process_scene(scene_dirs[0], args)
+        return
+
+    # batch mode: keep going if a single scene is broken, then report what failed
+    failed = []
+    for i, scene_dir in enumerate(scene_dirs, 1):
+        print(f"\n{'=' * 70}\n[{i}/{len(scene_dirs)}] {scene_dir.name}\n{'=' * 70}")
+        try:
+            process_scene(scene_dir, args)
+        except Exception as exc:  # noqa: BLE001 - one bad scene should not stop the batch
+            print(f"!! {scene_dir.name} failed: {type(exc).__name__}: {exc}")
+            failed.append(scene_dir.name)
+
+    done = len(scene_dirs) - len(failed)
+    print(f"\ndone: {done}/{len(scene_dirs)} scenes"
+          + (f" | failed: {', '.join(failed)}" if failed else ""))
+    if args.save:
+        print(f"output root: {args.out_dir}/")
+
+
 if __name__ == "__main__":
     main()