nerf/datasets.py

# coding=utf-8
# Copyright 2021 The Google Research Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# Lint as: python3
"""Different datasets implementation plus a general port for all the datasets."""
INTERNAL = False  # pylint: disable=g-statement-before-imports
import json
import os, time
from os import path
import queue
import threading

if not INTERNAL:
    import cv2  # pylint: disable=g-import-not-at-top
import jax
import numpy as np
from PIL import Image

from nerf import utils
from nerf import clip_utils

def get_dataset(split, args, clip_model = None):
    return dataset_dict[args.dataset](split, args, clip_model)


def convert_to_ndc(origins, directions, focal, w, h, near=1.):
    """Convert a set of rays to NDC coordinates."""
    # Shift ray origins to near plane
    t = -(near + origins[..., 2]) / directions[..., 2]
    origins = origins + t[..., None] * directions

    dx, dy, dz = tuple(np.moveaxis(directions, -1, 0))
    ox, oy, oz = tuple(np.moveaxis(origins, -1, 0))

    # Projection
    o0 = -((2 * focal) / w) * (ox / oz)
    o1 = -((2 * focal) / h) * (oy / oz)
    o2 = 1 + 2 * near / oz

    d0 = -((2 * focal) / w) * (dx / dz - ox / oz)
    d1 = -((2 * focal) / h) * (dy / dz - oy / oz)
    d2 = -2 * near / oz

    origins = np.stack([o0, o1, o2], -1)
    directions = np.stack([d0, d1, d2], -1)
    return origins, directions


class Dataset(threading.Thread):
    """Dataset Base Class."""

    def __init__(self, split, flags, clip_model):
        super(Dataset, self).__init__()
        self.queue = queue.Queue(3)  # Set prefetch buffer to 3 batches.
        self.daemon = True
        self.use_pixel_centers = flags.use_pixel_centers
        self.split = split

        if split == "train":
            self._train_init(flags, clip_model)
        elif split == "test":
            self._test_init(flags)
        else:
            raise ValueError(
                "the split argument should be either \"train\" or \"test\", set"
                "to {} here.".format(split))
        self.batch_size = flags.batch_size // jax.process_count()
        self.batching = flags.batching
        self.render_path = flags.render_path
        self.far = flags.far
        self.near = flags.near
        self.max_steps = flags.max_steps
        self.start()

    def __iter__(self):
        return self

    def __next__(self):
        """Get the next training batch or test example.

        Returns:
          batch: dict, has "pixels" and "rays".
        """
        x = self.queue.get()
        if self.split == "train":
            return utils.shard(x)
        else:
            return utils.to_device(x)

    def peek(self):
        """Peek at the next training batch or test example without dequeuing it.

        Returns:
          batch: dict, has "pixels" and "rays".
        """
        x = self.queue.queue[0].copy()  # Make a copy of the front of the queue.
        if self.split == "train":
            return utils.shard(x)
        else:
            return utils.to_device(x)

    def run(self):
        if self.split == "train":
            next_func = self._next_train
        else:
            next_func = self._next_test
        while True:
            self.queue.put(next_func())

    @property
    def size(self):
        return self.n_examples

    def _train_init(self, flags, clip_model):
        """Initialize training."""
        self._load_renderings(flags, clip_model)
        self._generate_rays()

        if flags.batching == "all_images":
            # flatten the ray and image dimension together.
            self.images = self.images.reshape([-1, 3])
            self.rays = utils.namedtuple_map(lambda r: r.reshape([-1, r.shape[-1]]),
                                             self.rays)
        elif flags.batching == "single_image":
            self.images = self.images.reshape([-1, self.resolution, 3])
            self.rays = utils.namedtuple_map(
                lambda r: r.reshape([-1, self.resolution, r.shape[-1]]), self.rays)
        else:
            raise NotImplementedError(
                f"{flags.batching} batching strategy is not implemented.")

    def _test_init(self, flags):
        self._load_renderings(flags, clip_model = None)
        self._generate_rays()
        self.it = 0

    def _next_train(self):
        """Sample next training batch."""

        if self.batching == "all_images":
            ray_indices = np.random.randint(0, self.rays[0].shape[0],
                                            (self.batch_size,))
            batch_pixels = self.images[ray_indices]
            batch_rays = utils.namedtuple_map(lambda r: r[ray_indices], self.rays)
            raise NotImplementedError("image_index not implemented for batching=all_images")

        elif self.batching == "single_image":
            image_index = np.random.randint(0, self.n_examples, ())
            ray_indices = np.random.randint(0, self.rays[0][0].shape[0],
                                            (self.batch_size,))
            batch_pixels = self.images[image_index][ray_indices]
            batch_rays = utils.namedtuple_map(lambda r: r[image_index][ray_indices],
                                              self.rays)
        else:
            raise NotImplementedError(
                f"{self.batching} batching strategy is not implemented.")
        return {"pixels": batch_pixels, "rays": batch_rays, "image_index": image_index}

    def _next_test(self):
        """Sample next test example."""
        idx = self.it
        self.it = (self.it + 1) % self.n_examples

        if self.render_path:
            return {"rays": utils.namedtuple_map(lambda r: r[idx], self.render_rays)}
        else:
            return {"pixels": self.images[idx],
                    "rays": utils.namedtuple_map(lambda r: r[idx], self.rays),
                    "image_index": idx}

    # TODO(bydeng): Swap this function with a more flexible camera model.
    def _generate_rays(self):
        """Generating rays for all images."""
        pixel_center = 0.5 if self.use_pixel_centers else 0.0
        x, y = np.meshgrid(  # pylint: disable=unbalanced-tuple-unpacking
            np.arange(self.w, dtype=np.float32) + pixel_center,  # X-Axis (columns)
            np.arange(self.h, dtype=np.float32) + pixel_center,  # Y-Axis (rows)
            indexing="xy")
        camera_dirs = np.stack([(x - self.w * 0.5) / self.focal,
                                -(y - self.h * 0.5) / self.focal, -np.ones_like(x)],
                               axis=-1)
        directions = ((camera_dirs[None, ..., None, :] *
                       self.camtoworlds[:, None, None, :3, :3]).sum(axis=-1))
        origins = np.broadcast_to(self.camtoworlds[:, None, None, :3, -1],
                                  directions.shape)
        viewdirs = directions / np.linalg.norm(directions, axis=-1, keepdims=True)
        self.rays = utils.Rays(
            origins=origins, directions=directions, viewdirs=viewdirs)

    def camtoworld_matrix_to_rays(self, camtoworld, downsample = 1):
        """ render one instance of rays given a camera to world matrix (4, 4) """
        pixel_center = 0.5 if self.use_pixel_centers else 0.0
        # TODO @Alex: apply mesh downsampling here
        x, y = np.meshgrid(  # pylint: disable=unbalanced-tuple-unpacking
            np.arange(self.w, step = downsample, dtype=np.float32) + pixel_center,  # X-Axis (columns)
            np.arange(self.h, step = downsample, dtype=np.float32) + pixel_center,  # Y-Axis (rows)
            indexing="xy")
        camera_dirs = np.stack([(x - self.w * 0.5) / self.focal,
                                -(y - self.h * 0.5) / self.focal, -np.ones_like(x)],
                               axis=-1)
        directions = (camera_dirs[..., None, :] * camtoworld[None, None, :3, :3]).sum(axis=-1)
        origins = np.broadcast_to(camtoworld[None, None, :3, -1], directions.shape)
        viewdirs = directions / np.linalg.norm(directions, axis=-1, keepdims=True)
        return utils.Rays(origins=origins, directions=directions, viewdirs=viewdirs)

class Blender(Dataset):
    """Blender Dataset."""

    def _load_renderings(self, flags, clip_model = None):
        """Load images from disk."""
        if flags.render_path:
            raise ValueError("render_path cannot be used for the blender dataset.")
        cams, images, meta = self.load_files(flags.data_dir, self.split, flags.factor, flags.few_shot)

        self.images = np.stack(images, axis=0)
        if flags.white_bkgd:
            self.images = (self.images[..., :3] * self.images[..., -1:] +
                           (1. - self.images[..., -1:]))
        else:
            self.images = self.images[..., :3]
        self.h, self.w = self.images.shape[1:3]
        self.resolution = self.h * self.w
        self.camtoworlds = np.stack(cams, axis=0)
        camera_angle_x = float(meta["camera_angle_x"])
        self.focal = .5 * self.w / np.tan(.5 * camera_angle_x)
        self.n_examples = self.images.shape[0]
        self.dtype = flags.clip_output_dtype

        if flags.use_semantic_loss and clip_model is not None:
            embs = []
            for img in self.images:
                img = np.expand_dims(np.transpose(img,[2,0,1]), 0)
                emb = clip_model.get_image_features(pixel_values = clip_utils.preprocess_for_CLIP(img))
                embs.append( emb/np.linalg.norm(emb) )
            self.embeddings = np.concatenate(embs, 0)
        
            self.image_idx = np.arange(self.images.shape[0])
            np.random.shuffle(self.image_idx)
            self.image_idx = self.image_idx.tolist()

