_stereo_matching.py

import functools
import os
from abc import ABC, abstractmethod
from glob import glob
from pathlib import Path
from typing import Callable, List, Optional, Tuple, Union

import numpy as np
from PIL import Image

from .utils import _read_pfm, verify_str_arg
from .vision import VisionDataset

__all__ = ()

_read_pfm_file = functools.partial(_read_pfm, slice_channels=1)


class StereoMatchingDataset(ABC, VisionDataset):
    """Base interface for Stereo matching datasets"""

    _has_built_in_disparity_mask = False

    def __init__(self, root: str, transforms: Optional[Callable] = None):
        """
        Args:
            root(str): Root directory of the dataset.
            transforms(callable, optional): A function/transform that takes in Tuples of
                (images, disparities, valid_masks) and returns a transformed version of each of them.
                images is a Tuple of (``PIL.Image``, ``PIL.Image``)
                disparities is a Tuple of (``np.ndarray``, ``np.ndarray``) with shape (1, H, W)
                valid_masks is a Tuple of (``np.ndarray``, ``np.ndarray``) with shape (H, W)
                In some cases, when a dataset does not provide disparities, the ``disparities`` and
                ``valid_masks`` can be Tuples containing None values.
                For training splits generally the datasets provide a minimal guarantee of
                images: (``PIL.Image``, ``PIL.Image``)
                disparities: (``np.ndarray``, ``None``) with shape (1, H, W)
                Optionally, based on the dataset, it can return a ``mask`` as well:
                valid_masks: (``np.ndarray | None``, ``None``) with shape (H, W)
                For some test splits, the datasets provides outputs that look like:
                imgaes: (``PIL.Image``, ``PIL.Image``)
                disparities: (``None``, ``None``)
                Optionally, based on the dataset, it can return a ``mask`` as well:
                valid_masks: (``None``, ``None``)
        """
        super().__init__(root=root)
        self.transforms = transforms

        self._images = []  # type: ignore
        self._disparities = []  # type: ignore

    def _read_img(self, file_path: str) -> Image.Image:
        img = Image.open(file_path)
        if img.mode != "RGB":
            img = img.convert("RGB")
        return img

    def _scan_pairs(self, paths_left_pattern: str, paths_right_pattern: Optional[str] = None):

        left_paths = list(sorted(glob(paths_left_pattern)))

        right_paths: List[Union[None, str]]
        if paths_right_pattern:
            right_paths = list(sorted(glob(paths_right_pattern)))
        else:
            right_paths = list(None for _ in left_paths)

        if not left_paths:
            raise FileNotFoundError(f"Could not find any files matching the patterns: {paths_left_pattern}")

        if not right_paths:
            raise FileNotFoundError(f"Could not find any files matching the patterns: {paths_right_pattern}")

        if len(left_paths) != len(right_paths):
            raise ValueError(
                f"Found {len(left_paths)} left files but {len(right_paths)} right files using:\n "
                f"left pattern: {paths_left_pattern}\n"
                f"right pattern: {paths_right_pattern}\n"
            )

        paths = list((left, right) for left, right in zip(left_paths, right_paths))
        return paths

    @abstractmethod
    def _read_disparity(self, file_path: str) -> Tuple:
        # function that returns a disparity map and an occlusion map
        pass

    def __getitem__(self, index: int) -> Tuple:
        """Return example at given index.

        Args:
            index(int): The index of the example to retrieve

        Returns:
            tuple: A 3 or 4-tuple with ``(img_left, img_right, disparity, Optional[valid_mask])`` where ``valid_mask``
                can be a numpy boolean mask of shape (H, W) if the dataset provides a file
                indicating which disparity pixels are valid. The disparity is a numpy array of
                shape (1, H, W) and the images are PIL images. ``disparity`` is None for
                datasets on which for ``split="test"`` the authors did not provide annotations.
        """
        img_left = self._read_img(self._images[index][0])
        img_right = self._read_img(self._images[index][1])

        dsp_map_left, valid_mask_left = self._read_disparity(self._disparities[index][0])
        dsp_map_right, valid_mask_right = self._read_disparity(self._disparities[index][1])

        imgs = (img_left, img_right)
        dsp_maps = (dsp_map_left, dsp_map_right)
        valid_masks = (valid_mask_left, valid_mask_right)

        if self.transforms is not None:
            (
                imgs,
                dsp_maps,
                valid_masks,
            ) = self.transforms(imgs, dsp_maps, valid_masks)

        if self._has_built_in_disparity_mask or valid_masks[0] is not None:
            return imgs[0], imgs[1], dsp_maps[0], valid_masks[0]
        else:
            return imgs[0], imgs[1], dsp_maps[0]

    def __len__(self) -> int:
        return len(self._images)


class CarlaStereo(StereoMatchingDataset):
    """
    Carla simulator data linked in the `CREStereo github repo <https://github.com/megvii-research/CREStereo>`_.

    The dataset is expected to have the following structure: ::

        root
            carla-highres
                trainingF
                    scene1
                        img0.png
                        img1.png
                        disp0GT.pfm
                        disp1GT.pfm
                        calib.txt
                    scene2
                        img0.png
                        img1.png
                        disp0GT.pfm
                        disp1GT.pfm
                        calib.txt
                    ...

    Args:
        root (string): Root directory where `carla-highres` is located.
        transforms (callable, optional): A function/transform that takes in a sample and returns a transformed version.
    """

    def __init__(self, root: str, transforms: Optional[Callable] = None):
        super().__init__(root, transforms)

        root = Path(root) / "carla-highres"

        left_image_pattern = str(root / "trainingF" / "*" / "im0.png")
        right_image_pattern = str(root / "trainingF" / "*" / "im1.png")
        imgs = self._scan_pairs(left_image_pattern, right_image_pattern)
        self._images = imgs

        left_disparity_pattern = str(root / "trainingF" / "*" / "disp0GT.pfm")
        right_disparity_pattern = str(root / "trainingF" / "*" / "disp1GT.pfm")
        disparities = self._scan_pairs(left_disparity_pattern, right_disparity_pattern)
        self._disparities = disparities

    def _read_disparity(self, file_path: str) -> Tuple:
        disparity_map = _read_pfm_file(file_path)
        disparity_map = np.abs(disparity_map)  # ensure that the disparity is positive
        valid_mask = None
        return disparity_map, valid_mask

    def __getitem__(self, index: int) -> Tuple:
        """Return example at given index.

        Args:
            index(int): The index of the example to retrieve

        Returns:
            tuple: A 3-tuple with ``(img_left, img_right, disparity)``.
            The disparity is a numpy array of shape (1, H, W) and the images are PIL images.
            If a ``valid_mask`` is generated within the ``transforms`` parameter,
            a 4-tuple with ``(img_left, img_right, disparity, valid_mask)`` is returned.
        """
        return super().__getitem__(index)


class Kitti2012Stereo(StereoMatchingDataset):
    """
    KITTI dataset from the `2012 stereo evaluation benchmark <http://www.cvlibs.net/datasets/kitti/eval_stereo_flow.php>`_.
    Uses the RGB images for consistency with KITTI 2015.

    The dataset is expected to have the following structure: ::

        root
            Kitti2012
                testing
                    colored_0
                        1_10.png
                        2_10.png
                        ...
                    colored_1
                        1_10.png
                        2_10.png
                        ...
                training
                    colored_0
                        1_10.png
                        2_10.png
                        ...
                    colored_1
                        1_10.png
                        2_10.png
                        ...
                    disp_noc
                        1.png
                        2.png
                        ...
                    calib

    Args:
        root (string): Root directory where `Kitti2012` is located.
        split (string, optional): The dataset split of scenes, either "train" (default) or "test".
        transforms (callable, optional): A function/transform that takes in a sample and returns a transformed version.
    """

    _has_built_in_disparity_mask = True

    def __init__(self, root: str, split: str = "train", transforms: Optional[Callable] = None):
        super().__init__(root, transforms)

        verify_str_arg(split, "split", valid_values=("train", "test"))

        root = Path(root) / "Kitti2012" / (split + "ing")

        left_img_pattern = str(root / "colored_0" / "*_10.png")
        right_img_pattern = str(root / "colored_1" / "*_10.png")
        self._images = self._scan_pairs(left_img_pattern, right_img_pattern)

        if split == "train":
            disparity_pattern = str(root / "disp_noc" / "*.png")
            self._disparities = self._scan_pairs(disparity_pattern, None)
        else:
            self._disparities = list((None, None) for _ in self._images)

    def _read_disparity(self, file_path: str) -> Tuple:
        # test split has no disparity maps
        if file_path is None:
            return None, None

        disparity_map = np.asarray(Image.open(file_path)) / 256.0
        # unsqueeze the disparity map into (C, H, W) format
        disparity_map = disparity_map[None, :, :]
        valid_mask = None
        return disparity_map, valid_mask

    def __getitem__(self, index: int) -> Tuple:
        """Return example at given index.

        Args:
            index(int): The index of the example to retrieve

        Returns:
            tuple: A 4-tuple with ``(img_left, img_right, disparity, valid_mask)``.
            The disparity is a numpy array of shape (1, H, W) and the images are PIL images.
            ``valid_mask`` is implicitly ``None`` if the ``transforms`` parameter does not
            generate a valid mask.
            Both ``disparity`` and ``valid_mask`` are ``None`` if the dataset split is test.
        """
        return super().__getitem__(index)


class Kitti2015Stereo(StereoMatchingDataset):
    """
    KITTI dataset from the `2015 stereo evaluation benchmark <http://www.cvlibs.net/datasets/kitti/eval_scene_flow.php>`_.

    The dataset is expected to have the following structure: ::

        root
            Kitti2015
                testing
                    image_2
                        img1.png
                        img2.png
                        ...
                    image_3
                        img1.png
                        img2.png
                        ...
                training
                    image_2
                        img1.png
                        img2.png
                        ...
                    image_3
                        img1.png
                        img2.png
                        ...
                    disp_occ_0
                        img1.png
                        img2.png
                        ...
                    disp_occ_1
                        img1.png
                        img2.png
                        ...
                    calib

    Args:
        root (string): Root directory where `Kitti2015` is located.
        split (string, optional): The dataset split of scenes, either "train" (default) or "test".
        transforms (callable, optional): A function/transform that takes in a sample and returns a transformed version.
    """

    _has_built_in_disparity_mask = True

    def __init__(self, root: str, split: str = "train", transforms: Optional[Callable] = None):
        super().__init__(root, transforms)

        verify_str_arg(split, "split", valid_values=("train", "test"))

        root = Path(root) / "Kitti2015" / (split + "ing")
        left_img_pattern = str(root / "image_2" / "*.png")
        right_img_pattern = str(root / "image_3" / "*.png")
        self._images = self._scan_pairs(left_img_pattern, right_img_pattern)

        if split == "train":
            left_disparity_pattern = str(root / "disp_occ_0" / "*.png")
            right_disparity_pattern = str(root / "disp_occ_1" / "*.png")
            self._disparities = self._scan_pairs(left_disparity_pattern, right_disparity_pattern)
        else:
            self._disparities = list((None, None) for _ in self._images)

    def _read_disparity(self, file_path: str) -> Tuple:
        # test split has no disparity maps
        if file_path is None:
            return None, None

        disparity_map = np.asarray(Image.open(file_path)) / 256.0
        # unsqueeze the disparity map into (C, H, W) format
        disparity_map = disparity_map[None, :, :]
        valid_mask = None
        return disparity_map, valid_mask

    def __getitem__(self, index: int) -> Tuple:
        """Return example at given index.

        Args:
            index(int): The index of the example to retrieve

        Returns:
            tuple: A 4-tuple with ``(img_left, img_right, disparity, valid_mask)``.
            The disparity is a numpy array of shape (1, H, W) and the images are PIL images.
            ``valid_mask`` is implicitly ``None`` if the ``transforms`` parameter does not
            generate a valid mask.
            Both ``disparity`` and ``valid_mask`` are ``None`` if the dataset split is test.
        """
        return super().__getitem__(index)


class SceneFlowStereo(StereoMatchingDataset):
    """Dataset interface for `Scene Flow <https://lmb.informatik.uni-freiburg.de/resources/datasets/SceneFlowDatasets.en.html>`_ datasets.
    This interface provides access to the `FlyingThings3D, `Monkaa` and `Driving` datasets.

    The dataset is expected to have the following structre: ::

        root
            SceneFlow
                Monkaa
                    frames_cleanpass
                        scene1
                            left
                                img1.png
                                img2.png
                            right
                                img1.png
                                img2.png
                        scene2
                            left
                                img1.png
                                img2.png
                            right
                                img1.png
                                img2.png
                    frames_finalpass
                        scene1
                            left
                                img1.png
                                img2.png
                            right
                                img1.png
                                img2.png
                        ...
                        ...
                    disparity
                        scene1
                            left
                                img1.pfm
                                img2.pfm
                            right
                                img1.pfm
                                img2.pfm
                FlyingThings3D
                    ...
                    ...

    Args:
        root (string): Root directory where SceneFlow is located.
        variant (string): Which dataset variant to user, "FlyingThings3D" (default), "Monkaa" or "Driving".
        pass_name (string): Which pass to use, "clean" (default), "final" or "both".
        transforms (callable, optional): A function/transform that takes in a sample and returns a transformed version.

    """

    def __init__(
        self,
        root: str,
        variant: str = "FlyingThings3D",
        pass_name: str = "clean",
        transforms: Optional[Callable] = None,
    ):
        super().__init__(root, transforms)

        root = Path(root) / "SceneFlow"

        verify_str_arg(variant, "variant", valid_values=("FlyingThings3D", "Driving", "Monkaa"))
        verify_str_arg(pass_name, "pass_name", valid_values=("clean", "final", "both"))

        passes = {
            "clean": ["frames_cleanpass"],
            "final": ["frames_finalpass"],
            "both": ["frames_cleanpass", "frames_finalpass"],
        }[pass_name]

        root = root / variant

        for p in passes:
            left_image_pattern = str(root / p / "*" / "left" / "*.png")
            right_image_pattern = str(root / p / "*" / "right" / "*.png")
            self._images += self._scan_pairs(left_image_pattern, right_image_pattern)

            left_disparity_pattern = str(root / "disparity" / "*" / "left" / "*.pfm")
            right_disparity_pattern = str(root / "disparity" / "*" / "right" / "*.pfm")
            self._disparities += self._scan_pairs(left_disparity_pattern, right_disparity_pattern)

    def _read_disparity(self, file_path: str) -> Tuple:
        disparity_map = _read_pfm_file(file_path)
        disparity_map = np.abs(disparity_map)  # ensure that the disparity is positive
        valid_mask = None
        return disparity_map, valid_mask

    def __getitem__(self, index: int) -> Tuple:
        """Return example at given index.

        Args:
            index(int): The index of the example to retrieve

        Returns:
            tuple: A 3-tuple with ``(img_left, img_right, disparity)``.
            The disparity is a numpy array of shape (1, H, W) and the images are PIL images.
            If a ``valid_mask`` is generated within the ``transforms`` parameter,
            a 4-tuple with ``(img_left, img_right, disparity, valid_mask)`` is returned.
        """
        return super().__getitem__(index)


class SintelStereo(StereoMatchingDataset):
    """Sintel `Stereo Dataset <http://sintel.is.tue.mpg.de/stereo>`_.

    The dataset is expected to have the following structure: ::

        root
            Sintel
                training
                    final_left
                        scene1
                            img1.png
                            img2.png
                            ...
                        ...
                    final_right
                        scene2
                            img1.png
                            img2.png
                            ...
                        ...
                    disparities
                        scene1
                            img1.png
                            img2.png
                            ...
                        ...
                    occlusions
                        scene1
                            img1.png
                            img2.png
                            ...
                        ...
                    outofframe
                        scene1
                            img1.png
                            img2.png
                            ...
                        ...

    Args:
        root (string): Root directory where Sintel Stereo is located.
        pass_name (string): The name of the pass to use, either "final", "clean" or "both".
        transforms (callable, optional): A function/transform that takes in a sample and returns a transformed version.
    """

    _has_built_in_disparity_mask = True

    def __init__(self, root: str, pass_name: str = "final", transforms: Optional[Callable] = None):
        super().__init__(root, transforms)

        verify_str_arg(pass_name, "pass_name", valid_values=("final", "clean", "both"))

        root = Path(root) / "Sintel"
        pass_names = {
            "final": ["final"],
            "clean": ["clean"],
            "both": ["final", "clean"],
        }[pass_name]

        for p in pass_names:
            left_img_pattern = str(root / "training" / f"{p}_left" / "*" / "*.png")
            right_img_pattern = str(root / "training" / f"{p}_right" / "*" / "*.png")
            self._images += self._scan_pairs(left_img_pattern, right_img_pattern)

            disparity_pattern = str(root / "training" / "disparities" / "*" / "*.png")
            self._disparities += self._scan_pairs(disparity_pattern, None)

    def _get_occlussion_mask_paths(self, file_path: str) -> Tuple[str, str]:
        # helper function to get the occlusion mask paths
        # a path will look like  .../.../.../training/disparities/scene1/img1.png
        # we want to get something like .../.../.../training/occlusions/scene1/img1.png
        fpath = Path(file_path)
        basename = fpath.name
        scenedir = fpath.parent
        # the parent of the scenedir is actually the disparity dir
        sampledir = scenedir.parent.parent

        occlusion_path = str(sampledir / "occlusions" / scenedir.name / basename)
        outofframe_path = str(sampledir / "outofframe" / scenedir.name / basename)

        if not os.path.exists(occlusion_path):
            raise FileNotFoundError(f"Occlusion mask {occlusion_path} does not exist")

        if not os.path.exists(outofframe_path):
            raise FileNotFoundError(f"Out of frame mask {outofframe_path} does not exist")

        return occlusion_path, outofframe_path

    def _read_disparity(self, file_path: str) -> Tuple:
        if file_path is None:
            return None, None

        # disparity decoding as per Sintel instructions in the README provided with the dataset
        disparity_map = np.asarray(Image.open(file_path), dtype=np.float32)
        r, g, b = np.split(disparity_map, 3, axis=-1)
        disparity_map = r * 4 + g / (2**6) + b / (2**14)
        # reshape into (C, H, W) format
        disparity_map = np.transpose(disparity_map, (2, 0, 1))
        # find the appropiate file paths
        occlued_mask_path, out_of_frame_mask_path = self._get_occlussion_mask_paths(file_path)
        # occlusion masks
        valid_mask = np.asarray(Image.open(occlued_mask_path)) == 0
        # out of frame masks
        off_mask = np.asarray(Image.open(out_of_frame_mask_path)) == 0
        # combine the masks together
        valid_mask = np.logical_and(off_mask, valid_mask)
        return disparity_map, valid_mask

    def __getitem__(self, index: int) -> Tuple:
        """Return example at given index.

        Args:
            index(int): The index of the example to retrieve

        Returns:
            tuple: A 4-tuple with ``(img_left, img_right, disparity, valid_mask)`` is returned.
            The disparity is a numpy array of shape (1, H, W) and the images are PIL images whilst
            the valid_mask is a numpy array of shape (H, W).
        """
        return super().__getitem__(index)