added dataset card and Builder

dropjects_real.py

@@ -0,0 +1,175 @@
+import io
+import itertools as it
+import numpy as np
+import datasets as d
+
+
+_DESCRIPTION = """\
+The Dropjects Real dataset was created at the Chair of Cyber-Physical Systems in Production \
+Engineering at the Technical University of Munich.
+"""
+
+
+CLASSES = [
+    "battery_holder",
+    "buckle_socket",
+    "buckle_plug",
+    "chew_toy_big",
+    "cpsduck",
+    "cpsglue_big",
+    "group1",
+    "group2",
+    "nema_holder",
+    "stapler",
+]
+
+SCENES = [
+    "box",
+    "array",  # but only for group1 and group2, and only uncluttered
+]
+
+CLUTTER = [
+    "cluttered",
+    "uncluttered",
+]
+
+LIGHTING = [
+    "diffuseRight",
+    "diffuseLeft",
+    "spotRight",
+    "spotLeft",
+    "dark",
+    "normal",
+]
+
+NUM_SHARDS = 3
+
+WILDCARD = "{}"
+
+
+def is_valid_config(spec):
+    cls, scene, clutter, lighting = spec
+    if scene == "array" and cls not in ["group1", "group2", WILDCARD]:
+        return False
+
+    if scene == "array" and clutter not in ["uncluttered", WILDCARD]:
+        return False
+    return True
+
+
+# ALL_CONFIGS = list(
+#     it.product(
+#         [WILDCARD] + CLASSES, [WILDCARD] + SCENES, [WILDCARD] + CLUTTER, [WILDCARD] + LIGHTING
+#     )
+# )
+ALL_CONFIGS = list(it.product(CLASSES, SCENES, CLUTTER, LIGHTING))
+ALL_CONFIGS = filter(is_valid_config, ALL_CONFIGS)
+
+
+BASE_PATH = "https://huggingface.co/datasets/LukasDb/dropjects_real/resolve/main/data/test/{cls}/{scene}/{clutter}/{lighting}/{shard}.tar"
+
+
+class DropjectsRealConfig(d.BuilderConfig):
+
+    def __init__(self, cls: str, scene: str, clutter: str, lighting: str, **kwargs):
+        name = f"{cls}-{scene}-{clutter}-{lighting}"
+        super().__init__(version=d.Version("1.0.0"), **kwargs, name=name)
+
+        # transform wildcards into concrete lists
+        # this does not respect the validity of the config
+        cls = CLASSES if cls == WILDCARD else [cls]
+        scene = SCENES if scene == WILDCARD else [scene]
+        clutter = CLUTTER if clutter == WILDCARD else [clutter]
+        lighting = LIGHTING if lighting == WILDCARD else [lighting]
+
+        self.cls = cls
+        self.scene = scene
+        self.clutter = clutter
+        self.lighting = lighting
+
+
+class DropjectsReal(d.GeneratorBasedBuilder):
+    BUILDER_CONFIGS = list(
+        DropjectsRealConfig(cls=cls, scene=scene, clutter=clutter, lighting=lighting)
+        for cls, scene, clutter, lighting in ALL_CONFIGS
+    )
+
+    DEFAULT_CONFIG_NAME = f"{WILDCARD}-{WILDCARD}-{WILDCARD}-{WILDCARD}"
+
+    def _info(self):
+
+        features = d.Features(
+            {
+                "rgb": d.Array3D((1242, 2208, 3), dtype="uint8"),
+                "rgb_R": d.Array3D((1242, 2208, 3), dtype="uint8"),
+                "depth": d.Array2D((1242, 2208), dtype="float32"),
+                "depth_gt": d.Array2D((1242, 2208), dtype="float32"),
+                "mask": d.Array2D((1242, 2208), dtype="int32"),
+                "obj_ids": d.Sequence(d.Value("int32")),
+                "obj_classes": d.Sequence(d.Value("string")),
+                "obj_pos": d.Sequence(d.Sequence(d.Value("float32"))),
+                "obj_rot": d.Sequence(d.Sequence(d.Value("float32"))),
+                "obj_bbox_obj": d.Sequence(d.Sequence(d.Value("int32"))),
+                "obj_bbox_visib": d.Sequence(d.Sequence(d.Value("int32"))),
+                "cam_location": d.Sequence(d.Value("float32")),
+                "cam_rotation": d.Sequence(d.Value("float32")),
+                "cam_matrix": d.Array2D((3, 3), dtype="float32"),
+                "obj_px_count_all": d.Sequence(d.Value("int32")),
+                "obj_px_count_valid": d.Sequence(d.Value("int32")),
+                "obj_px_count_visib": d.Sequence(d.Value("int32")),
+                "obj_visib_fract": d.Sequence(d.Value("float32")),
+            }
+        )
+        return d.DatasetInfo(
+            description=_DESCRIPTION,
+            citation="",  # TODO
+            homepage="",  # TODO
+            license="cc",
+            features=features,
+        )
+
+    def _split_generators(self, dl_manager):
+        clss = self.config.cls
+        scenes = self.config.scene
+        clutters = self.config.clutter
+        lightings = self.config.lighting
+
+        # wildcards to concrete list can generate invalid configs
+        configs = [c for c in it.product(clss, scenes, clutters, lightings) if is_valid_config(c)]
+
+        archive_paths = [
+            BASE_PATH.format(cls=c, scene=s, clutter=cl, lighting=l, shard=i)
+            for c, s, cl, l in configs
+            for i in range(NUM_SHARDS)
+        ]
+
+        downloaded = dl_manager.download(archive_paths)
+
+        return [
+            d.SplitGenerator(
+                name=d.Split.TEST,
+                gen_kwargs={"tars": [dl_manager.iter_archive(d) for d in downloaded]},
+            ),
+        ]
+
+    def _generate_examples(self, tars):
+        sample = {}
+        id = None
+
+        for tar in tars:
+            for file_path, file_obj in tar:
+                new_id = file_path.split(".")[0]
+                if id is None:
+                    id = new_id
+                else:
+                    if id != new_id:
+                        yield id, sample
+                        sample = {}
+                        id = new_id
+
+                key = file_path.split(".")[1]
+
+                bytes = io.BytesIO(file_obj.read())
+                value = np.load(bytes, allow_pickle=False)
+
+                sample[key] = value