    @staticmethod
    def load_files(data_dir, split, factor, few_shot):
        with utils.open_file(path.join(data_dir, "transforms_{}.json".format(split)), "r") as fp:
            meta = json.load(fp)
        images = []
        cams = []

        frames = np.arange(len(meta["frames"]))
        if few_shot > 0 and split == 'train':
            # np.random.seed(0)
            # np.random.shuffle(frames)
            frames = frames[:few_shot]

        # if split == 'train':
        #     frames = [2,5,10,40,52,53,69,78,83,85,90,94,96,97]
        
        for i in frames:
            frame = meta["frames"][i]
            fname = os.path.join(data_dir, frame["file_path"] + ".png")
            with utils.open_file(fname, "rb") as imgin:
                image = np.array(Image.open(imgin)).astype(np.float32) / 255.
                if factor == 2:
                    [halfres_h, halfres_w] = [hw // 2 for hw in image.shape[:2]]
                    image = cv2.resize(image, (halfres_w, halfres_h),
                                       interpolation=cv2.INTER_AREA)
                elif factor == 4:
                    [halfres_h, halfres_w] = [hw // 4 for hw in image.shape[:2]]
                    image = cv2.resize(image, (halfres_w, halfres_h),
                                       interpolation=cv2.INTER_AREA)
                elif factor > 0:
                    raise ValueError("Blender dataset only supports factor=0 or 2 or 4, {} "
                                     "set.".format(factor))
            cams.append(np.array(frame["transform_matrix"], dtype=np.float32))
            images.append(image)

        print(f'No. of samples: {len(frames)}')
        return cams, images, meta

    def _next_train(self):
        batch_dict = super(Blender, self)._next_train()
        if self.batching == "single_image":
            image_index = batch_dict.pop("image_index")
        else:
            raise NotImplementedError
        return batch_dict

    def get_clip_data(self):
        if len(self.image_idx) == 0:
            self.image_idx = np.arange(self.images.shape[0])
            np.random.shuffle(self.image_idx)
            self.image_idx = self.image_idx.tolist()
        image_index = self.image_idx.pop()

        batch_dict = {}
        batch_dict["embedding"] = self.embeddings[image_index]

        src_seed = int(time.time())
        src_rng = jax.random.PRNGKey(src_seed)
        src_camtoworld = np.array(clip_utils.random_pose(src_rng, (self.near, self.far)))

        cx = np.random.randint(320, 480)
        cy = np.random.randint(320, 480)
        d = 140
        
        random_rays = self.camtoworld_matrix_to_rays(src_camtoworld, downsample = 1)
        random_rays = jax.tree_map(lambda x: x[cy-d:cy+d:4,cx-d:cx+d:4], random_rays)

        w = random_rays[0].shape[0] - random_rays[0].shape[0]%jax.local_device_count()
        random_rays = jax.tree_map(lambda x: x[:w,:w].reshape(-1,3), random_rays)
        batch_dict["random_rays"] = utils.shard(random_rays)
        if self.dtype == 'float16':
            batch_dict = jax.tree_map(lambda x: x.astype(np.float16), batch_dict)
        return batch_dict
    
class LLFF(Dataset):
    """LLFF Dataset."""

    def _load_renderings(self, flags):
        """Load images from disk."""
        # Load images.
        imgdir_suffix = ""
        if flags.factor > 0:
            imgdir_suffix = "_{}".format(flags.factor)
            factor = flags.factor
        else:
            factor = 1
        imgdir = path.join(flags.data_dir, "images" + imgdir_suffix)
        if not utils.file_exists(imgdir):
            raise ValueError("Image folder {} doesn't exist.".format(imgdir))
        imgfiles = [
            path.join(imgdir, f)
            for f in sorted(utils.listdir(imgdir))
            if f.endswith("JPG") or f.endswith("jpg") or f.endswith("png")
        ]
        images = []
        for imgfile in imgfiles:
            with utils.open_file(imgfile, "rb") as imgin:
                image = np.array(Image.open(imgin), dtype=np.float32) / 255.
                images.append(image)
        images = np.stack(images, axis=-1)

