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| import os.path as osp |
| import numpy as np |
|
|
| from dust3r.datasets.base.base_stereo_view_dataset import BaseStereoViewDataset |
| from dust3r.utils.image import imread_cv2 |
|
|
|
|
| class MegaDepth(BaseStereoViewDataset): |
| def __init__(self, *args, split, ROOT, **kwargs): |
| self.ROOT = ROOT |
| super().__init__(*args, **kwargs) |
| self.loaded_data = self._load_data(self.split) |
|
|
| if self.split is None: |
| pass |
| elif self.split == 'train': |
| self.select_scene(('0015', '0022'), opposite=True) |
| elif self.split == 'val': |
| self.select_scene(('0015', '0022')) |
| else: |
| raise ValueError(f'bad {self.split=}') |
|
|
| def _load_data(self, split): |
| with np.load(osp.join(self.ROOT, 'all_metadata.npz')) as data: |
| self.all_scenes = data['scenes'] |
| self.all_images = data['images'] |
| self.pairs = data['pairs'] |
|
|
| def __len__(self): |
| return len(self.pairs) |
|
|
| def get_stats(self): |
| return f'{len(self)} pairs from {len(self.all_scenes)} scenes' |
|
|
| def select_scene(self, scene, *instances, opposite=False): |
| scenes = (scene,) if isinstance(scene, str) else tuple(scene) |
| scene_id = [s.startswith(scenes) for s in self.all_scenes] |
| assert any(scene_id), 'no scene found' |
|
|
| valid = np.in1d(self.pairs['scene_id'], np.nonzero(scene_id)[0]) |
| if instances: |
| image_id = [i.startswith(instances) for i in self.all_images] |
| image_id = np.nonzero(image_id)[0] |
| assert len(image_id), 'no instance found' |
| |
| if len(instances) == 2: |
| valid &= np.in1d(self.pairs['im1_id'], image_id) & np.in1d(self.pairs['im2_id'], image_id) |
| else: |
| valid &= np.in1d(self.pairs['im1_id'], image_id) | np.in1d(self.pairs['im2_id'], image_id) |
|
|
| if opposite: |
| valid = ~valid |
| assert valid.any() |
| self.pairs = self.pairs[valid] |
|
|
| def _get_views(self, pair_idx, resolution, rng): |
| scene_id, im1_id, im2_id, score = self.pairs[pair_idx] |
|
|
| scene, subscene = self.all_scenes[scene_id].split() |
| seq_path = osp.join(self.ROOT, scene, subscene) |
|
|
| views = [] |
|
|
| for im_id in [im1_id, im2_id]: |
| img = self.all_images[im_id] |
| try: |
| image = imread_cv2(osp.join(seq_path, img + '.jpg')) |
| depthmap = imread_cv2(osp.join(seq_path, img + ".exr")) |
| camera_params = np.load(osp.join(seq_path, img + ".npz")) |
| except Exception as e: |
| raise OSError(f'cannot load {img}, got exception {e}') |
|
|
| intrinsics = np.float32(camera_params['intrinsics']) |
| camera_pose = np.float32(camera_params['cam2world']) |
|
|
| image, depthmap, intrinsics = self._crop_resize_if_necessary( |
| image, depthmap, intrinsics, resolution, rng, info=(seq_path, img)) |
|
|
| views.append(dict( |
| img=image, |
| depthmap=depthmap, |
| camera_pose=camera_pose, |
| camera_intrinsics=intrinsics, |
| dataset='MegaDepth', |
| label=osp.relpath(seq_path, self.ROOT), |
| instance=img)) |
|
|
| return views |
|
|
|
|
| if __name__ == "__main__": |
| from dust3r.datasets.base.base_stereo_view_dataset import view_name |
| from dust3r.viz import SceneViz, auto_cam_size |
| from dust3r.utils.image import rgb |
|
|
| dataset = MegaDepth(split='train', ROOT="data/megadepth_processed", resolution=224, aug_crop=16) |
|
|
| for idx in np.random.permutation(len(dataset)): |
| views = dataset[idx] |
| assert len(views) == 2 |
| print(idx, view_name(views[0]), view_name(views[1])) |
| viz = SceneViz() |
| poses = [views[view_idx]['camera_pose'] for view_idx in [0, 1]] |
| cam_size = max(auto_cam_size(poses), 0.001) |
| for view_idx in [0, 1]: |
| pts3d = views[view_idx]['pts3d'] |
| valid_mask = views[view_idx]['valid_mask'] |
| colors = rgb(views[view_idx]['img']) |
| viz.add_pointcloud(pts3d, colors, valid_mask) |
| viz.add_camera(pose_c2w=views[view_idx]['camera_pose'], |
| focal=views[view_idx]['camera_intrinsics'][0, 0], |
| color=(idx * 255, (1 - idx) * 255, 0), |
| image=colors, |
| cam_size=cam_size) |
| viz.show() |
|
|
