From cebf7767146089dd692142ce0f2763e72a5b5b35 Mon Sep 17 00:00:00 2001
From: "Cpt.Captain" <nilskoch@posteo.de>
Date: Tue, 22 Feb 2022 13:29:54 +0100
Subject: [PATCH] Add real world dataset

---
 data/dataset.py | 123 ++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 123 insertions(+)

diff --git a/data/dataset.py b/data/dataset.py
index fe7d359..cc3e6a1 100644
--- a/data/dataset.py
+++ b/data/dataset.py
@@ -144,5 +144,128 @@ class TrackSynDataset(torchext.BaseDataset):
         return K
 
 
+class RealWorldDataset(torchext.BaseDataset):
+    '''
+    Load locally saved real-world dataset
+    Please generate the dataset beforehand
+    '''
+
+    def __init__(self, settings_path, sample_paths, track_length=1, train=True, data_aug=False):
+        super().__init__(train=train)
+
+        self.settings_path = settings_path
+        self.sample_paths = sample_paths
+        self.data_aug = data_aug
+        self.train = train
+        self.track_length = track_length
+        assert (track_length <= 4)
+
+        with open(str(settings_path), 'rb') as f:
+            settings = pickle.load(f)
+        self.imsizes = settings['imsizes']
+        self.patterns = settings['patterns']
+        self.focal_lengths = settings['focal_lengths']
+        self.baseline = settings['baseline']
+        self.K = settings['K']
+
+        self.scale = 1
+
+        self.max_shift = 0
+        self.max_blur = 0.5
+        self.max_noise = 3.0
+        self.max_sp_noise = 0.0005
+
+    def __len__(self):
+        return len(self.sample_paths)
+
+    def __getitem__(self, idx):
+        if not self.train:
+            rng = self.get_rng(idx)
+        else:
+            rng = np.random.RandomState()
+        sample_path = self.sample_paths[idx]
+
+        if self.train:
+            track_ind = np.random.permutation(4)[0:self.track_length]
+        else:
+            track_ind = [0]
+
+        ret = {}
+        ret['id'] = idx
+
+        # load imgs, at all scales
+        for sidx in range(len(self.imsizes)):
+            imgs = []
+            ambs = []
+            grads = []
+            for tidx in track_ind:
+                imgs.append(np.load(os.path.join(sample_path, f'im0.npy'), allow_pickle=True))
+                ambs.append(np.load(os.path.join(sample_path, f'ambient0.npy'), allow_pickle=True))
+                grads.append(np.load(os.path.join(sample_path, f'grad0.npy'), allow_pickle=True))
+            ret[f'im0'] = np.stack(imgs, axis=0)
+            ret[f'ambient0'] = np.stack(ambs, axis=0)
+            ret[f'grad0'] = np.stack(grads, axis=0)
+
+        # load disp and grad only at full resolution
+        # FIXME do this for our stuff
+        disps = []
+        R = []
+        t = []
+        for tidx in track_ind:
+            disps.append(np.load(os.path.join(sample_path, f'disp0_{tidx}.npy'), allow_pickle=True))
+            R.append(np.load(os.path.join(sample_path, f'R_{tidx}.npy'), allow_pickle=True))
+            t.append(np.load(os.path.join(sample_path, f't_{tidx}.npy'), allow_pickle=True))
+        ret[f'disp0'] = np.stack(disps, axis=0)
+        ret['R'] = np.stack(R, axis=0)
+        ret['t'] = np.stack(t, axis=0)
+
+        blend_im = np.load(os.path.join(sample_path, 'blend_im.npy'), allow_pickle=True)
+        ret['blend_im'] = blend_im.astype(np.float32)
+
+        #### apply data augmentation at different scales seperately, only work for max_shift=0
+        if self.data_aug:
+            for sidx in range(len(self.imsizes)):
+                if sidx == 0:
+                    img = ret[f'im{sidx}']
+                    disp = ret[f'disp{sidx}']
+                    grad = ret[f'grad{sidx}']
+                    img_aug = np.zeros_like(img)
+                    disp_aug = np.zeros_like(img)
+                    grad_aug = np.zeros_like(img)
+                    for i in range(img.shape[0]):
+                        img_aug_, disp_aug_, grad_aug_ = augment_image(img[i, 0], rng,
+                                                                       disp=disp[i, 0], grad=grad[i, 0],
+                                                                       max_shift=self.max_shift, max_blur=self.max_blur,
+                                                                       max_noise=self.max_noise,
+                                                                       max_sp_noise=self.max_sp_noise)
+                        img_aug[i] = img_aug_[None].astype(np.float32)
+                        disp_aug[i] = disp_aug_[None].astype(np.float32)
+                        grad_aug[i] = grad_aug_[None].astype(np.float32)
+                    ret[f'im{sidx}'] = img_aug
+                    ret[f'disp{sidx}'] = disp_aug
+                    ret[f'grad{sidx}'] = grad_aug
+                else:
+                    img = ret[f'im{sidx}']
+                    img_aug = np.zeros_like(img)
+                    for i in range(img.shape[0]):
+                        img_aug_, _, _ = augment_image(img[i, 0], rng,
+                                                       max_shift=self.max_shift, max_blur=self.max_blur,
+                                                       max_noise=self.max_noise, max_sp_noise=self.max_sp_noise)
+                        img_aug[i] = img_aug_[None].astype(np.float32)
+                    ret[f'im{sidx}'] = img_aug
+
+        if len(track_ind) == 1:
+            for key, val in ret.items():
+                if key != 'blend_im' and key != 'id':
+                    ret[key] = val[0]
+
+        return ret
+
+    def getK(self, sidx=0):
+        K = self.K.copy() / (2 ** sidx)
+        K[2, 2] = 1
+        return K
+
+
 if __name__ == '__main__':
     pass