        # Load poses and bds.
        with utils.open_file(path.join(flags.data_dir, "poses_bounds.npy"),
                             "rb") as fp:
            poses_arr = np.load(fp)
        poses = poses_arr[:, :-2].reshape([-1, 3, 5]).transpose([1, 2, 0])
        bds = poses_arr[:, -2:].transpose([1, 0])
        if poses.shape[-1] != images.shape[-1]:
            raise RuntimeError("Mismatch between imgs {} and poses {}".format(
                images.shape[-1], poses.shape[-1]))

        # Update poses according to downsampling.
        poses[:2, 4, :] = np.array(images.shape[:2]).reshape([2, 1])
        poses[2, 4, :] = poses[2, 4, :] * 1. / factor

        # Correct rotation matrix ordering and move variable dim to axis 0.
        poses = np.concatenate(
            [poses[:, 1:2, :], -poses[:, 0:1, :], poses[:, 2:, :]], 1)
        poses = np.moveaxis(poses, -1, 0).astype(np.float32)
        images = np.moveaxis(images, -1, 0)
        bds = np.moveaxis(bds, -1, 0).astype(np.float32)

        # Rescale according to a default bd factor.
        scale = 1. / (bds.min() * .75)
        poses[:, :3, 3] *= scale
        bds *= scale

        # Recenter poses.
        poses = self._recenter_poses(poses)

        # Generate a spiral/spherical ray path for rendering videos.
        if flags.spherify:
            poses = self._generate_spherical_poses(poses, bds)
            self.spherify = True
        else:
            self.spherify = False
        if not flags.spherify and self.split == "test":
            self._generate_spiral_poses(poses, bds)

        # Select the split.
        i_test = np.arange(images.shape[0])[::flags.llffhold]
        i_train = np.array(
            [i for i in np.arange(int(images.shape[0])) if i not in i_test])
        if self.split == "train":
            indices = i_train
        else:
            indices = i_test
        images = images[indices]
        poses = poses[indices]

        self.images = images
        self.camtoworlds = poses[:, :3, :4]
        self.focal = poses[0, -1, -1]
        self.h, self.w = images.shape[1:3]
        self.resolution = self.h * self.w
        if flags.render_path:
            self.n_examples = self.render_poses.shape[0]
        else:
            self.n_examples = images.shape[0]

    def _generate_rays(self):
        """Generate normalized device coordinate rays for llff."""
        if self.split == "test":
            n_render_poses = self.render_poses.shape[0]
            self.camtoworlds = np.concatenate([self.render_poses, self.camtoworlds],
                                              axis=0)

        super()._generate_rays()

        if not self.spherify:
            ndc_origins, ndc_directions = convert_to_ndc(self.rays.origins,
                                                         self.rays.directions,
                                                         self.focal, self.w, self.h)
            self.rays = utils.Rays(
                origins=ndc_origins,
                directions=ndc_directions,
                viewdirs=self.rays.viewdirs)

        # Split poses from the dataset and generated poses
        if self.split == "test":
            self.camtoworlds = self.camtoworlds[n_render_poses:]
            split = [np.split(r, [n_render_poses], 0) for r in self.rays]
            split0, split1 = zip(*split)
            self.render_rays = utils.Rays(*split0)
            self.rays = utils.Rays(*split1)

    def _recenter_poses(self, poses):
        """Recenter poses according to the original NeRF code."""
        poses_ = poses.copy()
        bottom = np.reshape([0, 0, 0, 1.], [1, 4])
        c2w = self._poses_avg(poses)
        c2w = np.concatenate([c2w[:3, :4], bottom], -2)
        bottom = np.tile(np.reshape(bottom, [1, 1, 4]), [poses.shape[0], 1, 1])
        poses = np.concatenate([poses[:, :3, :4], bottom], -2)
        poses = np.linalg.inv(c2w) @ poses
        poses_[:, :3, :4] = poses[:, :3, :4]
        poses = poses_
        return poses

    def _poses_avg(self, poses):
        """Average poses according to the original NeRF code."""
        hwf = poses[0, :3, -1:]
        center = poses[:, :3, 3].mean(0)
        vec2 = self._normalize(poses[:, :3, 2].sum(0))
        up = poses[:, :3, 1].sum(0)
        c2w = np.concatenate([self._viewmatrix(vec2, up, center), hwf], 1)
        return c2w

    def _viewmatrix(self, z, up, pos):
        """Construct lookat view matrix."""
        vec2 = self._normalize(z)
        vec1_avg = up
        vec0 = self._normalize(np.cross(vec1_avg, vec2))
        vec1 = self._normalize(np.cross(vec2, vec0))
        m = np.stack([vec0, vec1, vec2, pos], 1)
        return m

