Function _load_scene_data_raw

visualize_benchmark_web.py:126–212

Load a scene through BenchmarkDataset's current unified data pipeline. Current SpatialBenchmark layout: / / / /{images,depths,poses,intrinsics,...} This function adapts the BenchmarkDataset output to the older web-viewer return shape:

(scene: dict, z_far: float, use_depth_mask: bool = True, conf_threshold: float = 0.0)

def _load_scene_data_raw(scene: dict, z_far: float, use_depth_mask: bool = True, conf_threshold: float = 0.0):
    """Load a scene through BenchmarkDataset's current unified data pipeline.

    Current SpatialBenchmark layout:
        <benchmark_root>/<density>/<dataset>/<scene_path>/{images,depths,poses,intrinsics,...}

    This function adapts the BenchmarkDataset output to the older web-viewer
    return shape: lists of RGB uint8 images, depth maps, c2w extrinsics, and
    intrinsics. Dataset-specific path and depth decoding logic lives in
    benchmark/datasets/data_readers.py.
    """
    if _benchmark_dataset is None:
        raise RuntimeError("BenchmarkDataset is not initialized")

    dataset = scene["source_dataset"]
    scene_id = scene["scene_id"]
    ds_idx = _scene_to_dataset_idx.get(scene_id)
    if ds_idx is None:
        raise KeyError(f"Scene {scene_id!r} not found in BenchmarkDataset")

    reader = _benchmark_dataset._readers.get(dataset)
    if reader is None:
        raise ValueError(f"No reader for dataset {dataset!r}")

    # Endpoint controls are applied by temporarily overriding the reader settings
    # before BenchmarkDataset calls reader.read_scene().
    had_z_far = 'DEFAULT_Z_FAR' in reader.__dict__
    orig_z_far = getattr(reader, 'DEFAULT_Z_FAR', None)
    had_depth_masks = '_USE_DEPTH_MASKS' in reader.__dict__
    orig_depth_masks = getattr(reader, '_USE_DEPTH_MASKS', True)
    had_aliasing_masks = '_USE_ALIASING_MASKS' in reader.__dict__
    orig_aliasing_masks = getattr(reader, '_USE_ALIASING_MASKS', True)
    had_conf = 'conf_threshold' in reader.__dict__
    orig_conf = getattr(reader, 'conf_threshold', None)

    try:
        reader.DEFAULT_Z_FAR = float(z_far)
        if not use_depth_mask:
            reader._USE_DEPTH_MASKS = False
            reader._USE_ALIASING_MASKS = False
        if hasattr(reader, 'conf_threshold'):
            reader.conf_threshold = float(conf_threshold)

        loaded = _benchmark_dataset[ds_idx]
    finally:
        if had_z_far:
            reader.DEFAULT_Z_FAR = orig_z_far
        elif 'DEFAULT_Z_FAR' in reader.__dict__:
            delattr(reader, 'DEFAULT_Z_FAR')

        if had_depth_masks:
            reader._USE_DEPTH_MASKS = orig_depth_masks
        elif '_USE_DEPTH_MASKS' in reader.__dict__:
            delattr(reader, '_USE_DEPTH_MASKS')

        if had_aliasing_masks:
            reader._USE_ALIASING_MASKS = orig_aliasing_masks
        elif '_USE_ALIASING_MASKS' in reader.__dict__: