188 lines
6.8 KiB
Python
188 lines
6.8 KiB
Python
import warnings
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warnings.filterwarnings("ignore")
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import json
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import os
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import random
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import numpy as np
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import torch
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from PIL import Image
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import math
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from tqdm import tqdm
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from scene.utils import Camera
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from typing import NamedTuple
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from torch.utils.data import Dataset
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from utils.general_utils import PILtoTorch
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# from scene.dataset_readers import
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from utils.graphics_utils import getWorld2View2, focal2fov, fov2focal
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import copy
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class CameraInfo(NamedTuple):
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uid: int
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R: np.array
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T: np.array
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FovY: np.array
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FovX: np.array
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image: np.array
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image_path: str
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image_name: str
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width: int
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height: int
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time : float
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class Load_hyper_data(Dataset):
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def __init__(self,
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datadir,
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ratio=1.0,
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use_bg_points=False,
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split="train"
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):
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from .utils import Camera
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datadir = os.path.expanduser(datadir)
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with open(f'{datadir}/scene.json', 'r') as f:
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scene_json = json.load(f)
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with open(f'{datadir}/metadata.json', 'r') as f:
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meta_json = json.load(f)
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with open(f'{datadir}/dataset.json', 'r') as f:
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dataset_json = json.load(f)
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self.near = scene_json['near']
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self.far = scene_json['far']
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self.coord_scale = scene_json['scale']
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self.scene_center = scene_json['center']
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self.all_img = dataset_json['ids']
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self.val_id = dataset_json['val_ids']
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self.split = split
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if len(self.val_id) == 0:
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self.i_train = np.array([i for i in np.arange(len(self.all_img)) if
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(i%4 == 0)])
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self.i_test = self.i_train+2
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self.i_test = self.i_test[:-1,]
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else:
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self.train_id = dataset_json['train_ids']
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self.i_test = []
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self.i_train = []
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for i in range(len(self.all_img)):
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id = self.all_img[i]
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if id in self.val_id:
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self.i_test.append(i)
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if id in self.train_id:
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self.i_train.append(i)
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self.all_cam = [meta_json[i]['camera_id'] for i in self.all_img]
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self.all_time = [meta_json[i]['warp_id'] for i in self.all_img]
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max_time = max(self.all_time)
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self.all_time = [meta_json[i]['warp_id']/max_time for i in self.all_img]
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self.selected_time = set(self.all_time)
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self.ratio = ratio
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self.max_time = max(self.all_time)
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self.min_time = min(self.all_time)
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self.i_video = [i for i in range(len(self.all_img))]
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self.i_video.sort()
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# all poses
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self.all_cam_params = []
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for im in self.all_img:
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camera = Camera.from_json(f'{datadir}/camera/{im}.json')
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camera = camera.scale(ratio)
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camera.position -= self.scene_center
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camera.position *= self.coord_scale
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self.all_cam_params.append(camera)
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self.all_img = [f'{datadir}/rgb/{int(1/ratio)}x/{i}.png' for i in self.all_img]
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self.h, self.w = self.all_cam_params[0].image_shape
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self.map = {}
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self.image_one = Image.open(self.all_img[0])
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self.image_one_torch = PILtoTorch(self.image_one,None).to(torch.float32)
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def __getitem__(self, index):
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if self.split == "train":
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return self.load_raw(self.i_train[index])
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elif self.split == "test":
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return self.load_raw(self.i_test[index])
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elif self.split == "video":
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return self.load_video(self.i_video[index])
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def __len__(self):
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if self.split == "train":
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return len(self.i_train)
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elif self.split == "test":
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return len(self.i_test)
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elif self.split == "video":
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# return len(self.i_video)
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return len(self.video_v2)
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def load_video(self, idx):
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if idx in self.map.keys():
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return self.map[idx]
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camera = self.all_cam_params[idx]
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w = self.image_one.size[0]
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h = self.image_one.size[1]
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# image = PILtoTorch(image,None)
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# image = image.to(torch.float32)
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time = self.all_time[idx]
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R = camera.orientation.T
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T = - camera.position @ R
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FovY = focal2fov(camera.focal_length, self.h)
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FovX = focal2fov(camera.focal_length, self.w)
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image_path = "/".join(self.all_img[idx].split("/")[:-1])
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image_name = self.all_img[idx].split("/")[-1]
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caminfo = CameraInfo(uid=idx, R=R, T=T, FovY=FovY, FovX=FovX, image=self.image_one_torch,
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image_path=image_path, image_name=image_name, width=w, height=h, time=time,
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)
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self.map[idx] = caminfo
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return caminfo
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def load_raw(self, idx):
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if idx in self.map.keys():
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return self.map[idx]
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camera = self.all_cam_params[idx]
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image = Image.open(self.all_img[idx])
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w = image.size[0]
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h = image.size[1]
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image = PILtoTorch(image,None)
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image = image.to(torch.float32)
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time = self.all_time[idx]
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R = camera.orientation.T
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T = - camera.position @ R
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FovY = focal2fov(camera.focal_length, self.h)
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FovX = focal2fov(camera.focal_length, self.w)
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image_path = "/".join(self.all_img[idx].split("/")[:-1])
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image_name = self.all_img[idx].split("/")[-1]
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caminfo = CameraInfo(uid=idx, R=R, T=T, FovY=FovY, FovX=FovX, image=image,
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image_path=image_path, image_name=image_name, width=w, height=h, time=time,
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)
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self.map[idx] = caminfo
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return caminfo
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def format_hyper_data(data_class, split):
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if split == "train":
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data_idx = data_class.i_train
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elif split == "test":
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data_idx = data_class.i_test
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# dataset = data_class.copy()
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# dataset.mode = split
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cam_infos = []
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for uid, index in tqdm(enumerate(data_idx)):
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camera = data_class.all_cam_params[index]
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# image = Image.open(data_class.all_img[index])
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# image = PILtoTorch(image,None)
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time = data_class.all_time[index]
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R = camera.orientation.T
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T = - camera.position @ R
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FovY = focal2fov(camera.focal_length, data_class.h)
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FovX = focal2fov(camera.focal_length, data_class.w)
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image_path = "/".join(data_class.all_img[index].split("/")[:-1])
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image_name = data_class.all_img[index].split("/")[-1]
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cam_info = CameraInfo(uid=uid, R=R, T=T, FovY=FovY, FovX=FovX, image=None,
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image_path=image_path, image_name=image_name, width=int(data_class.w), height=int(data_class.h), time=time,
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)
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cam_infos.append(cam_info)
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return cam_infos
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# matrix = np.linalg.inv(np.array(poses))
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# R = -np.transpose(matrix[:3,:3])
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# R[:,0] = -R[:,0]
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# T = -matrix[:3, 3] |