    def _normalize(self, x):
        """Normalization helper function."""
        return x / np.linalg.norm(x)

    def _generate_spiral_poses(self, poses, bds):
        """Generate a spiral path for rendering."""
        c2w = self._poses_avg(poses)
        # Get average pose.
        up = self._normalize(poses[:, :3, 1].sum(0))
        # Find a reasonable "focus depth" for this dataset.
        close_depth, inf_depth = bds.min() * .9, bds.max() * 5.
        dt = .75
        mean_dz = 1. / (((1. - dt) / close_depth + dt / inf_depth))
        focal = mean_dz
        # Get radii for spiral path.
        tt = poses[:, :3, 3]
        rads = np.percentile(np.abs(tt), 90, 0)
        c2w_path = c2w
        n_views = 120
        n_rots = 2
        # Generate poses for spiral path.
        render_poses = []
        rads = np.array(list(rads) + [1.])
        hwf = c2w_path[:, 4:5]
        zrate = .5
        for theta in np.linspace(0., 2. * np.pi * n_rots, n_views + 1)[:-1]:
            c = np.dot(c2w[:3, :4], (np.array(
                [np.cos(theta), -np.sin(theta), -np.sin(theta * zrate), 1.]) * rads))
            z = self._normalize(c - np.dot(c2w[:3, :4], np.array([0, 0, -focal, 1.])))
            render_poses.append(np.concatenate([self._viewmatrix(z, up, c), hwf], 1))
        self.render_poses = np.array(render_poses).astype(np.float32)[:, :3, :4]

    def _generate_spherical_poses(self, poses, bds):
        """Generate a 360 degree spherical path for rendering."""
        # pylint: disable=g-long-lambda
        p34_to_44 = lambda p: np.concatenate([
            p,
            np.tile(np.reshape(np.eye(4)[-1, :], [1, 1, 4]), [p.shape[0], 1, 1])
        ], 1)
        rays_d = poses[:, :3, 2:3]
        rays_o = poses[:, :3, 3:4]

        def min_line_dist(rays_o, rays_d):
            a_i = np.eye(3) - rays_d * np.transpose(rays_d, [0, 2, 1])
            b_i = -a_i @ rays_o
            pt_mindist = np.squeeze(-np.linalg.inv(
                (np.transpose(a_i, [0, 2, 1]) @ a_i).mean(0)) @ (b_i).mean(0))
            return pt_mindist

        pt_mindist = min_line_dist(rays_o, rays_d)
        center = pt_mindist
        up = (poses[:, :3, 3] - center).mean(0)
        vec0 = self._normalize(up)
        vec1 = self._normalize(np.cross([.1, .2, .3], vec0))
        vec2 = self._normalize(np.cross(vec0, vec1))
        pos = center
        c2w = np.stack([vec1, vec2, vec0, pos], 1)
        poses_reset = (
                np.linalg.inv(p34_to_44(c2w[None])) @ p34_to_44(poses[:, :3, :4]))
        rad = np.sqrt(np.mean(np.sum(np.square(poses_reset[:, :3, 3]), -1)))
        sc = 1. / rad
        poses_reset[:, :3, 3] *= sc
        bds *= sc
        rad *= sc
        centroid = np.mean(poses_reset[:, :3, 3], 0)
        zh = centroid[2]
        radcircle = np.sqrt(rad ** 2 - zh ** 2)
        new_poses = []

        for th in np.linspace(0., 2. * np.pi, 120):
            camorigin = np.array([radcircle * np.cos(th), radcircle * np.sin(th), zh])
            up = np.array([0, 0, -1.])
            vec2 = self._normalize(camorigin)
            vec0 = self._normalize(np.cross(vec2, up))
            vec1 = self._normalize(np.cross(vec2, vec0))
            pos = camorigin
            p = np.stack([vec0, vec1, vec2, pos], 1)
            new_poses.append(p)

        new_poses = np.stack(new_poses, 0)
        new_poses = np.concatenate([
            new_poses,
            np.broadcast_to(poses[0, :3, -1:], new_poses[:, :3, -1:].shape)
        ], -1)
        poses_reset = np.concatenate([
            poses_reset[:, :3, :4],
            np.broadcast_to(poses[0, :3, -1:], poses_reset[:, :3, -1:].shape)
        ], -1)
        if self.split == "test":
            self.render_poses = new_poses[:, :3, :4]
        return poses_reset


dataset_dict = {"blender": Blender,
                "llff": LLFF}