diff --git a/app.py b/app.py new file mode 100644 index 0000000000000000000000000000000000000000..4b0d142bbeb9c795a3c409105934b76077f47b86 --- /dev/null +++ b/app.py @@ -0,0 +1,88 @@ +# Copyright (c) Facebook, Inc. and its affiliates. +# Copyright (c) Meta Platforms, Inc. All Rights Reserved + +import os +import ast +import time +import random +from PIL import Image + +import torch +import numpy as np +from tqdm import tqdm +import matplotlib.pyplot as plt +from plyfile import PlyData +import gradio as gr +import plotly.graph_objs as go + +from sam_3d import SAM3DDemo + +def pc_to_plot(pc): + return go.Figure( + data=[ + go.Scatter3d( + x=pc['x'], y=pc['y'], z=pc['z'], + mode='markers', + marker=dict( + size=2, + color=['rgb({},{},{})'.format(r,g,b) for r,g,b in zip(pc['red'], pc['green'], pc['blue'])], + ) + ) + ], + layout=dict( + scene=dict(xaxis=dict(visible=False), yaxis=dict(visible=False), zaxis=dict(visible=False)) + ), + ) + +def inference(scene_name, granularity, coords, plot): + print(scene_name, coords) + sam_3d = SAM3DDemo('vit_b', 'sam_vit_b_01ec64.pth', scene_name) + coords = ast.literal_eval(coords) + data_point_select, rgb_img_w_points, rgb_img_w_masks, data_final = sam_3d.run_with_coord(coords, int(granularity)) + return pc_to_plot(data_point_select), Image.fromarray(rgb_img_w_points), Image.fromarray(rgb_img_w_masks), pc_to_plot(data_final) + +plydatas = [] +for scene_name in ['scene0000_00', 'scene0001_00', 'scene0002_00']: + plydata = PlyData.read(f"./scannet_data/{scene_name}/{scene_name}.ply") + data = plydata.elements[0].data + plydatas.append(data) + +examples = [['scene0000_00', 0, [0, -2.5, 0.7], pc_to_plot(plydatas[0])], + ['scene0001_00', 0, [0, -2.5, 1], pc_to_plot(plydatas[1])], + ['scene0002_00', 0, [0, -2.5, 1], pc_to_plot(plydatas[2])],] + +title = 'Segment_Anything on 3D in-door point clouds' + +description = """ +Gradio Demo for Segment Anything on 3D indoor scenes (ScanNet supported). \n +The logic is straighforward: 1) Find a point in 3D; 2) project the 3D point to valid images; 3) perform 2D SAM on valid images; 4) reproject 2D results back to 3D; 5) Visualization. +Unfortunatly, it does not support click the point cloud to generate coordinates automatically. You may want to write down the coordinates and put it manually. \n +""" + +article = """ +

+ +Open-Vocabulary Semantic Segmentation with Mask-adapted CLIP + +| +Github Repo

+""" + + + +gr.Interface( + inference, + inputs=[ + gr.Dropdown(choices=['scene0000_00', 'scene0001_00', 'scene0002_00'], label="Scannet scene name (limited scenes supported)"), + gr.Dropdown(choices=[0, 1, 2], label="Mask granularity from 0 (most coarse) to 2 (most precise)"), + gr.Textbox(lines=1, label='Coordinates'), + gr.Plot(label="Input Point cloud (For visualization and point finding only, click responce not supported yet.)"), + ], + outputs=[gr.Plot(label='Selected point(s): red points show the top 10 cloest points for your input anchor point'), + gr.Image(label='Selected image with projected points'), + gr.Image(label='Selected image processed after SAM'), + gr.Plot(label='Output Point cloud: blue points represent the mask')], + title=title, + description=description, + article=article, + examples=examples).launch() \ No newline at end of file diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..d0827e242e3fc0784fbec89bc69a7b267cb928a8 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,9 @@ +gradio +numpy +plyfile +plotly +matplotlib +opencv-python +torch==1.10.1+cu113 +torchvision==0.11.2+cu113 +git+https://github.com/facebookresearch/segment-anything.git diff --git a/sam_3d.py b/sam_3d.py new file mode 100644 index 0000000000000000000000000000000000000000..d8216108e8b77750c0e61c0ff8ad4d879e950abe --- /dev/null +++ b/sam_3d.py @@ -0,0 +1,266 @@ +import os +import copy +import random +from PIL import Image + +import torch +import matplotlib.pyplot as plt +import numpy as np +from plyfile import PlyData + +from segment_anything import SamPredictor, sam_model_registry + +def get_image_ids(path): + files = os.listdir(path) + files = [f.split('.')