nordland subset

download_nordland_subset.py

@@ -0,0 +1,88 @@
+"""
+This script downloads the Nordland dataset with the split used in Patch-NetVLAD.
+The images are arranged to be compatible with our benchmarking framework, and
+also with the CosPlace repository.
+In Nordland usually a prediction for a given query is considered correct if it
+is within 10 frames from the query (there's a 1-to-1 match between queries and
+database images). Given that our codebases rely on UTM coordinates to find
+positives and negatives, we create dummy UTM coordinates for all images,
+ensuring that images that are within 10 frames are also within 25 meters.
+In practice, we organize all images with UTM_east = 0 (i.e. in a straight line)
+and set UTM_north to be 2.4 meters apart between consecutive frames.
+"""
+
+import os
+import shutil
+import py3_wget
+from tqdm import tqdm
+from glob import glob
+from PIL import Image
+from os.path import join
+
+import util
+
+THRESHOLD_METERS = 25
+THRESHOLD_FRAMES = 1
+DISTANCE_BETWEEN_FRAMES = THRESHOLD_METERS / (THRESHOLD_FRAMES + 0.5)
+
+datasets_folder = join(os.curdir, "datasets")
+dataset_name = "nordland_subset"
+dataset_folder = join(datasets_folder, dataset_name)
+raw_data_folder = join(datasets_folder, dataset_name, "raw_data")
+database_folder = join(dataset_folder, "images", "test", "database")
+queries_folder = join(dataset_folder, "images", "test", "queries")
+os.makedirs(dataset_folder, exist_ok=True)
+os.makedirs(database_folder, exist_ok=True)
+os.makedirs(queries_folder, exist_ok=True)
+os.makedirs(raw_data_folder, exist_ok=True)
+
+print("Downloading tars with the images")
+py3_wget.download_file(
+    url='https://universityofadelaide.app.box.com/index.php?rm=box_download_shared_file&shared_name=zkfk1akpbo5318fzqmtvlpp7030ex4up&file_id=f_1424421870101',
+    output_path=join(raw_data_folder, "summer.tar.gz")
+)
+py3_wget.download_file(
+    url='https://universityofadelaide.app.box.com/index.php?rm=box_download_shared_file&shared_name=zkfk1akpbo5318fzqmtvlpp7030ex4up&file_id=f_1521702837314',
+    output_path=join(raw_data_folder, "winter.tar.gz")
+)
+py3_wget.download_file(
+    url="https://universityofadelaide.app.box.com/index.php?rm=box_download_shared_file&shared_name=zkfk1akpbo5318fzqmtvlpp7030ex4up&file_id=f_1424408901067",
+    output_path=join(raw_data_folder, "cleanImageNames.txt")
+)
+
+print("Unpacking tars with the images, this will take a few minutes")
+shutil.unpack_archive(join(raw_data_folder, "summer.tar.gz"), raw_data_folder)
+shutil.unpack_archive(join(raw_data_folder, "winter.tar.gz"), join(raw_data_folder, "winter"))
+
+with open(join(raw_data_folder, "cleanImageNames.txt")) as file:
+    selected_images = file.readlines()
+    selected_images = [i.replace("\n", "") for i in selected_images]
+    selected_images = set(selected_images)
+
+database_paths = sorted(glob(join(raw_data_folder, "summer", "*.png")))
+queries_paths = sorted(glob(join(raw_data_folder, "winter", "*.png")))
+
+num_image = 0
+for path in tqdm(database_paths, desc="Copying DB images to dst"):
+    if os.path.basename(path) not in selected_images:
+        continue
+    utm_north = util.format_coord(num_image*DISTANCE_BETWEEN_FRAMES, 5, 1)
+    filename = f"@0@{utm_north}@@@@@{num_image}@@@@@@@@.jpg"
+    new_path = join(database_folder, filename)
+    Image.open(path).save(new_path)
+    num_image += 1
+
+num_image = 0
+for path in tqdm(queries_paths, desc="Copying queries to dst"):
+    if os.path.basename(path) not in selected_images:
+        continue
+    if num_image%10 == 0:
+        utm_north = util.format_coord(num_image*DISTANCE_BETWEEN_FRAMES, 5, 1)
+        filename = f"@0@{utm_north}@@@@@{num_image}@@@@@@@@.jpg"
+        new_path = join(queries_folder, filename)
+        Image.open(path).save(new_path)
+        num_image += 1
+    else:
+        num_image += 1
+        continue
+