Source code for nerfstudio.data.datasets.semantic_dataset

# Copyright 2022 the Regents of the University of California, Nerfstudio Team and contributors. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
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#     http://www.apache.org/licenses/LICENSE-2.0
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"""
Semantic dataset.
"""

from typing import Dict

import torch

from nerfstudio.data.dataparsers.base_dataparser import DataparserOutputs, Semantics
from nerfstudio.data.datasets.base_dataset import InputDataset
from nerfstudio.data.utils.data_utils import get_semantics_and_mask_tensors_from_path


class SemanticDataset(InputDataset):
    """Dataset that returns images and semantics and masks.

    Args:
        dataparser_outputs: description of where and how to read input images.
    """

    exclude_batch_keys_from_device = InputDataset.exclude_batch_keys_from_device + ["mask", "semantics"]

    def __init__(self, dataparser_outputs: DataparserOutputs, scale_factor: float = 1.0):
        super().__init__(dataparser_outputs, scale_factor)
        assert "semantics" in dataparser_outputs.metadata.keys() and isinstance(self.metadata["semantics"], Semantics)
        self.semantics = self.metadata["semantics"]
        self.mask_indices = torch.tensor(
            [self.semantics.classes.index(mask_class) for mask_class in self.semantics.mask_classes]
        ).view(1, 1, -1)

    def get_metadata(self, data: Dict) -> Dict:
        # handle mask
        filepath = self.semantics.filenames[data["image_idx"]]
        semantic_label, mask = get_semantics_and_mask_tensors_from_path(
            filepath=filepath, mask_indices=self.mask_indices, scale_factor=self.scale_factor
        )
        if "mask" in data.keys():
            mask = mask & data["mask"]
        return {"mask": mask, "semantics": semantic_label}