Create raw/scannet/extract-frames.py

data/raw/scannet/extract-frames.py

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+# Copyright (c) Meta Platforms, Inc. and affiliates.
+
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+
+import argparse
+import json
+from pathlib import Path
+from typing import Dict
+
+import tqdm
+from SensorData import SensorData
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--dataset",
+        type=Path,
+        default="data/open-eqa-v0.json",
+        help="path to open-eqa dataset (default: data/open-eqa-v0.json)",
+    )
+    parser.add_argument(
+        "--scannet-root",
+        type=Path,
+        default="data/raw/scannet",
+        help="path to scannet data (default: data/raw/scannet)",
+    )
+    parser.add_argument(
+        "--output-directory",
+        type=Path,
+        default="data/frames",
+        help="path to output folder (default: data/frames)",
+    )
+    parser.add_argument(
+        "--rgb-only",
+        action="store_true",
+        help="only extract rgb frames (default: false)",
+    )
+    parser.add_argument(
+        "--max-num-frames",
+        type=int,
+        default=600,
+        help="maximum frames to extract from a scene (default: 600)",
+    )
+    args = parser.parse_args()
+    args.output_directory.mkdir(parents=True, exist_ok=True)
+    return args
+
+
+def get_folder_to_scene(args: argparse.Namespace) -> Dict[str, str]:
+    # get unique scannet folders
+    scene_folders = set()
+    dataset = json.load(args.dataset.open())
+    for item in dataset:
+        if "scannet" not in item["episode_history"]:
+            continue
+        scene_folders.add(item["episode_history"])
+
+    # map folders to scene name
+    scenes = {}
+    for folder in sorted(scene_folders):
+        scene_name = folder.split("/")[-1].split("-")[-1]
+        scenes[folder] = scene_name
+
+    return scenes
+
+
+def get_scene_path(args: argparse.Namespace, scene: str) -> Path:
+    for folder in ["scans", "scans_test"]:
+        scene_path = args.scannet_root / folder / scene / (scene + ".sens")
+        if scene_path.exists():
+            return scene_path
+    raise ValueError("scene ({}) not found in {}".format(scene, args.scannet_root))
+
+
+def extract_frames(
+    scene_path: str, output_folder: Path, args: argparse.Namespace
+) -> None:
+    output_folder.mkdir(exist_ok=True, parents=True)
+    output_folder = str(output_folder)
+
+    print("Extracting frames to: {}".format(output_folder))
+    sd = SensorData(scene_path)
+    if not args.rgb_only:
+        sd.export_intrinsics(output_folder)
+        sd.export_poses(output_folder, num_frames=args.max_num_frames)
+        sd.export_depth_images(output_folder, num_frames=args.max_num_frames)
+    sd.export_color_images(output_folder, num_frames=args.max_num_frames)
+    print("Extracting frames to: {} done!".format(output_folder))
+
+
+def main(args):
+    folder_to_scene = get_folder_to_scene(args)
+    for folder, scene in tqdm.tqdm(folder_to_scene.items()):
+        output_folder = args.output_directory / folder
+        scene_path = get_scene_path(args, scene)
+        extract_frames(scene_path=scene_path, output_folder=output_folder, args=args)
+
+
+if __name__ == "__main__":
+    main(parse_args())