add panorama image creation script

preprocess/build_image_lmdb.py

@@ -0,0 +1,86 @@
+import os
+import sys
+import numpy as np
+import json
+import collections
+from PIL import Image
+import matplotlib.pyplot as plt
+import lmdb
+import math
+
+sys.path.append('codes/Matterport3DSimulator/build/')
+import MatterSim
+
+
+# Simulator image parameters
+WIDTH = 640
+HEIGHT = 480
+VFOV = 60
+
+scan_data_dir = 'datasets/Matterport3D/v1_unzip_scans'
+connectivity_dir = 'datasets/R2R/connectivity'
+
+sim = MatterSim.Simulator()
+sim.setDatasetPath(scan_data_dir)
+sim.setNavGraphPath(connectivity_dir)
+sim.setPreloadingEnabled(True)
+sim.setCameraResolution(WIDTH, HEIGHT)
+sim.setCameraVFOV(math.radians(VFOV))
+sim.setDiscretizedViewingAngles(True)
+sim.setBatchSize(1)
+sim.initialize()
+
+viewpoint_ids = []
+with open(os.path.join(connectivity_dir, 'scans.txt')) as f:
+    scans = [x.strip() for x in f]
+for scan in scans:
+    with open(os.path.join(connectivity_dir, '%s_connectivity.json'%scan)) as f:
+        data = json.load(f)
+        viewpoint_ids.extend([(scan, x['image_id']) for x in data if x['included']])
+print('Loaded %d viewpoints' % len(viewpoint_ids))
+
+
+NEWHEIGHT = 248
+NEWWIDTH = int(WIDTH / HEIGHT * NEWHEIGHT)
+print(NEWHEIGHT, NEWWIDTH)
+
+data_size_per_img = np.random.randint(255, size=(NEWHEIGHT, NEWWIDTH, 3), dtype=np.uint8).nbytes
+print(data_size_per_img, 36*data_size_per_img*len(viewpoint_ids))
+
+lmdb_path = 'datasets/R2R/features/panoimages.lmdb'
+
+env = lmdb.open(lmdb_path, map_size=int(1e12))
+
+
+for i, viewpoint_id in enumerate(viewpoint_ids):
+    scan, vp = viewpoint_id
+    if i % 100 == 0:
+        print(i, scan, vp)
+
+    key = '%s_%s' % (scan, vp)
+    key_byte = key.encode('ascii')
+
+    txn = env.begin(write=True)
+
+    images = []
+    for ix in range(36):
+        if ix == 0:
+            sim.newEpisode([scan], [vp], [0], [math.radians(-30)])
+        elif ix % 12 == 0:
+            sim.makeAction([0], [1.0], [1.0])
+        else:
+            sim.makeAction([0], [1.0], [0])
+        state = sim.getState()[0]
+        assert state.viewIndex == ix
+        image = np.array(state.rgb, copy=True) # in BGR channel
+        image = Image.fromarray(image[:, :, ::-1]) #cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
+        # resize
+        image = image.resize((NEWWIDTH, NEWHEIGHT), Image.ANTIALIAS)
+        image = np.array(image)
+        images.append(image)
+    images = np.stack(images, 0)
+
+    txn.put(key_byte, images)
+    txn.commit()
+
+env.close()