Adding scene alignment & normalization across datasets

DATA.md

@@ -10,6 +10,8 @@ We list the available data used in the current version of CrossOver in the table
 | ------------ | ----------------------------- | ----------------------------------- |  -------------------------- | -------------------------- |
 | ScanNet      | `[point, rgb, cad, referral]` | `[point, rgb, floorplan, referral]` |    ❌                       |          ✅                |
 | 3RScan       | `[point, rgb, referral]`      | `[point, rgb, referral]`            |    ✅                       |          ✅                |
+| ARKitScenes       | `[point, rgb, referral]`      | `[point, rgb, referral]`            |    ❌                      |          ✅                |
+| MultiScan       | `[point, rgb, referral]`      | `[point, rgb, referral]`            |    ❌                       |          ✅                |
 
 
 We detail data download and release instructions for preprocessing with scripts for ScanNet + 3RScan. 
@@ -110,4 +112,69 @@ Scan3R/
 |   │   ├── objectsDataMultimodal.pt -> object data combined from data1D.pt + data2D.pt + data3D.pt (for easier loading)
 |   │   └── sel_cams_on_mesh.png (visualisation of the cameras selected for computing RGB features per scan)
 |   └── ...
-```
+```
+### MultiScan
+
+#### Running preprocessing scripts
+Adjust the path parameters of `MultiScan` in the config files under `configs/preprocess`. Run the following (after changing the `--config-path` in the bash file):
+
+```bash
+$ bash scripts/preprocess/process_multiscan.sh
+```
+
+Our script for MultiScan dataset performs the following additional processing:
+
+- 3D-to-2D projection for 2D segmentation and stores as `gt-projection-seg.pt` for each scan.
+
+Post running preprocessing, the data structure should look like the following:
+
+```
+MultiScan/
+├── objects_chunked/ (object data chunked into hdf5 format for instance baseline training)
+|   ├── train_objects.h5
+|   └── val_objects.h5
+├── scans/
+|   ├── scene_00000_00/
+|   │   ├── gt-projection-seg.pt -> 3D-to-2D projected data  consisting of framewise 2D instance segmentation
+|   │   ├── data1D.pt -> all 1D data + encoded (object referrals + BLIP features) 
+|   │   ├── data2D.pt -> all 2D data + encoded (RGB + floorplan + DinoV2 features)
+|   │   ├── data2D_all_images.pt (RGB features of every image of every scan)
+|   │   ├── data3D.pt -> all 3D data + encoded (Point Cloud + I2PMAE features - object only)
+|   │   ├── object_id_to_label_id_map.pt -> Instance ID to NYU40 Label mapped
+|   │   ├── objectsDataMultimodal.pt -> object data combined from data1D.pt + data2D.pt + data3D.pt (for easier loading)
+|   │   └── sel_cams_on_mesh.png (visualisation of the cameras selected for computing RGB features per scan)
+|   └── ...
+```
+
+### ARKitScenes
+
+#### Running preprocessing scripts
+Adjust the path parameters of `ARKitScenes` in the config files under `configs/preprocess`. Run the following (after changing the `--config-path` in the bash file):
+
+```bash
+$ bash scripts/preprocess/process_arkit.sh
+```
+
+Our script for ARKitScenes dataset performs the following additional processing:
+
+- 3D-to-2D projection for 2D segmentation and stores as `gt-projection-seg.pt` for each scan.
+
+Post running preprocessing, the data structure should look like the following:
+
+```
+ARKitScenes/
+├── objects_chunked/ (object data chunked into hdf5 format for instance baseline training)
+|   ├── train_objects.h5
+|   └── val_objects.h5
+├── scans/
+|   ├── 40753679/
+|   │   ├── gt-projection-seg.pt -> 3D-to-2D projected data  consisting of framewise 2D instance segmentation
+|   │   ├── data1D.pt -> all 1D data + encoded (object referrals + BLIP features) 
+|   │   ├── data2D.pt -> all 2D data + encoded (RGB + floorplan + DinoV2 features)
+|   │   ├── data2D_all_images.pt (RGB features of every image of every scan )
+|   │   ├── data3D.pt -> all 3D data + encoded (Point Cloud + I2PMAE features - object only)
+|   │   ├── object_id_to_label_id_map.pt -> Instance ID to NYU40 Label mapped
+|   │   ├── objectsDataMultimodal.pt -> object data combined from data1D.pt + data2D.pt + data3D.pt (for easier loading)
+|   │   └── sel_cams_on_mesh.png (visualisation of the cameras selected for computing RGB features per scan)
+|   └── ...
+```

README.md

@@ -120,6 +120,9 @@ See [DATA.MD](DATA.md) for detailed instructions on data download, preparation a
 | ------------ | ----------------------------- | ----------------------------------- |  -------------------------- | -------------------------- |
 | Scannet      | `[point, rgb, cad, referral]` | `[point, rgb, floorplan, referral]` |    ❌                       |          ✅                |
 | 3RScan       | `[point, rgb, referral]`      | `[point, rgb, referral]`            |    ✅                       |          ✅                |
+| ARKitScenes       | `[point, rgb, referral]`      | `[point, rgb, referral]`            |    ❌                       |          ✅                |
+| MultiScan       | `[point, rgb, referral]`      | `[point, rgb, referral]`            |    ❌                       |          ✅                |
+
 
 > To run our demo, you only need to download generated embedding data; no need for any data preprocessing.
 
@@ -136,7 +139,7 @@ Various configurable parameters:
 - `--database_path`: Path to the precomputed embeddings of the database scenes downloaded before (eg: `./release_data/embed_scannet.pt`).
 - `--query_modality`: Modality of the query scene, Options: `point`, `rgb`, `floorplan`, `referral`
 - `--database_modality`: Modality used for retrieval. Same options as above.
-- `--ckpt`: Path to the pre-trained scene crossover model checkpoint (details [here](#checkpoints)), example_path: `./checkpoints/scene_crossover_scannet+scan3r.pth/`).
+- `--ckpt`: Path to the pre-trained scene crossover model checkpoint (details [here](#checkpoints)), example_path: `./checkpoints/scene_crossover_scannet+scan3r.pth/`.
 
 For embedding and pre-trained model download, refer to [generated embedding data](DATA.md#generated-embedding-data) and [checkpoints](#checkpoints) sections.
 

TRAIN.md

@@ -21,7 +21,7 @@ $ bash scripts/train/train_instance_crossover.sh
 ```
 
 #### Train Scene Retrieval Pipeline
-Adjust path/configuration parameters in `configs/train/train_scene_crossover.yaml`. You can also add your customised dataset or choose to train on Scannet & 3RScan or either. Run the following:
+Adjust path/configuration parameters in `configs/train/train_scene_crossover.yaml`. You can also add your customised dataset or choose to train on Scannet, 3RScan, MultiScan, & ARKitScenes or any combination of the same. Run the following:
 
 ```bash
 $ bash scripts/train/train_scene_crossover.sh

common/load_utils.py

@@ -50,6 +50,20 @@ def write_json(data_dict: Any, filename: str) -> None:
     with open(filename, "w") as outfile:
         outfile.write(json_obj)
 
+def load_npz_as_dict(filename: str) -> dict:
+    with np.load(filename, allow_pickle=True) as npz:
+        if isinstance(npz, np.lib.npyio.NpzFile):
+            out = {}
+            for k in npz.files:                
+                val = npz[k]                 
+                if (isinstance(val, np.ndarray) and
+                    val.dtype == object and
+                    val.shape == ()):
+                    out[k] = val.item()        
+                else:
+                    out[k] = val               
+            return out                   
+
 def get_print_format(value: Any) -> str:
     """Determines the appropriate format string for a given value."""
     if isinstance(value, int):

configs/evaluation/eval_instance.yaml

@@ -33,7 +33,7 @@ data :
     voxel_size       : 0.02
 
   Scan3R:
-    base_dir       : /drive/datasets/Scan3R/
+    base_dir       : /media/sayan/internal/datasets/Scan3R/
     process_dir    : ${data.process_dir}/Scan3R/
     processor3D    : Scan3R3DProcessor
     processor2D    : Scan3R2DProcessor
@@ -43,14 +43,33 @@ data :
     max_object_len : 150
     voxel_size     : 0.02
 
+  ARKitScenes:
+    base_dir       : /media/sayan/internal/datasets/ARKitScenes
+    process_dir    : ${data.process_dir}/ARKitScenes/
+    processor3D    : ARKitScenes3DProcessor
+    processor2D    : ARKitScenes2DProcessor
+    processor1D    : ARKitScenes1DProcessor
+    avail_modalities : ['point', 'cad', 'rgb', 'referral']
+    max_object_len : 150
+    voxel_size     : 0.02
+
+  MultiScan:
+    base_dir       : /media/sayan/internal/datasets/MultiScan
+    process_dir    : ${data.process_dir}/MultiScan
+    processor3D    : MultiScan3DProcessor
+    processor2D    : MultiScan2DProcessor
+    processor1D    : MultiScan1DProcessor
+    avail_modalities : ['point', 'cad', 'rgb', 'referral']
+    max_object_len : 150
+    voxel_size     : 0.02
+
 task: 
   name       : InferenceObjectRetrieval
   InferenceObjectRetrieval:
     val                     : [Scannet]
     modalities              : ['rgb', 'point', 'cad', 'referral']
     scene_modalities        : ['rgb', 'point', 'referral', 'floorplan']
-    ckpt_path               : /drive/dumps/multimodal-spaces/runs/release_runs/instance_crossover_scannet+scan3r.pth
-
+    ckpt_path               : /drive/dumps/multimodal-spaces/runs/release_runs/instance_crossover_scannet+scan3r+multiscan.pth
 
 inference_module: ObjectRetrieval
 

configs/evaluation/eval_scene.yaml

@@ -33,7 +33,7 @@ data :
     voxel_size       : 0.02
 
   Scan3R:
-    base_dir       : /drive/datasets/Scan3R/
+    base_dir       : /media/sayan/internal/datasets/Scan3R/
     process_dir    : ${data.process_dir}/Scan3R/
     processor3D    : Scan3R3DProcessor
     processor2D    : Scan3R2DProcessor
@@ -43,13 +43,32 @@ data :
     max_object_len : 150
     voxel_size     : 0.02
 
+  ARKitScenes:
+    base_dir       : /media/sayan/internal/datasets/ARKitScenes
+    process_dir    : ${data.process_dir}/ARKitScenes/
+    processor3D    : ARKitScenes3DProcessor
+    processor2D    : ARKitScenes2DProcessor
+    processor1D    : ARKitScenes1DProcessor
+    max_object_len : 150
+    voxel_size     : 0.02
+    avail_modalities : ['point', 'cad', 'rgb', 'referral']
+  MultiScan:
+    base_dir       : /media/sayan/internal/datasets/MultiScan
+    process_dir    : ${data.process_dir}/MultiScan
+    processor3D    : MultiScan3DProcessor
+    processor2D    : MultiScan2DProcessor
+    processor1D    : MultiScan1DProcessor
+    avail_modalities : ['point', 'cad', 'rgb', 'referral']
+    max_object_len : 150
+    voxel_size     : 0.02
+
 task: 
   name       : InferenceSceneRetrieval
   InferenceSceneRetrieval:
     val                     : [Scannet]
     modalities              : ['rgb', 'point', 'cad', 'referral']
     scene_modalities        : ['rgb', 'point', 'referral', 'floorplan'] #, 'point']
-    ckpt_path               : /drive/dumps/multimodal-spaces/runs/release_runs/scene_crossover_scannet+scan3r.pth
+    ckpt_path               : /drive/dumps/multimodal-spaces/runs/release_runs/scene_crossover_scannet+scan3r+multiscan.pth
 
 inference_module: SceneRetrieval
 model: 

configs/preprocess/process_1d.yaml

@@ -17,14 +17,29 @@ data:
     aggre_subfix   : _vh_clean.aggregation.json
 
   Scan3R:
-    base_dir       : /drive/datasets/Scan3R/
+    base_dir       : /media/sayan/internal/datasets/Scan3R/
     process_dir    : ${data.process_dir}/Scan3R/
     processor3D    : Scan3R3DProcessor
     processor2D    : Scan3R2DProcessor
     processor1D    : Scan3R1DProcessor
     label_filename : labels.instances.align.annotated.v2.ply
     skip_frames    : 1
 
+  ARKitScenes:
+    base_dir       : /media/sayan/internal/datasets/ARKitScenes
+    process_dir    : ${data.process_dir}/ARKitScenes/
+    processor3D    : ARKitScenes3DProcessor
+    processor2D    : ARKitScenes2DProcessor
+    processor1D    : ARKitScenes1DProcessor
+    skip_frames    : 1
+  MultiScan:
+    base_dir       : /media/sayan/internal/datasets/MultiScan
+    process_dir    : ${data.process_dir}/MultiScan
+    processor3D    : MultiScan3DProcessor
+    processor2D    : MultiScan2DProcessor
+    processor1D    : MultiScan1DProcessor
+    skip_frames    : 1
+
   Shapenet:
     base_dir       : /drive/datasets/Shapenet/ShapeNetCore.v2/
 

configs/preprocess/process_2d.yaml

@@ -19,14 +19,30 @@ data:
     skip_frames    : 5
 
   Scan3R:
-    base_dir       : /drive/datasets/Scan3R/
+    base_dir       : /media/sayan/internal/datasets/Scan3R/
     process_dir    : ${data.process_dir}/Scan3R/
     processor3D    : Scan3R3DProcessor
     processor2D    : Scan3R2DProcessor
     processor1D    : Scan3R1DProcessor
     label_filename : labels.instances.align.annotated.v2.ply
     skip_frames    : 1
 
