generic.py

# MIT License
#
# Copyright (c) 2022 Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Cyrill
# Stachniss.
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
import importlib
import os
import sys
from pathlib import Path

import natsort
import numpy as np

from lidar_visualizer.datasets import supported_file_extensions


class GenericDataset:
    def __init__(self, data_dir: Path, *_, **__):
        try:
            self.o3d = importlib.import_module("open3d")
        except ModuleNotFoundError as e:
            raise ModuleNotFoundError(
                "Open3D is not installed on your system, to fix this either "
                'run "pip install open3d" '
                "or check https://www.open3d.org/docs/release/getting_started.html"
            ) from e
        # Intensity stuff
        import matplotlib.cm as cm

        self.cmap = cm.viridis

        # Config stuff
        self.sequence_id = os.path.basename(data_dir)
        self.scans_dir = os.path.join(os.path.realpath(data_dir), "")
        self.scan_files = np.array(
            natsort.natsorted(
                [
                    os.path.join(self.scans_dir, fn)
                    for fn in os.listdir(self.scans_dir)
                    if any(fn.endswith(ext) for ext in supported_file_extensions())
                ]
            ),
            dtype=str,
        )
        if len(self.scan_files) == 0:
            raise ValueError(f"Tried to read point cloud files in {self.scans_dir} but none found")
        self.file_extension = self.scan_files[0].split(".")[-1]
        if self.file_extension not in supported_file_extensions():
            raise ValueError(f"Supported formats are: {supported_file_extensions()}")

        # Obtain the pointcloud reader for the given data folder
        self._read_point_cloud = self._get_point_cloud_reader()

    def __len__(self):
        return len(self.scan_files)

    def __getitem__(self, idx):
        return self._read_point_cloud(self.scan_files[idx])

    def _get_point_cloud_reader(self):
        """Attempt to guess with try/catch blocks which is the best point cloud reader to use for
        the given dataset folder. Supported readers so far are:

        File readers are functions which take a filename as an input and return a tuple of points and colors.
            - np.fromfile
            - pye57
            - open3d
            - trimesh.load
            - PyntCloud
        """
        # 1. The old KITTI format
        if self.file_extension == "bin":
            print("[WARNING] Reading .bin files, the only format supported is the KITTI format")

            def read_kitti_scan(file):
                points_xyzi = (
                    np.fromfile(file, dtype=np.float32).reshape((-1, 4)).astype(np.float64)
                )
                points = points_xyzi[:, 0:3]
                intensity = points_xyzi[:, -1]
                intensity = intensity / intensity.max()
                colors = self.cmap(intensity)[:, :3].reshape(-1, 3)
                return points, colors

            return read_kitti_scan

        first_scan_file = self.scan_files[0]
        tried_libraries = []
        missing_libraries = []

        # 2 Try with pye57
        if self.file_extension == "e57":
            try:
                import pye57

                def read_e57_scan(file):
                    e57 = pye57.E57(file)
                    point_data = None
                    color_data = None
                    # One e57 file can contain multiple scans, scanned from different positions
                    for i in range(e57.scan_count):
                        i = e57.read_scan(i, colors=True, ignore_missing_fields=True)
                        scan_data = np.stack(
                            [i["cartesianX"], i["cartesianY"], i["cartesianZ"]], axis=1
                        )
                        point_data = (
                            np.concat([point_data, scan_data])
                            if point_data is not None
                            else scan_data
                        )
                        try:
                            scan_color_data = np.stack(
                                [i["colorRed"], i["colorGreen"], i["colorBlue"]], axis=1
                            )
                            color_data = (
                                np.concat([color_data, scan_color_data])
                                if color_data is not None
                                else scan_color_data
                            )
                        except KeyError:
                            pass
                    # e57 file colors are in 0-255 range
                    color_data = color_data / 255.0 if color_data is not None else None
                    return point_data, color_data

                return read_e57_scan
            except ModuleNotFoundError:
                missing_libraries.append("pye57")
                print("[WARNING] pye57 not installed")
            except:
                tried_libraries.append("pye57")

        # 3. Try with Open3D
        try:
            self.o3d.t.io.read_point_cloud(first_scan_file)

            def read_scan_with_intensities(file):
                scan = self.o3d.t.io.read_point_cloud(file)

                if "colors" in dir(scan.point):
                    scan = scan.to_legacy()
                    return np.asarray(scan.points), np.asarray(scan.colors)

                if "intensity" in dir(scan.point):
                    intensity = scan.point.intensity.numpy()
                    intensity = intensity / intensity.max()
                    colors = self.cmap(intensity)[:, :, :3].reshape(-1, 3)
                    return scan.point.positions.numpy(), colors

                # else
                scan = scan.to_legacy()
                return np.asarray(scan.points), None

            return read_scan_with_intensities
        except ModuleNotFoundError:
            missing_libraries.append("open3d")
        except:
            tried_libraries.append("open3d")

        # 4. Try with trimesh
        try:
            import trimesh

            trimesh.load(first_scan_file)
            return lambda file: np.asarray(trimesh.load(file).vertices), None
        except ModuleNotFoundError:
            missing_libraries.append("trimesh")
        except:
            tried_libraries.append("trimesh")

        # 5. Try with PyntCloud
        try:
            from pyntcloud import PyntCloud

            PyntCloud.from_file(first_scan_file)
            return lambda file: PyntCloud.from_file(file).points[["x", "y", "z"]].to_numpy(), None
        except ModuleNotFoundError:
            missing_libraries.append("pyntcloud")
        except:
            tried_libraries.append("pyntcloud")

        # If reach this point means that none of the libraries exist/could read the file
        if not tried_libraries:
            print(
                "No 3D library is installed in your system. Install one of the following "
                "to read the pointclouds"
            )
            print("\n".join(missing_libraries))
        else:
            print("[ERROR] File format not supported")

            print("Tried to load the point cloud with:")
            print("\n".join(tried_libraries))
            print("Skipped libraries (not installed):")
            print("\n".join(missing_libraries))
        sys.exit(1)