Nbuono/implement symphony dataset parser (#333)

Co-authored-by: Nicolaniello Buono <[email protected]>
Co-authored-by: Nico Buono <[email protected]>

WORKSPACE

@@ -18,6 +18,13 @@ http_archive(
   integrity = "sha256-CVtgQSRXe8o2wMjNcJrxtlUxiHZY9ZQJ0kde8BkrTPw="
 )
 
+http_archive(
+  name = "symphony_lake_snippet",
+  urls = ["https://www.dropbox.com/scl/fi/gh7855qdos5mspinst77k/symphony_lake_snippet.zip?rlkey=mg7qe0gq51r446dwhr9g2wiut&st=774393fx&dl=1"],
+  build_file = "//third_party:BUILD.symphony_lake_snippet",
+  sha256 = "f16211fb370c9471153c9ed4a345b9fb848d292dbb8b7dc26fea24cb30ba5c15",
+)
+
 http_archive(
     name = "bazel_skylib",
     sha256 = "bc283cdfcd526a52c3201279cda4bc298652efa898b10b4db0837dc51652756f",
@@ -466,6 +473,16 @@ http_archive(
   integrity = "sha256-cSp9CdKiJlL7BqSa9RbgUZeaOYStsGfahnYOYO1Rp/U="
 )
 
+load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
+
+http_archive(
+    name = "symphony_lake_parser",
+    urls = ["https://github.com/pizzaroll04/SymphonyLakeDataset/archive/4b38c2519270a43f76858e6c97c1f1de1735e5d0.zip"],
+    strip_prefix = "SymphonyLakeDataset-4b38c2519270a43f76858e6c97c1f1de1735e5d0",
+    build_file = "//third_party:BUILD.symphony_lake_parser",
+    sha256 = "d203e486507c7950ae9a346406fe2c42f8b2d204e8d25ba07a47c834f4ae8ede",
+)
+
 http_archive(
     name = "gtsam",
     build_file = "@rules_gtsam//third_party:gtsam.BUILD",

experimental/learn_descriptors/BUILD

@@ -1,4 +1,3 @@
-
 package(features=["warning_compile_flags"])
 
 cc_library(
@@ -17,6 +16,31 @@ cc_test(
   ]
 )
 
+
+cc_library(
+  name = "symphony_lake_parser",
+  hdrs = ["symphony_lake_parser.hh"],
+  copts = ["-Wno-unused-parameter"],
+  visibility = ["//visibility:public"],
+  srcs = ["symphony_lake_parser.cc"],
+  deps = [
+    "@symphony_lake_parser",
+    "//common:check"
+  ]
+)
+
+cc_test(
+  name = "symphony_lake_parser_test",
+  srcs = ["symphony_lake_parser_test.cc"],
+  copts = ["-Wno-unused-parameter"],
+  data = ["@symphony_lake_snippet"],
+  deps = [
+    "@com_google_googletest//:gtest_main",
+    ":symphony_lake_parser",
+    "//common:check"
+  ]
+)
+
 cc_test(
   name = "gtsam_test",
   srcs = ["gtsam_test.cc"],
@@ -25,4 +49,4 @@ cc_test(
     "@gtsam//:gtsam",
     ":learn_descriptors"  
   ]
-)
+)

experimental/learn_descriptors/symphony_lake_parser.cc

@@ -0,0 +1,15 @@
+#include "experimental/learn_descriptors/symphony_lake_parser.hh"
+
+#include <iostream>
+
+#include "common/check.hh"
+
+namespace robot::experimental::learn_descriptors {
+DataParser::DataParser(const std::filesystem::path &image_root_dir,
+                       const std::vector<std::string> &survey_list) {
+    CHECK(std::filesystem::exists(image_root_dir), "Image root dir does not exist!",
+          image_root_dir);
+    surveys_.load(image_root_dir.string(), survey_list);
+}
+DataParser::~DataParser() {}
+}  // namespace robot::experimental::learn_descriptors

experimental/learn_descriptors/symphony_lake_parser.hh

@@ -0,0 +1,21 @@
+#pragma once
+#pragma once
+#include <string.h>
+
+#include <filesystem>
+
+#include "symphony_lake_dataset/SurveyVector.h"
+
+namespace robot::experimental::learn_descriptors {
+class DataParser {
+   public:
+    DataParser(const std::filesystem::path &image_root_dir,
+               const std::vector<std::string> &survey_list);
+    ~DataParser();
+
+    const symphony_lake_dataset::SurveyVector &get_surveys() const { return surveys_; };
+
+   private:
+    symphony_lake_dataset::SurveyVector surveys_;
+};
+}  // namespace robot::experimental::learn_descriptors

