def main():
trajectories = sn.Trajectories()
parser = argparse.ArgumentParser()
parser.add_argument("protobuf_path",
type=str,
help="path of the protobuf file")
parser.add_argument("data_path", type=str, help="path of the data")
parser.add_argument("--vis_points",
default=False,
action="store_true",
help="path of the data")
parser.add_argument("--skip_exists",
default=True,
action="store_false",
help="skip existing files")
args = parser.parse_args()
protobuf_path = args.protobuf_path
data_path = args.data_path
try:
with open(protobuf_path, 'rb') as f:
trajectories.ParseFromString(f.read())
except IOError:
print('Scenenet protobuf data not found at location:{0}'.format(
data_root_path))
print(
'Please ensure you have copied the pb file to the data directory')
pass
unproj(trajectories, args)
# start = time.time()
# has_overlap_view(trajectories.trajectories[0], args)
# end = time.time()
# print("overlap time: {}".format(end - start))
pass
def __init__(self):
super(Dataset_).__init__()
self.trajectories = sn.Trajectories()
with open(Util.protobuf_path, 'rb') as f:
self.trajectories.ParseFromString(f.read())
self.cached_pixel_to_ray_array = Util.normalised_pixel_to_ray_array()
self.instance_class_map = {}
def main(protobuf_path, shapenet_dir, layout_dir, indices):
trajectories_pb = sn.Trajectories()
try:
with open(protobuf_path, 'rb') as f:
trajectories_pb.ParseFromString(f.read())
except IOError:
print('Scenenet protobuf data not found at location:{0}'.format(protobuf_path))
raise
trajectories = trajectories_pb.trajectories
if indices:
trajectories = [trajectories[i] for i in indices]
for i, traj in enumerate(trajectories):
convert_trajectory(i, traj, shapenet_dir, layout_dir)
print('Scene Generation Complete')
def CalculateSurfaceNormalsApp():
parser = argparse.ArgumentParser(description='Normals generator application.')
parser.add_argument('--data-root-path', type=str, required=True,
help='the path to the dataset root.')
parser.add_argument('--protobuf-path', type=str, required=True,
help='the path to the protobuf to extract the data.')
parser.add_argument('--num-steps', type=int, default=30,
help='the number samples to skip.')
parser.add_argument('--num-workers', type=int, default=4,
help='the number of workers to use to compute the normals.')
args = parser.parse_args()
trajectories = sn.Trajectories()
try:
with open(args.protobuf_path,'rb') as f:
trajectories.ParseFromString(f.read())
except IOError:
print('Scenenet protobuf data not found at location:{0}'.format(data_root_path))
print('Please ensure you have copied the pb file to the data directory')
global_idx = 0
paths = []
for traj_idx, traj in enumerate(trajectories.trajectories):
for view_idx, view in enumerate(traj.views):
if global_idx % args.num_steps != 0:
global_idx += 1
continue
global_idx += 1
# prepare data paths
depth_path = depth_path_from_view(
args.data_root_path, traj.render_path, view)
surface_normal_path = normals_path_from_view(
args.data_root_path, traj.render_path, view)
paths.append((depth_path, surface_normal_path))
p = mp.Pool(processes=args.num_workers)
p.map(calculate_normals, paths)
pose.timestamp = timestamp
return pose
data_root_path = 'data/val'
protobuf_path = 'data/scenenet_rgbd_val.pb'
def photo_path_from_view(render_path, view):
photo_path = os.path.join(render_path, 'photo')
image_path = os.path.join(photo_path, '{0}.jpg'.format(view.frame_num))
return os.path.join(data_root_path, image_path)
if __name__ == '__main__':
trajectories = sn.Trajectories()
try:
with open(protobuf_path, 'rb') as f:
trajectories.ParseFromString(f.read())
except IOError:
print('Scenenet protobuf data not found at location:{0}'.format(
data_root_path))
print(
'Please ensure you have copied the pb file to the data directory')
for idx, a_traj in enumerate(trajectories.trajectories):
if a_traj.render_path == '0/68':
traj = a_traj
break
# This is the 3D position of the center of the spherical light in
# the validation trajectory '0/68' in world coordinates
def main():
"""Generate light specs and obj file name"""
parser = argparse.ArgumentParser(
usage=
"python generate_scene_desc.py --pb=<path> --tmpl=<scene-template>")
parser.add_argument('--tmpl', type=str, help='Scene template json file.')
parser.add_argument('--pb', type=str, help='Path to the protobuf file.')
parser.add_argument('--out',
type=str,
required=True,
help='Output directory')
parser.add_argument('--data-root',
type=str,
default='./',
help='Data root.')
args = parser.parse_args()
print(args)
protobuf_path = os.path.expanduser(args.pb)
data_root_path = os.path.expanduser(args.data_root)
out_dir = os.path.expanduser(args.out)
if not os.path.exists(out_dir):
os.makedirs(out_dir)
trajectories = sn.Trajectories()
try:
with open(protobuf_path, 'rb') as f:
trajectories.ParseFromString(f.read())
except IOError:
print('Scenenet protobuf data not found at location:{0}'.format(
data_root_path))
print('Number of trajectories:{0}'.format(len(trajectories.trajectories)))
for traj_no, traj in enumerate(trajectories.trajectories):
layout_type = sn.SceneLayout.LayoutType.Name(traj.layout.layout_type)
layout_path = traj.layout.model
print('=' * 20)
print('Render path:{0}'.format(traj.render_path))
print('Layout type:{0} path:{1}'.format(layout_type, layout_path))
print('=' * 20)
obj_filename = 'trajectory_{}.obj'.format(traj_no)
print(obj_filename)
scene_desc = {
"file-format": {
"type": "diffrend",
"version": "0.2"
},
"glsl": {
"vertex": "../shaders/phong/vs.glsl",
"fragment": "../shaders/phong/fs.glsl"
},
"camera": {
"proj_type": "perspective",
"viewport": [0, 0, 640, 480],
"fovy": 1.04,
"focal_length": 1.0,
"eye": [3.5, 2.0, 3.5, 1.0],
"up": [0.0, 1.0, 0.0, 0.0],
"at": [0.0, 1.0, 0.0, 1.0],
"near": 0.1,
"far": 1000.0
},
"lights": {
"pos": [],
"color_idx": [],
"attenuation": [],
"ambient": [0.01, 0.01, 0.01]
},
"colors": [],
"materials": {
"albedo": [[0.0, 0.0, 0.0], [0.1, 0.1, 0.1], [0.2, 0.2, 0.2],
[0.5, 0.5, 0.5], [0.8, 0.8, 0.8],
[0.44, 0.55, 0.64]],
"coeffs": [[1.0, 0.0, 0.0], [1.0, 0.0, 0.0], [1.0, 0.0, 0.0],
[1.0, 0.0, 0.0], [1.0, 0.0, 0.0], [1.0, 0.0, 0.0]]
},
"objects": {
"obj": [{
"path": "../objs/scenenetrgbd/" + obj_filename,
"material_idx": 4,
"scale": [1.0, 1.0, 1.0]
}]
},
"tonemap": {
"type": "gamma",
"gamma": [1.0]
}
}
for instance in traj.instances:
if instance.instance_type == sn.Instance.LIGHT_OBJECT:
light = instance.light_info
light_type = sn.LightInfo.LightType.Name(light.light_type)
light_intensity = [
light.light_output.r, light.light_output.g,
light.light_output.b
]
light_pos = [
light.position.x, light.position.y, light.position.z
]
print('=' * 20)
print('Light type:{0}'.format(light_type))
print(light)
print('emission: ', light_intensity)
print('pos: ', light_pos)
scene_desc["colors"].append(light_intensity)
scene_desc['lights']["color_idx"].append(
len(scene_desc["colors"]) - 1)
scene_desc['lights']["pos"].append(light_pos)
scene_desc['lights']["attenuation"].append([0.0, 0.0, 0.4])
print(scene_desc)
outfilename = 'scenenet_{:04}.json'.format(traj_no)
print(outfilename)
with open(os.path.join(out_dir, outfilename), 'w') as fid:
json.dump(scene_desc, fid)
def main():
parser = argparse.ArgumentParser(usage="read_protobuf")
parser.add_argument('--pb', type=str, help='Path to the protobuf file.')
parser.add_argument('--out', type=str, required=True, help='Output directory')
parser.add_argument('--data-root', type=str, default='./', help='Data root.')
args = parser.parse_args()
print(args)
protobuf_path = os.path.expanduser(args.pb)
data_root_path = os.path.expanduser(args.data_root)
out_dir = os.path.expanduser(args.out)
if not os.path.exists(out_dir):
os.makedirs(out_dir)
trajectories = sn.Trajectories()
try:
with open(protobuf_path, 'rb') as f:
trajectories.ParseFromString(f.read())
except IOError:
print('Scenenet protobuf data not found at location:{0}'.format(data_root_path))
print('Number of trajectories:{0}'.format(len(trajectories.trajectories)))
all_out_path = []
for traj_no, traj in enumerate(trajectories.trajectories):
layout_type = sn.SceneLayout.LayoutType.Name(traj.layout.layout_type)
layout_path = traj.layout.model
print('=' * 20)
print('Render path:{0}'.format(traj.render_path))
print('Layout type:{0} path:{1}'.format(layout_type, layout_path))
print('=' * 20)
'''
The views attribute of trajectories contains all of the information
about the rendered frames of a scene. This includes camera poses,
frame numbers and timestamps.
'''
camera_traj = []
for view in traj.views:
shutter_open = view.shutter_open
camera = {'eye': [shutter_open.camera.x, shutter_open.camera.y, shutter_open.camera.z],
'at': [shutter_open.lookat.x, shutter_open.lookat.y, shutter_open.lookat.z],
'up': [0, 1, 0], # default in scenenet.proto
'proj_type': "perspective",
'viewport': [0, 0, 640, 480],
'fovy': 1.04,
'focal_length': 1.0,
'frame_no': view.frame_num,
'timestamp': shutter_open.timestamp,
'obj_path': layout_path,
'render_path': traj.render_path,
"near": 0.1,
"far": 1000.0
}
camera_traj.append(camera)
outfilename = 'traj_{}_'.format(traj_no) + traj.render_path + '_' + layout_path
outfilename = outfilename.replace('/', '_').replace('.obj', '.json')
assert outfilename not in all_out_path
print(outfilename)
with open(os.path.join(out_dir, outfilename), 'w') as fid:
json.dump(camera_traj, fid)
print('')
all_out_path.append(outfilename)
