| import os |
| import json |
| from joblib import Parallel, delayed, parallel_backend |
| from glob import glob |
| from tqdm import tqdm |
| import numpy as np |
| import argparse |
|
|
|
|
| def load_semantic_anno(semantic_txt): |
| semantic_color = [] |
| obj_name_list = [] |
| color_2_name = {} |
| color_2_id = {} |
| with open(semantic_txt) as f: |
| lines = f.readlines()[1:] |
| for line in lines: |
| obj_id = int(line.split(',')[0]) |
| color_str = line.split(',')[1] |
| if len(color_str) != 6: |
| color_str = '0' * (6 - len(color_str)) + color_str |
| r = int(color_str[0:2], 16) |
| g = int(color_str[2:4], 16) |
| b = int(color_str[4:6], 16) |
| obj_name = line.split(',')[2][1:-1] |
| obj_name_list.append(obj_name) |
| rgb_value = np.array([r, g, b], dtype=np.uint8).reshape(1, 3) |
| semantic_color.append(rgb_value) |
| color_2_name[(r, g, b)] = obj_name |
| color_2_id[(r, g, b)] = obj_id |
| return np.concatenate(semantic_color, axis=0), obj_name_list, color_2_name, color_2_id |
|
|
|
|
| def scene_proc(scene_input): |
| scene_name = scene_input.split('/')[-1] |
| scene_uid = scene_name.split('-')[1] |
| sem_dir = scene_input + '/' + scene_uid + '.semantic' |
| print(scene_name) |
|
|
| |
| semantic_anno_color, obj_name_list, color_2_name, color_2_id = load_semantic_anno(sem_dir+'.txt') |
|
|
| tgt_id2obj_id = {} |
| |
| semantic_anno_set = set(list(zip(*(semantic_anno_color.T)))) |
| for _i, sem in enumerate(tqdm(semantic_anno_set)): |
| obj_name = color_2_name[(sem[0], sem[1], sem[2])] |
| obj_id = color_2_id[(sem[0], sem[1], sem[2])] |
| tgt_id2obj_id[_i+1] = (obj_id, obj_name) |
| json.dump(tgt_id2obj_id, open(os.path.join(scene_input, 'tgt_id2obj_id.json'), 'w'), indent=4) |
|
|
|
|
| if __name__ == "__main__": |
| parser = argparse.ArgumentParser() |
| parser.add_argument('--data_root', type=str, default='./hm3d-train-annots', help='data root for hm-semantics data') |
| args = parser.parse_args() |
| scene_list = glob(args.data_root + '/*') |
| with parallel_backend('multiprocessing', n_jobs=1): |
| Parallel()(delayed(scene_proc)(scene) for scene in scene_list) |
