def __init__(self, directory='NewTsukubaStereoDataset/',
left_template='illumination/daylight/left/tsukuba_daylight_L_%05i.png',
right_template='illumination/daylight/right/tsukuba_daylight_R_%05i.png',
start_idx=1, max_files=50000, scale=1.0, grayscale=False):
# Minor dataset related check
if start_idx < 1:
raise RuntimeError('TsukubaStereo2012Reader has to start at index 1')
# Set args
self.scale = scale
# Get calib
self.calib = TsukubaStereo2012Reader.calib.scaled(scale)
# Read poses
try:
pose_fn = os.path.join(os.path.expanduser(directory), 'groundtruth/camera_track.txt')
self.poses = FileReader(pose_fn, start_idx=start_idx, process_cb=tsukuba_load_poses)
except Exception as e:
self.poses = repeat(None)
raise RuntimeError('Failed to load poses properly, cannot proceed {:}'.format(e))
# Read stereo images
self.stereo = StereoDatasetReader(directory=directory,
left_template=left_template,
right_template=right_template,
start_idx=start_idx, max_files=max_files, scale=scale, grayscale=grayscale)
print 'Initialized stereo dataset reader with %f scale' % scale
gt_fn = os.path.join(os.path.expanduser(directory),
'groundtruth/disparity_maps/left/tsukuba_disparity_L_%05i.png')
self.gt = DatasetReader(process_cb=TsukubaStereo2012Reader.dispread_process_cb(scale=scale), template=gt_fn,
start_idx=start_idx, max_files=max_files)
def __init__(self, directory,
sequence='',
left_template='image_00/data/%010i.png',
right_template='image_01/data/%010i.png',
velodyne_template='velodyne_points/data/%010i.bin',
oxt_template='oxts/data/%010i.txt',
start_idx=0, max_files=50000, scale=1.0):
super(KITTIRawDatasetReader, self).__init__(directory, sequence,
left_template=left_template, right_template=right_template,
velodyne_template=velodyne_template,
start_idx=start_idx, max_files=max_files, scale=scale)
# Read stereo images
self.stereo = StereoDatasetReader(directory=directory,
left_template=left_template,
right_template=right_template,
start_idx=start_idx, max_files=max_files, scale=scale)
# Read poses
try:
pose_fn = os.path.join(os.path.expanduser(directory), 'poses', ''.join([sequence, '.txt']))
self.poses = FileReader(pose_fn, process_cb=kitti_load_poses)
except:
self.poses = repeat(None)
# Read velodyne
self.velodyne = VelodyneDatasetReader(
template=os.path.join(directory,velodyne_template),
start_idx=start_idx, max_files=max_files
)
# Read oxts
def kitti_load_oxts(fn):
return (np.fromfile(fn, dtype=np.float64, sep=' '))
try:
oxt_format_fn = os.path.join(os.path.expanduser(directory), 'oxts/dataformat.txt')
self.oxt_formats = [line.split(':')[0] for line in open(oxt_format_fn)]
oxt_fn = os.path.join(os.path.expanduser(directory), oxt_template)
self.oxts = DatasetReader(template=oxt_fn, process_cb=lambda fn: kitti_load_oxts(fn),
start_idx=start_idx, max_files=max_files)
except Exception as e:
self.oxts = repeat(None)
def __init__(self,
directory='',
template='data/img/img%04i_0.png',
velodyne_template=None,
start_idx=1,
max_files=100000,
scale=1.0):
# Set args
self.scale = scale
# Calibration
try:
calib_fn = os.path.join(os.path.expanduser(directory), 'info',
'intrinsics.txt')
s = open(calib_fn, 'r').readlines()
s = ''.join(s[1:])
for item in ['\n', '[', ']', ' ']:
s = s.replace(item, '')
K = np.fromstring(s, sep=',').reshape(3, 3)
self.calib_ = Camera.from_intrinsics(
CameraIntrinsic(K, shape=RPGUrban.shape[:2])).scaled(scale)
except Exception as e:
print('Failed to read calibration data: {}'.format(e))
self.calib_ = None
# Read stereo images
try:
self.rgb_ = ImageDatasetReader(template=os.path.join(
os.path.expanduser(directory), template),
start_idx=start_idx,
max_files=max_files,
scale=scale)
except Exception as e:
print('Failed to read rgb data: {}'.format(e))
self.rgb_ = NoneReader()
# Read poses
def load_poses(fn):
"""
poses: image_id tx ty tz qx qy qz qw
"""
X = (np.fromfile(fn, dtype=np.float64, sep=' ')).reshape(-1, 8)
abs_poses = map(lambda p: RigidTransform(xyzw=p[4:], tvec=p[1:4]),
X)
rel_poses = [abs_poses[0].inverse() * p for p in abs_poses]
return rel_poses
try:
pose_fn = os.path.join(os.path.expanduser(directory), 'info',
'groundtruth.txt')
self.poses_ = FileReader(pose_fn, process_cb=load_poses)
except Exception as e:
self.poses_ = NoneReader()
def __init__(self, directory='',
sequence='',
left_template='image_0/%06i.png',
right_template='image_1/%06i.png',
velodyne_template='velodyne/%06i.bin',
start_idx=0, max_files=50000, scale=1.0):
# Set args
self.sequence = sequence
self.scale = scale
# Get calib
self.calib = kitti_stereo_calib(sequence, scale=scale)
# Read stereo images
seq_directory = os.path.join(os.path.expanduser(directory), 'sequences', sequence)
self.stereo = StereoDatasetReader(directory=seq_directory,
left_template=os.path.join(seq_directory,left_template),
right_template=os.path.join(seq_directory,right_template),
start_idx=start_idx, max_files=max_files, scale=scale)
# Read poses
try:
pose_fn = os.path.join(os.path.expanduser(directory), 'poses', ''.join([sequence, '.txt']))
self.poses = FileReader(pose_fn, process_cb=kitti_load_poses)
except Exception as e:
self.poses = repeat(None)
try:
# Read velodyne
self.velodyne = VelodyneDatasetReader(
template=os.path.join(seq_directory,velodyne_template),
start_idx=start_idx, max_files=max_files
)
except Exception as e:
self.velodyne = repeat(None)
print 'Initialized stereo dataset reader with %f scale' % scale
def __init__(self, directory='',
sequence='',
left_template='image_0/%06i.png',
right_template='image_1/%06i.png',
velodyne_template='velodyne/%06i.bin',
start_idx=0, max_files=100000, scale=1.0):
# Set args
self.sequence = sequence
self.scale = scale
# Get calib
try:
self.calib = kitti_stereo_calib(sequence, scale=scale)
except Exception as e:
self.calib = None
# Read stereo images
seq_directory = os.path.join(os.path.expanduser(directory),
'sequences', sequence)
self.stereo = StereoDatasetReader(
directory=seq_directory,
left_template=os.path.join(seq_directory,left_template),
right_template=os.path.join(seq_directory,right_template),
start_idx=start_idx, max_files=max_files, scale=scale)
print('Initialized stereo dataset reader with %f scale' % scale)
# Read poses
try:
pose_fn = os.path.join(
os.path.expanduser(directory),
'poses', ''.join([sequence, '.txt']))
self.poses_ = FileReader(pose_fn, process_cb=kitti_load_poses)
except Exception as e:
print('Failed to read pose data: {}'.format(e))
self.poses_ = NoneReader()
# Read velodyne
if velodyne_template is None:
self.velodyne = NoneReader()
print('Skipping velodyne data')
else:
try:
self.velodyne = VelodyneDatasetReader(
template=os.path.join(seq_directory,velodyne_template),
start_idx=start_idx, max_files=max_files
)
except Exception as e:
print('Failed to read velodyne data: {}'.format(e))
self.velodyne = NoneReader()
class TsukubaStereo2012Reader(object):
"""
TsukubaStereo2012Reader: StereoDatasetReader + Calib
The resolution of the images is 640x480 pixels, the baseline of the stereo
camera is 10cm and the focal length of the camera is 615 pixels.
