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# Copyright (C) 2022-present Naver Corporation. All rights reserved.
# Licensed under CC BY-NC-SA 4.0 (non-commercial use only).
"""
Paths to Habitat-Sim scenes
"""
import collections
import json
import os
from tqdm import tqdm
# Hardcoded path to the different scene datasets
SCENES_DATASET = {
"hm3d": "./data/habitat-sim-data/scene_datasets/hm3d/",
"gibson": "./data/habitat-sim-data/scene_datasets/gibson/",
"habitat-test-scenes": "./data/habitat-sim/scene_datasets/habitat-test-scenes/",
"replica_cad_baked_lighting": "./data/habitat-sim/scene_datasets/replica_cad_baked_lighting/",
"replica_cad": "./data/habitat-sim/scene_datasets/replica_cad/",
"replica": "./data/habitat-sim/scene_datasets/ReplicaDataset/",
"scannet": "./data/habitat-sim/scene_datasets/scannet/",
}
SceneData = collections.namedtuple(
"SceneData", ["scene_dataset_config_file", "scene", "navmesh", "output_dir"]
)
def list_replicacad_scenes(base_output_dir, base_path=SCENES_DATASET["replica_cad"]):
scene_dataset_config_file = os.path.join(
base_path, "replicaCAD.scene_dataset_config.json"
)
scenes = [f"apt_{i}" for i in range(6)] + ["empty_stage"]
navmeshes = [f"navmeshes/apt_{i}_static_furniture.navmesh" for i in range(6)] + [
"empty_stage.navmesh"
]
scenes_data = []
for idx in range(len(scenes)):
output_dir = os.path.join(base_output_dir, "ReplicaCAD", scenes[idx])
# Add scene
data = SceneData(
scene_dataset_config_file=scene_dataset_config_file,
scene=scenes[idx] + ".scene_instance.json",
navmesh=os.path.join(base_path, navmeshes[idx]),
output_dir=output_dir,
)
scenes_data.append(data)
return scenes_data
def list_replica_cad_baked_lighting_scenes(
base_output_dir, base_path=SCENES_DATASET["replica_cad_baked_lighting"]
):
scene_dataset_config_file = os.path.join(
base_path, "replicaCAD_baked.scene_dataset_config.json"
)
scenes = sum(
[[f"Baked_sc{i}_staging_{j:02}" for i in range(5)] for j in range(21)], []
)
navmeshes = "" # [f"navmeshes/apt_{i}_static_furniture.navmesh" for i in range(6)] + ["empty_stage.navmesh"]
scenes_data = []
for idx in range(len(scenes)):
output_dir = os.path.join(
base_output_dir, "replica_cad_baked_lighting", scenes[idx]
)
data = SceneData(
scene_dataset_config_file=scene_dataset_config_file,
scene=scenes[idx],
navmesh="",
output_dir=output_dir,
)
scenes_data.append(data)
return scenes_data
def list_replica_scenes(base_output_dir, base_path):
scenes_data = []
for scene_id in os.listdir(base_path):
scene = os.path.join(base_path, scene_id, "mesh.ply")
navmesh = os.path.join(
base_path, scene_id, "habitat/mesh_preseg_semantic.navmesh"
) # Not sure if I should use it
scene_dataset_config_file = ""
output_dir = os.path.join(base_output_dir, scene_id)
# Add scene only if it does not exist already, or if exist_ok
data = SceneData(
scene_dataset_config_file=scene_dataset_config_file,
scene=scene,
navmesh=navmesh,
output_dir=output_dir,
)
scenes_data.append(data)
return scenes_data
def list_scenes(base_output_dir, base_path):
"""
Generic method iterating through a base_path folder to find scenes.
"""
scenes_data = []
for root, dirs, files in os.walk(base_path, followlinks=True):
folder_scenes_data = []
for file in files:
name, ext = os.path.splitext(file)
if ext == ".glb":
scene = os.path.join(root, name + ".glb")
navmesh = os.path.join(root, name + ".navmesh")
if not os.path.exists(navmesh):
navmesh = ""
relpath = os.path.relpath(root, base_path)
output_dir = os.path.abspath(
os.path.join(base_output_dir, relpath, name)
)
data = SceneData(
scene_dataset_config_file="",
scene=scene,
navmesh=navmesh,
output_dir=output_dir,
)
folder_scenes_data.append(data)
# Specific check for HM3D:
# When two meshesxxxx.basis.glb and xxxx.glb are present, use the 'basis' version.
basis_scenes = [
data.scene[: -len(".basis.glb")]
for data in folder_scenes_data
if data.scene.endswith(".basis.glb")
]
if len(basis_scenes) != 0:
folder_scenes_data = [
data
for data in folder_scenes_data
if not (data.scene[: -len(".glb")] in basis_scenes)
]
scenes_data.extend(folder_scenes_data)
return scenes_data
def list_scenes_available(base_output_dir, scenes_dataset_paths=SCENES_DATASET):
scenes_data = []
# HM3D
for split in ("minival", "train", "val", "examples"):
scenes_data += list_scenes(
base_output_dir=os.path.join(base_output_dir, f"hm3d/{split}/"),
base_path=f"{scenes_dataset_paths['hm3d']}/{split}",
)
# Gibson
scenes_data += list_scenes(
base_output_dir=os.path.join(base_output_dir, "gibson"),
base_path=scenes_dataset_paths["gibson"],
)
# Habitat test scenes (just a few)
scenes_data += list_scenes(
base_output_dir=os.path.join(base_output_dir, "habitat-test-scenes"),
base_path=scenes_dataset_paths["habitat-test-scenes"],
)
# ReplicaCAD (baked lightning)
scenes_data += list_replica_cad_baked_lighting_scenes(
base_output_dir=base_output_dir
)
# ScanNet
scenes_data += list_scenes(
base_output_dir=os.path.join(base_output_dir, "scannet"),
base_path=scenes_dataset_paths["scannet"],
)
# Replica
list_replica_scenes(
base_output_dir=os.path.join(base_output_dir, "replica"),
base_path=scenes_dataset_paths["replica"],
)
return scenes_data
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