experimental/learn_descriptors/symphony_lake_parser_test.cc

@@ -0,0 +1,67 @@
+#include "experimental/learn_descriptors/symphony_lake_parser.hh"
+
+#include <cstdlib>
+#include <iostream>
+#include <sstream>
+#include <string>
+#include <vector>
+
+#include "common/check.hh"
+#include "gtest/gtest.h"
+#include "opencv2/opencv.hpp"
+
+namespace robot::experimental::learn_descriptors {
+namespace {
+bool is_test() { return std::getenv("BAZEL_TEST") != nullptr; }
+}  // namespace
+
+class SymphonyLakeDatasetTestHelper {
+   public:
+    static bool images_equal(cv::Mat img1, cv::Mat img2) {
+        if (img1.size() != img2.size() || img1.type() != img2.type()) {
+            return false;
+        }
+        cv::Mat diff;
+        cv::absdiff(img1, img2, diff);
+        diff = diff.reshape(1);
+        return cv::countNonZero(diff) == 0;
+    }
+};
+TEST(SymphonyLakeParserTest, snippet_140106) {
+    const std::filesystem::path image_root_dir = "external/symphony_lake_snippet/symphony_lake";
+    const std::vector<std::string> survey_list{"140106_snippet"};
+
+    DataParser data_parser = DataParser(image_root_dir, survey_list);
+
+    const symphony_lake_dataset::SurveyVector &survey_vector = data_parser.get_surveys();
+
+    cv::Mat image;
+    cv::Mat target_img;
+    if (!is_test()) {
+        cv::namedWindow("Symphony Dataset Image", cv::WINDOW_AUTOSIZE);
+    }
+    printf("Press 'q' in graphic window to quit\n");
+    for (int i = 0; i < static_cast<int>(survey_vector.getNumSurveys()); i++) {
+        const symphony_lake_dataset::Survey &survey = survey_vector.get(i);
+        for (int j = 0; j < static_cast<int>(survey.getNumImages()); j++) {
+            image = survey.loadImageByImageIndex(j);
+
+            // get the target image
+            std::stringstream target_img_name;
+            target_img_name << "0000" << j << ".jpg";
+            const size_t target_img_name_length = 8;
+            std::string target_img_name_str = target_img_name.str();
+            target_img_name_str.replace(0, target_img_name_str.size() - target_img_name_length, "");
+            std::filesystem::path target_img_dir =
+                image_root_dir / survey_list[i] / "0027" / target_img_name_str;
+            target_img = cv::imread(target_img_dir.string());
+
+            EXPECT_TRUE(SymphonyLakeDatasetTestHelper::images_equal(image, target_img));
+            if (!is_test()) {
+                cv::imshow("Symphony Dataset Image", image);
+                cv::waitKey(2);
+            }
+        }
+    }
+}
+}  // namespace robot::experimental::learn_descriptors

setup.sh

@@ -15,5 +15,5 @@ sudo apt-get update
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y install clang clang-15 clang-format-15 libxcursor-dev \
      libxrandr-dev libxinerama-dev libxi-dev freeglut3-dev libstdc++-12-dev gcc-11 g++-11 libtbb-dev \
      libfmt-dev libspdlog-dev libvtk9-dev coinor-libipopt-dev coinor-libclp-dev \
-     libgirepository1.0-dev libcairo2-dev libcanberra-gtk-module
+     libgirepository1.0-dev libcairo2-dev libgtk2.0-dev libcanberra-gtk-module
 

third_party/BUILD.symphony_lake_parser

@@ -0,0 +1,26 @@
+package(features=["-warning_compile_flags"])
+
+cc_library(
+  name = "symphony_lake_parser",
+  hdrs = [
+    "include/symphony_lake_dataset/SurveyVector.h",
+    "include/symphony_lake_dataset/csv_functions.h",
+    "include/symphony_lake_dataset/Function.h",
+    "include/symphony_lake_dataset/ImagePoint.h",
+    "include/symphony_lake_dataset/ParseSurvey.h",
+    "include/symphony_lake_dataset/Pose.h",
+    "include/symphony_lake_dataset/Survey.h",
+  ],
+  copts = ["-Wno-unused-parameter"],
+  visibility = ["//visibility:public"],
+  srcs = [
+    "src/Function.cpp",
+    "src/ParseSurvey.cpp",
+    "src/Survey.cpp",
+    "src/SurveyVector.cpp"
+  ],
+  strip_include_prefix="include/",
+  deps = [
+    "@opencv//:opencv",
+  ],
+)

third_party/BUILD.symphony_lake_snippet

@@ -0,0 +1,6 @@
+
+filegroup(
+  name = "symphony_lake_snippet",
+  srcs = glob(["**/*"]),
+  visibility=["//visibility:public"],
+)