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import open3d as o3d
import numpy as np
import os
import cv2
from evaluation.constants import MATTERPORT_LABELS, MATTERPORT_IDS
class MatterportDataset:
def __init__(self, seq_name) -> None:
self.seq_name = seq_name
self.root = f'./data/matterport3d/scans/{seq_name}/{seq_name}'
self.rgb_dir = f'{self.root}/undistorted_color_images'
self.depth_dir = f'{self.root}/undistorted_depth_images'
self.cam_param_dir = f'{self.root}/undistorted_camera_parameters/{seq_name}.conf'
self.point_cloud_path = f'{self.root}/house_segmentations/{seq_name}.ply'
self.mesh_path = self.point_cloud_path
self.rgb_names, self.depth_names, self.intrinsics, self.extrinsics = \
self._obtain_intr_extr()
# output
self.segmentation_dir = f'{self.root}/output/mask/'
self.object_dict_dir = f'{self.root}/output/object'
self.depth_scale = 4000.0 # (0.25mm per unit) 1u = 1/4000 m
self.image_size = (1280, 1024)
def get_frame_list(self, step):
image_list = [os.path.join(self.rgb_dir, rgb_name) for rgb_name in self.rgb_names]
end = len(image_list)
frame_id_list = np.arange(0, end, step)
return list(frame_id_list)
def _obtain_intr_extr(self):
'''Obtain the intrinsic and extrinsic parameters of Matterport3D.'''
with open(self.cam_param_dir, 'r') as file:
lines = file.readlines()
def remove_items(test_list, item):
return [i for i in test_list if i != item]
intrinsics = []
extrinsics = []
img_names = []
depth_names = []
for i, line in enumerate(lines):
line = line.strip()
if 'intrinsics_matrix' in line:
line = line.replace('intrinsics_matrix ', '')
line = line.split(' ')
line = remove_items(line, '')
if len(line) !=9:
print('[WARN] something wrong at {}'.format(i))
intrinsic = np.asarray(line).astype(float).reshape(3, 3)
intrinsics.extend([intrinsic, intrinsic, intrinsic, intrinsic, intrinsic, intrinsic])
elif 'scan' in line:
line = line.split(' ')
img_names.append(line[2])
depth_names.append(line[1])
line = remove_items(line, '')[3:]
if len(line) != 16:
print('[WARN] something wrong at {}'.format(i))
extrinsic = np.asarray(line).astype(float).reshape(4, 4)
extrinsic[:3, 1] *= -1.0 # gl2cv
extrinsic[:3, 2] *= -1.0
extrinsics.append(extrinsic)
intrinsics = np.stack(intrinsics, axis=0)
extrinsics = np.stack(extrinsics, axis=0)
img_names = np.asarray(img_names)
return img_names, depth_names, intrinsics, extrinsics
def get_intrinsics(self, frame_id):
K = self.intrinsics[frame_id]
intrinisc_cam_parameters = o3d.camera.PinholeCameraIntrinsic()
intrinisc_cam_parameters.set_intrinsics(self.image_size[0], self.image_size[1], K[0, 0], K[1, 1], K[0, 2], K[1, 2])
return intrinisc_cam_parameters
def get_extrinsic(self, frame_id):
return self.extrinsics[frame_id]
def get_depth(self, frame_id):
depth_path = os.path.join(self.depth_dir, self.depth_names[frame_id])
depth = cv2.imread(depth_path, -1).astype(np.uint16)
depth = depth / self.depth_scale
depth = depth.astype(np.float32)
return depth
def get_rgb(self, frame_id, change_color=True):
rgb = cv2.imread(os.path.join(self.rgb_dir, self.rgb_names[frame_id]))
if change_color:
rgb = cv2.cvtColor(rgb, cv2.COLOR_BGR2RGB)
return rgb
def get_segmentation(self, frame_id, align_with_depth=False):
frame_name = self.rgb_names[frame_id][:-4]
segmentation_path = os.path.join(self.segmentation_dir, f'{frame_name}.png')
if not os.path.exists(segmentation_path):
assert False, f"Segmentation not found: {segmentation_path}"
segmentation = cv2.imread(segmentation_path, cv2.IMREAD_UNCHANGED)
return segmentation
def get_frame_path(self, frame_id):
rgb_path = os.path.join(self.rgb_dir, self.rgb_names[frame_id])
frame_name = self.rgb_names[frame_id][:-4]
segmentation_path = os.path.join(self.segmentation_dir, f'{frame_name}.png')
return rgb_path, segmentation_path
def get_label_features(self):
label_features_dict = np.load(f'data/text_features/matterport3d.npy', allow_pickle=True).item()
return label_features_dict
def get_scene_points(self):
mesh = o3d.io.read_point_cloud(self.point_cloud_path)
vertices = np.asarray(mesh.points)
return vertices
def get_label_id(self):
self.label2id = {}
self.id2label = {}
for label, id in zip(MATTERPORT_LABELS, MATTERPORT_IDS):
self.label2id[label] = id
self.id2label[id] = label
return self.label2id, self.id2label |