https://github.com/pablospe/tsukuba_db/blob/master/README.Tsukuba
"""
calib = StereoCamera.from_calib_params(615, 615, 319.5, 239.5,
baseline=0.10, shape=np.int32([480, 640]))
def __init__(self, directory='NewTsukubaStereoDataset/',
left_template='illumination/daylight/left/tsukuba_daylight_L_%05i.png',
right_template='illumination/daylight/right/tsukuba_daylight_R_%05i.png',
start_idx=1, max_files=50000, scale=1.0, grayscale=False):
# Minor dataset related check
if start_idx < 1:
raise RuntimeError('TsukubaStereo2012Reader has to start at index 1')
# Set args
self.scale = scale
# Get calib
self.calib = TsukubaStereo2012Reader.calib.scaled(scale)
# Read poses
try:
pose_fn = os.path.join(os.path.expanduser(directory), 'groundtruth/camera_track.txt')
self.poses = FileReader(pose_fn, start_idx=start_idx, process_cb=tsukuba_load_poses)
except Exception as e:
self.poses = repeat(None)
raise RuntimeError('Failed to load poses properly, cannot proceed {:}'.format(e))
# Read stereo images
self.stereo = StereoDatasetReader(directory=directory,
left_template=left_template,
right_template=right_template,
start_idx=start_idx, max_files=max_files, scale=scale, grayscale=grayscale)
print 'Initialized stereo dataset reader with %f scale' % scale
gt_fn = os.path.join(os.path.expanduser(directory),
'groundtruth/disparity_maps/left/tsukuba_disparity_L_%05i.png')
self.gt = DatasetReader(process_cb=TsukubaStereo2012Reader.dispread_process_cb(scale=scale), template=gt_fn,
start_idx=start_idx, max_files=max_files)
@staticmethod
def dispread_process_cb(scale=1.0):
"""Scale disparity values for depth images"""
return lambda fn: im_resize(cv2.imread(fn, cv2.IMREAD_UNCHANGED), scale=scale) * scale
def iterframes(self, *args, **kwargs):
for (left, right), pose in izip(self.iter_stereo_frames(*args, **kwargs),
self.poses.iteritems(*args, **kwargs)):
yield AttrDict(left=left, right=right, pose=pose)
def iter_gt_frames(self, *args, **kwargs):
for (left, right), pose, depth in izip(self.iter_stereo_frames(*args, **kwargs),
self.poses.iteritems(*args, **kwargs),
self.gt.iteritems(*args, **kwargs)):
yield AttrDict(left=left, right=right, pose=pose, depth=depth)
def iter_stereo_frames(self, *args, **kwargs):
return self.stereo.iteritems(*args, **kwargs)
@property
def stereo_frames(self):
return self.iter_stereo_frames()
def viz_gt_poses(self):
draw_utils.publish_pose_list('POSES', self.poses.items, frame_id='camera')
class KITTIDatasetReader(object):
"""
KITTIDatasetReader: ImageDatasetReader + VelodyneDatasetReader + Calib
http://www.cvlibs.net/datasets/kitti/setup.php
"""
kitti_00_02 = StereoCamera.from_calib_params(718.86, 718.86, 607.19, 185.22,
baseline_px=386.1448, shape=np.int32([376, 1241]))
kitti_03 = StereoCamera.from_calib_params(721.5377, 721.5377, 609.5593, 172.854,
baseline_px=387.5744, shape=np.int32([376, 1241]))
kitti_04_12 = StereoCamera.from_calib_params(707.0912, 707.0912, 601.8873, 183.1104,
baseline_px=379.8145, shape=np.int32([376, 1241]))
baseline = 0.5371 # baseline_px / fx
velo2cam = 0.27 # Velodyne is 27 cm behind cam_0 (x-forward, y-left, z-up)
def __init__(self, directory='',
sequence='',
left_template='image_0/%06i.png',
right_template='image_1/%06i.png',
velodyne_template='velodyne/%06i.bin',
start_idx=0, max_files=50000, scale=1.0):
# Set args
self.sequence = sequence
self.scale = scale
# Get calib
self.calib = kitti_stereo_calib(sequence, scale=scale)
# Read stereo images
seq_directory = os.path.join(os.path.expanduser(directory), 'sequences', sequence)
self.stereo = StereoDatasetReader(directory=seq_directory,
left_template=os.path.join(seq_directory,left_template),
right_template=os.path.join(seq_directory,right_template),
start_idx=start_idx, max_files=max_files, scale=scale)
# Read poses
try:
pose_fn = os.path.join(os.path.expanduser(directory), 'poses', ''.join([sequence, '.txt']))
self.poses = FileReader(pose_fn, process_cb=kitti_load_poses)
except Exception as e:
self.poses = repeat(None)
try:
# Read velodyne
self.velodyne = VelodyneDatasetReader(
template=os.path.join(seq_directory,velodyne_template),
start_idx=start_idx, max_files=max_files
)
except Exception as e:
self.velodyne = repeat(None)
print 'Initialized stereo dataset reader with %f scale' % scale
def iteritems(self, *args, **kwargs):
return self.stereo.left.iteritems(*args, **kwargs)
def iter_stereo_frames(self, *args, **kwargs):