[0] for f in files if os.path.isfile(path+'/'+f)] #Filtering only the files. + return sorted(files) + +def load_align_matrix_from_txt(path): + lines = open(path).readlines() + # test set data doesn't have align_matrix + axis_align_matrix = np.eye(4) + for line in lines: + if 'axisAlignment' in line: + axis_align_matrix = [ + float(x) + for x in line.rstrip().strip('axisAlignment = ').split(' ') + ] + break + axis_align_matrix = np.array(axis_align_matrix).reshape((4, 4)) + return axis_align_matrix + +def load_matrix_from_txt(path, shape=(4, 4)): + with open(path) as f: + txt = f.readlines() + txt = ''.join(txt).replace('\n', ' ') + matrix = [float(v) for v in txt.split()] + return np.array(matrix).reshape(shape) + +def load_image(path): + image = Image.open(path) + return np.array(image) + +def convert_from_uvd(u, v, d, intr, pose, align): + extr = np.linalg.inv(pose) + if d == 0: + return None, None, None + + fx = intr[0, 0] + fy = intr[1, 1] + cx = intr[0, 2] + cy = intr[1, 2] + depth_scale = 1000 + + z = d / depth_scale + x = (u - cx) * z / fx + y = (v - cy) * z / fy + + world = (align @ pose @ np.array([x, y, z, 1])) + return world[:3] / world[3] + +# Find the cloest point in the cloud with select +def find_closest_point(point, point_cloud, num=1): + # calculate the Euclidean distances between the input vector and each row of the matrix + distances = np.linalg.norm(point_cloud - point, axis=1) + + # find the index of the row with the minimum distance + closest_index = np.argsort(distances)[:num] + + # get the closest vector from the matrix + closest_vector = point_cloud[closest_index] + + return closest_index, closest_vector + +def plot_3d(xdata, ydata, zdata, color=None, b_min=2, b_max=8, view=(45, 45)): + fig, ax = plt.subplots(subplot_kw={"projection": "3d"}, dpi=200) + ax.view_init(view[0], view[1]) + ax.set_xlim(b_min, b_max) + ax.set_ylim(b_min, b_max) + ax.set_zlim(b_min, b_max) + ax.scatter3D(xdata, ydata, zdata, c=color, cmap='rgb', s=0.1) + +class SAM3DDemo(object): + def __init__(self, sam_model, sam_ckpt, scene_name): + sam = sam_model_registry[sam_model](checkpoint=sam_ckpt).cuda() + self.predictor = SamPredictor(sam) + self.scene_name = scene_name + scene_path = os.path.join('./scannet_data', scene_name) + self.color_path = os.path.join(scene_path, 'color') + self.depth_path = os.path.join(scene_path, 'depth') + self.pose_path = os.path.join(scene_path, 'pose') + self.intrinsic_path = os.path.join(scene_path, 'intrinsic') + self.align_matirx_path = f'{scene_path}/{scene_name}.txt' + self.img_ids = get_image_ids(self.color_path) + self.align_matrix = load_align_matrix_from_txt(self.align_matirx_path) + self.intrinsic_depth = load_matrix_from_txt(os.path.join(self.intrinsic_path, 'intrinsic_depth.txt')) + self.poses = [load_matrix_from_txt(os.path.join(self.pose_path, f'{i}.txt')) for i in self.img_ids] + self.rgb_images = [load_image(os.path.join(self.color_path, f'{i}.jpg')) for i in self.img_ids] + self.depth_images = [load_image(os.path.join(self.depth_path, f'{i}.png'))for i in self.img_ids] + + def project_3D_to_images(self, select_points, valid_margin=20): + valid_img_ids = [] + valid_points = {} + for img_i in range(len(self.img_ids)): + rgb_img = self.rgb_images[img_i] + depth_img = self.depth_images[img_i] + extrinsics = self.poses[img_i] + projection_matrix = self.intrinsic_depth @ np.linalg.inv(self.align_matrix @ extrinsics) + raw_points = np.vstack((select_points.T, np.ones((1, select_points.T.shape[1])))) + raw_points = np.dot(projection_matrix, raw_points) + # bounding simplest + points = raw_points[:2, :] / raw_points[2, :] + points = np.round(points).astype(np.int32) + valid = (points[0] >= valid_margin).all() & (points[1] >= valid_margin).all() \ + & (points[0] < (rgb_img.shape[1] - valid_margin)).all() & (points[1] < (rgb_img.shape[0] - valid_margin)).all() \ + & (raw_points[2, :] > 0).all() + if valid: + depth_margin = 0.4 + gt_depths = depth_img[points[1], points[0]] / 1000 + proj_depths = raw_points[2, :] + if (proj_depths[0] > (1 - depth_margin / 2.0) * gt_depths[0]) & (proj_depths[0] < (1 + depth_margin / 2.0) * gt_depths[0]): + valid_img_ids.append(img_i) + valid_points[img_i] = points + + show_id = valid_img_ids[-1] + show_points = valid_points[show_id] + rgb_img = self.rgb_images[show_id] + fig, ax = plt.subplots() + ax.imshow(rgb_img) + for x, y in zip(show_points[0], show_points[1]): + ax.plot(x, y, 'ro') + canvas = fig.canvas + canvas.draw() + w, h = canvas.get_width_height() + rgb_img_w_points = np.frombuffer(canvas.tostring_rgb(), dtype='uint8').reshape(h, w, 3) + print("projecting 3D point to images successfully...") + return valid_img_ids, valid_points, rgb_img_w_points + + def process_img_w_sam(self, valid_img_ids, valid_points, granularity): + mask_colors = [] + for img_i in range(len(self.img_ids)): + rgb_img = self.rgb_images[img_i] + msk_color = np.full(rgb_img.shape, 0.5) + if img_i in valid_img_ids: + self.predictor.set_image(rgb_img) + point_coor = valid_points[img_i].T[0][None] + masks, _, _ = self.predictor.predict(point_coords=point_coor, point_labels=np.array([1])) + # fig, axs = plt.subplots(nrows=1, ncols=3, figsize=(10, 5)) + # for i in range(3): + # mask_img = masks[i][:,:,None] * rgb_img + # axs[i].set_title(f'granularity {i}') + # axs[i].imshow(mask_img) + m = masks[granularity] + msk_color[m] = [0, 0, 1.0] + mask_colors.append(msk_color) + fig, axs = plt.subplots(nrows=1, ncols=3, figsize=(24, 8)) + for i in range(3): + mask_img = masks[i][:,:,None] * rgb_img + axs[i].set_title(f'granularity {i}') + axs[i].imshow(mask_img) + canvas = fig.canvas + canvas.draw() + w, h = canvas.get_width_height() + rgb_img_w_masks = np.frombuffer(canvas.tostring_rgb(), dtype='uint8').reshape(h, w, 3) + print("processing images with SAM successfully...") + return mask_colors, rgb_img_w_masks + + def project_mask_to_3d(self, mask_colors, sample_ratio=0.002): + x_data, y_data, z_data, c_data = [], [], [], [] + for img_i in range(len(self.img_ids)): + id = self.img_ids[img_i] + # RGBD + d = self.depth_images[img_i] + c = self.rgb_images[img_i] + p = self.poses[img_i] + msk_color = mask_colors[img_i] + # Projecting RGB features into the point space + for i in range(d.shape[0]): + for j in range(d.shape[1]): + if random.random() < sample_ratio: + x, y, z = convert_from_uvd(j, i, d[i, j], self.intrinsic_depth, p, self.align_matrix) + if x is None: + continue + x_data.append(x) + y_data.append(y) + z_data.append(z) + ci = int(i * c.shape[0] / d.shape[0]) + cj = int(j * c.shape[1] / d.shape[1]) + c_data.append([msk_color[ci, cj]]) + print("reprojecting images to 3D points successfully...") + return x_data, y_data, z_data, c_data + + def match_projected_point_to_gt_point(self, x_data, y_data, z_data, c_data, gt_coords): + + c_data = torch.tensor(np.concatenate(c_data, axis=0)) + img_coords = np.array([x_data, y_data, z_data], dtype=np.float32).T + gt_quant_coords = np.floor_divide(gt_coords, 0.2) + img_quant_coords = np.floor_divide(img_coords, 0.2) + + # Remove the reduandant coords + unique_gt_coords, gt_inverse_indices = np.unique(gt_quant_coords, axis=0, return_inverse=True) + unique_img_coords, img_inverse_indices = np.unique(img_quant_coords, axis=0, return_inverse=True) + + # Match the coords in gt_coords to img_corrds + def find_loc(vec): + obj = np.empty((), dtype=object) + out = np.where((unique_img_coords == vec).all(1))[0] + obj[()] = out + return obj + + gt_2_img_map = np.apply_along_axis(find_loc, 1, unique_gt_coords) + # Since some places are empty, using the simple round interplation + gt_2_img_map_filled = [] + start_id = np.array([0]) + for loc in gt_2_img_map: + if not np.any(loc): + loc = start_id + else: + start_id = loc + gt_2_img_map_filled.append(int(loc)) + + mean_colors = [] + for i in range(unique_img_coords.shape[0]): + valid_locs = np.where(img_inverse_indices == i) + mean_f = torch.mean(c_data[valid_locs], axis=0) + # mean_f, _ = torch.mode(c_data[valid_locs], dim=0) + mean_colors.append(mean_f.unsqueeze(0)) + mean_colors = torch.cat(mean_colors) + # Project the averaged features back to groundtruth point clouds + img_2_gt_colors = mean_colors[gt_2_img_map_filled] + projected_gt_colors = img_2_gt_colors[gt_inverse_indices] + print("convert projected points to GT points successfully...") + + return projected_gt_colors + + def render_point_cloud(self, data, color): + data_copy = copy.copy(data) + uint_color = torch.round(torch.tensor(color) * 255).to(torch.uint8) + data_copy['red'] = uint_color[:, 0] + data_copy['green'] = uint_color[:, 1] + data_copy['blue'] = uint_color[:, 2] + return data_copy + + def run_with_coord(self, point, granularity): + x_data, y_data, z_data, c_data = [], [], [], [] + + plydata = PlyData.read(f"./scannet_data/{self.scene_name}/{self.scene_name}.ply") + data = plydata.elements[0].data + + # gt_coords stand for the groudtruth point clouds coordinates + gt_coords = np.array([data['x'], data['y'], data['z']], dtype=np.float32).T + gt_color = np.array([data['red'], data['green'], data['blue']], dtype=np.float32).T + blank_color = np.full(gt_color.shape, 0.5) + + select_index, select_points = 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