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import os.path as osp
import cv2
import numpy as np
import itertools
import os
import sys
sys.path.append(osp.join(osp.dirname(__file__), "..", ".."))
from tqdm import tqdm
from dust3r.datasets.base.base_multiview_dataset import BaseMultiViewDataset
from dust3r.utils.image import imread_cv2
class MVImgNet_Multi(BaseMultiViewDataset):
def __init__(self, *args, ROOT, **kwargs):
self.ROOT = ROOT
self.video = True
self.is_metric = False
self.max_interval = 32
super().__init__(*args, **kwargs)
self.loaded_data = self._load_data()
def _load_data(self):
self.scenes = os.listdir(self.ROOT)
offset = 0
scenes = []
sceneids = []
scene_img_list = []
images = []
start_img_ids = []
j = 0
for scene in tqdm(self.scenes):
scene_dir = osp.join(self.ROOT, scene)
rgb_dir = osp.join(scene_dir, "rgb")
basenames = sorted(
[f[:-4] for f in os.listdir(rgb_dir) if f.endswith(".jpg")]
)
num_imgs = len(basenames)
cut_off = (
self.num_views if not self.allow_repeat else max(self.num_views // 3, 3)
)
if num_imgs < cut_off:
print(f"Skipping {scene}")
continue
img_ids = list(np.arange(num_imgs) + offset)
start_img_ids_ = img_ids[: num_imgs - cut_off + 1]
start_img_ids.extend([(scene, id) for id in start_img_ids_])
sceneids.extend([j] * num_imgs)
images.extend(basenames)
scenes.append(scene)
scene_img_list.append(img_ids)
# offset groups
offset += num_imgs
j += 1
self.scenes = scenes
self.sceneids = sceneids
self.images = images
self.start_img_ids = start_img_ids
self.scene_img_list = scene_img_list
self.invalid_scenes = {scene: False for scene in self.scenes}
def __len__(self):
return len(self.start_img_ids)
def get_image_num(self):
return len(self.images)
def _get_views(self, idx, resolution, rng, num_views):
invalid_seq = True
scene, start_id = self.start_img_ids[idx]
while invalid_seq:
while self.invalid_scenes[scene]:
idx = rng.integers(low=0, high=len(self.start_img_ids))
scene, start_id = self.start_img_ids[idx]
all_image_ids = self.scene_img_list[self.sceneids[start_id]]
pos, ordered_video = self.get_seq_from_start_id(
num_views, start_id, all_image_ids, rng, max_interval=self.max_interval
)
image_idxs = np.array(all_image_ids)[pos]
views = []
for view_idx in image_idxs:
scene_id = self.sceneids[view_idx]
scene_dir = osp.join(self.ROOT, self.scenes[scene_id])
rgb_dir = osp.join(scene_dir, "rgb")
cam_dir = osp.join(scene_dir, "cam")
basename = self.images[view_idx]
try:
# Load RGB image
rgb_image = imread_cv2(osp.join(rgb_dir, basename + ".jpg"))
# Load depthmap, no depth, set to all ones
depthmap = np.ones_like(rgb_image[..., 0], dtype=np.float32)
cam = np.load(osp.join(cam_dir, basename + ".npz"))
camera_pose = cam["pose"]
intrinsics = np.eye(3)
intrinsics[0, 0] = cam["intrinsics"][0, 0]
intrinsics[1, 1] = cam["intrinsics"][0, 0]
intrinsics[0, 2] = cam["intrinsics"][1, 1]
intrinsics[1, 2] = cam["intrinsics"][0, 2]
except:
print(f"Error loading {scene} {basename}, skipping")
self.invalid_scenes[scene] = True
break
rgb_image, depthmap, intrinsics = self._crop_resize_if_necessary(
rgb_image, depthmap, intrinsics, resolution, rng=rng, info=view_idx
)
views.append(
dict(
img=rgb_image,
depthmap=depthmap.astype(np.float32),
camera_pose=camera_pose.astype(np.float32),
camera_intrinsics=intrinsics.astype(np.float32),
dataset="MVImgnet",
label=self.scenes[scene_id] + "_" + basename,
instance=f"{str(idx)}_{str(view_idx)}",
is_metric=self.is_metric,
is_video=ordered_video,
quantile=np.array(0.98, dtype=np.float32),
img_mask=True,
ray_mask=False,
camera_only=True,
depth_only=False,
single_view=False,
reset=False,
)
)
if len(views) == num_views:
invalid_seq = False
return views
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