return self.stereo.iteritems(*args, **kwargs)
def iter_velodyne_frames(self, *args, **kwargs):
"""
for pc in dataset.iter_velodyne_frames():
X = pc[:,:3]
"""
return self.velodyne.iteritems(*args, **kwargs)
def iter_stereo_velodyne_frames(self, *args, **kwargs):
return izip(self.left.iteritems(*args, **kwargs),
self.right.iteritems(*args, **kwargs),
self.velodyne.iteritems(*args, **kwargs))
def iterframes(self, *args, **kwargs):
for (left, right), pose in izip(self.iter_stereo_frames(*args, **kwargs), self.poses.iteritems(*args, **kwargs)):
yield AttrDict(left=left, right=right, velodyne=None, pose=pose)
def iter_gt_frames(self, *args, **kwargs):
for (left, right), pose in izip(self.iter_stereo_frames(*args, **kwargs), self.poses.iteritems(*args, **kwargs)):
yield AttrDict(left=left, right=right, velodyne=None, pose=pose)
@property
def stereo_frames(self):
return self.iter_stereo_frames()
@property
def velodyne_frames(self):
return self.iter_velodyne_frames()
# @classmethod
# def stereo_test_dataset(cls, directory, subdir, scale=1.0):
# """
# Ground truth dataset iterator
# """
# left_directory = os.path.join(os.path.expanduser(directory), '%s_0' % subdir)
# right_directory = os.path.join(os.path.expanduser(directory), '%s_1' % subdir)
# noc_directory = os.path.join(os.path.expanduser(directory), 'disp_noc')
# occ_directory = os.path.join(os.path.expanduser(directory), 'disp_occ')
# c = cls(sequence='00')
# c.scale = scale
# c.calib = kitti_stereo_calib(1, scale=scale)
# # Stereo is only evaluated on the _10.png images
# c.stereo = StereoDatasetReader.from_directory(left_directory, right_directory, pattern='*_10.png')
# c.noc = ImageDatasetReader.from_directory(noc_directory)
# c.occ = ImageDatasetReader.from_directory(occ_directory)
# c.poses = [None] * c.stereo.length
# return c
@classmethod
def iterscenes(cls, sequences, directory='',
left_template='image_0/%06i.png', right_template='image_1/%06i.png',
velodyne_template='velodyne/%06i.bin', start_idx=0, max_files=50000,
scale=1.0, verbose=False):
for seq in progressbar(sequences, size=len(sequences), verbose=verbose):
yield seq, cls(
directory=directory, sequence=seq, left_template=left_template,
right_template=right_template, velodyne_template=velodyne_template,
start_idx=start_idx, max_files=max_files)
class KITTIRawDatasetReader(KITTIDatasetReader):
"""
KITTIRawDatasetReader: KITTIDatasetReader + OXTS reader
"""
def __init__(self, directory,
sequence='',
left_template='image_00/data/%010i.png',
right_template='image_01/data/%010i.png',
velodyne_template='velodyne_points/data/%010i.bin',
oxt_template='oxts/data/%010i.txt',
start_idx=0, max_files=50000, scale=1.0):
super(KITTIRawDatasetReader, self).__init__(directory, sequence,
left_template=left_template, right_template=right_template,
velodyne_template=velodyne_template,
start_idx=start_idx, max_files=max_files, scale=scale)
# Read stereo images
self.stereo = StereoDatasetReader(directory=directory,
left_template=left_template,
right_template=right_template,
start_idx=start_idx, max_files=max_files, scale=scale)
# Read poses
try:
pose_fn = os.path.join(os.path.expanduser(directory), 'poses', ''.join([sequence, '.txt']))
self.poses = FileReader(pose_fn, process_cb=kitti_load_poses)
except:
self.poses = repeat(None)
# Read velodyne
self.velodyne = VelodyneDatasetReader(
template=os.path.join(directory,velodyne_template),
start_idx=start_idx, max_files=max_files
)
# Read oxts
def kitti_load_oxts(fn):
return (np.fromfile(fn, dtype=np.float64, sep=' '))
try:
oxt_format_fn = os.path.join(os.path.expanduser(directory), 'oxts/dataformat.txt')
self.oxt_formats = [line.split(':')[0] for line in open(oxt_format_fn)]
oxt_fn = os.path.join(os.path.expanduser(directory), oxt_template)
self.oxts = DatasetReader(template=oxt_fn, process_cb=lambda fn: kitti_load_oxts(fn),
start_idx=start_idx, max_files=max_files)
except Exception as e:
self.oxts = repeat(None)
def iterframes(self, *args, **kwargs):
for (left, right), pose, oxt in izip(self.iter_stereo_frames(*args, **kwargs),
self.poses.iteritems(*args, **kwargs),
self.oxts.iteritems(*args, **kwargs)):
yield AttrDict(left=left, right=right, velodyne=None, pose=pose, oxt=AttrDict(zip(self.oxt_formats, oxt)))
@property
def oxt_fieldnames(self):
return self.oxt_formats
def iter_oxts(self, *args, **kwargs):
return self.oxts.iteritems()