+  ARKitScenes:
+    base_dir       : /media/sayan/internal/datasets/ARKitScenes
+    process_dir    : ${data.process_dir}/ARKitScenes/
+    processor3D    : ARKitScenes3DProcessor
+    processor2D    : ARKitScenes2DProcessor
+    processor1D    : ARKitScenes1DProcessor
+    skip_frames    : 1
+
+  MultiScan:
+    base_dir       : /media/sayan/internal/datasets/MultiScan
+    process_dir    : ${data.process_dir}/MultiScan
+    processor3D    : MultiScan3DProcessor
+    processor2D    : MultiScan2DProcessor
+    processor1D    : MultiScan1DProcessor
+    skip_frames    : 1
+
 modality_info:
   1D  :
     feature_extractor: 
@@ -60,4 +76,4 @@ task:
   name       : Preprocess 
   Preprocess :
     modality : '2D'
-    splits   : ['val']
+    splits   : ['train', 'val']

configs/preprocess/process_3d.yaml

@@ -17,13 +17,27 @@ data:
     aggre_subfix   : _vh_clean.aggregation.json
 
   Scan3R:
-    base_dir       : /drive/datasets/Scan3R/
+    base_dir       : /media/sayan/internal/datasets/Scan3R/
     process_dir    : ${data.process_dir}/Scan3R/
     processor3D    : Scan3R3DProcessor
     processor2D    : Scan3R2DProcessor
     processor1D    : Scan3R1DProcessor
     label_filename : labels.instances.align.annotated.v2.ply
 
+  ARKitScenes:
+    base_dir       : /media/sayan/internal/datasets/ARKitScenes
+    process_dir    : ${data.process_dir}/ARKitScenes/
+    processor3D    : ARKitScenes3DProcessor
+    processor2D    : ARKitScenes2DProcessor
+    processor1D    : ARKitScenes1DProcessor
+  MultiScan:
+    base_dir       : /media/sayan/internal/datasets/MultiScan
+    process_dir    : ${data.process_dir}/MultiScan
+    processor3D    : MultiScan3DProcessor
+    processor2D    : MultiScan2DProcessor
+    processor1D    : MultiScan1DProcessor
+    skip_frames    : 1
+
 modality_info:
   1D  :
     feature_extractor: 

configs/preprocess/process_multimodal.yaml

@@ -18,7 +18,7 @@ data:
     avail_modalities : ['point', 'cad', 'rgb', 'referral']
 
   Scan3R:
-    base_dir         : /drive/datasets/Scan3R
+    base_dir         : /media/sayan/internal/datasets/Scan3R
     process_dir      : ${data.process_dir}/Scan3R
     chunked_dir      : ${data.process_dir}/Scan3R/objects_chunked/
     processor3D      : Scan3R3DProcessor
@@ -28,6 +28,24 @@ data:
     skip_frames      : 1
     avail_modalities : ['point', 'rgb', 'referral']
 
+  ARKitScenes:
+    base_dir       : /media/sayan/internal/datasets/ARKitScenes
+    process_dir    : ${data.process_dir}/ARKitScenes/
+    chunked_dir    : ${data.process_dir}/ARKitScenes/objects_chunked
+    processor3D    : ARKitScenes3DProcessor
+    processor2D    : ARKitScenes2DProcessor
+    processor1D    : ARKitScenes1DProcessor
+    avail_modalities : ['point', 'rgb', 'referral']
+
+  MultiScan:
+    base_dir         : /media/sayan/internal/datasets/MultiScan
+    process_dir      : ${data.process_dir}/MultiScan/
+    chunked_dir      : ${data.process_dir}/MultiScan/objects_chunked
+    processor3D      : Scan3R3DProcessor
+    processor2D      : Scan3R2DProcessor
+    processor1D      : Scan3R1DProcessor
+    avail_modalities : ['point', 'rgb', 'referral']
+
 modality_info:
   1D  :
     feature_extractor: 

configs/train/train_instance_baseline.yaml

@@ -44,6 +44,27 @@ data :
     max_object_len : 150
     voxel_size     : 0.02
 
+  ARKitScenes:
+    base_dir       : /media/sayan/Expansion/data/datasets/ARKitScenes
+    process_dir    : ${data.process_dir}/ARKitScenes/
+    chunked_dir    : ${data.process_dir}/ARKitScenes/objects_chunked
+    processor3D    : ARKitScenes3DProcessor
+    processor2D    : ARKitScenes2DProcessor
+    processor1D    : ARKitScenes1DProcessor
+    avail_modalities : ['point', 'rgb', 'referral']
+    max_object_len : 150
+    voxel_size     : 0.02
+  MultiScan:
+    base_dir       : /media/sayan/Expansion/data/datasets/MultiScan
+    process_dir    : ${data.process_dir}/MultiScan/
+    chunked_dir    : ${data.process_dir}/MultiScan/objects_chunked
+    processor3D    : MultiScan3DProcessor
+    processor2D    : MultiScan2DProcessor
+    processor1D    : MultiScan1DProcessor
+    avail_modalities : ['point', 'rgb', 'referral']
+    max_object_len   : 150
+    voxel_size       : 0.02
+
 task: 
   name       : ObjectLevelGrounding 
   ObjectLevelGrounding :