From 307994c20d289cf7b3285db80f8a7e96d818ad60 Mon Sep 17 00:00:00 2001 From: hofee Date: Fri, 18 Oct 2024 17:13:45 +0800 Subject: [PATCH] update --- .gitignore | 1 + load_normal.py | 49 +++++++++++++++++++++++++++ runners/cad_close_loop_strategy.py | 12 +++---- vis_pts_and_nrm.py | 54 ++++++++++++++++++++++++++++++ 4 files changed, 110 insertions(+), 6 deletions(-) create mode 100644 load_normal.py create mode 100644 vis_pts_and_nrm.py diff --git a/.gitignore b/.gitignore index c094c33..355ce47 100644 --- a/.gitignore +++ b/.gitignore @@ -1,5 +1,6 @@ # ---> Python # Byte-compiled / optimized / DLL files +test/ __pycache__/ *.py[cod] *$py.class diff --git a/load_normal.py b/load_normal.py new file mode 100644 index 0000000..e212bea --- /dev/null +++ b/load_normal.py @@ -0,0 +1,49 @@ +import cv2 +import os +import numpy as np + +def load_normal(path, binocular=False, left_only=False): + if binocular and not left_only: + normal_path_L = os.path.join( + os.path.dirname(path), "normal", os.path.basename(path) + "_L.png" + ) + normal_image_L = cv2.imread(normal_path_L, cv2.IMREAD_UNCHANGED) + normal_path_R = os.path.join( + os.path.dirname(path), "normal", os.path.basename(path) + "_R.png" + ) + normal_image_R = cv2.imread(normal_path_R, cv2.IMREAD_UNCHANGED) + normalized_normal_image_L = normal_image_L / 255.0 * 2.0 - 1.0 + normalized_normal_image_R = normal_image_R / 255.0 * 2.0 - 1.0 + return normalized_normal_image_L, normalized_normal_image_R + else: + if binocular and left_only: + normal_path = os.path.join( + os.path.dirname(path), "normal", os.path.basename(path) + "_L.png" + ) + else: + normal_path = os.path.join( + os.path.dirname(path), "normal", os.path.basename(path) + ".png" + ) + normal_image = cv2.imread(normal_path, cv2.IMREAD_UNCHANGED) + normalized_normal_image = normal_image / 255.0 * 2.0 - 1.0 + return normalized_normal_image + +def show_rgb(event, x, y, flags, param): + if event == cv2.EVENT_MOUSEMOVE: + pixel_value = param[y, x] + print(f"RGB at ({x},{y}): {pixel_value}") + +if __name__ == "__main__": + path = "/Users/hofee/temp/1" + normal_image = load_normal(path, binocular=True, left_only=True) + display_image = ((normal_image + 1.0) / 2.0 * 255).astype(np.uint8) + + cv2.namedWindow("Normal Image") + cv2.setMouseCallback("Normal Image", show_rgb, param=display_image) + + while True: + cv2.imshow("Normal Image", display_image) + if cv2.waitKey(1) & 0xFF == ord('q'): + break + + cv2.destroyAllWindows() diff --git a/runners/cad_close_loop_strategy.py b/runners/cad_close_loop_strategy.py index ef0f447..e453ff0 100644 --- a/runners/cad_close_loop_strategy.py +++ b/runners/cad_close_loop_strategy.py @@ -88,10 +88,10 @@ class CADCloseLoopStrategyRunner(Runner): ) np.savetxt(f"first_real_pts_{model_name}.txt", first_splitted_real_world_pts) """ register """ - Log.info("[Part 1/5] do registeration") + Log.info("[Part 1/4] do registeration") real_world_to_cad = PtsUtil.register(first_splitted_real_world_pts, cad_model) cad_to_real_world = np.linalg.inv(real_world_to_cad) - Log.success("[Part 1/5] finish init and register") + Log.success("[Part 1/4] finish init and register") real_world_to_blender_world = np.eye(4) real_world_to_blender_world[:3, 3] = np.asarray([0, 0, 0.9215]) cad_model_real_world: trimesh.Trimesh = cad_model.apply_transform( @@ -108,7 +108,7 @@ class CADCloseLoopStrategyRunner(Runner): temp_dir = "/home/yan20/nbv_rec/project/franka_control/temp_output" cad_model_blender_world.export(os.path.join(temp_dir, f"{temp_name}.obj")) """ sample view """ - Log.info("[Part 2/5] start running renderer") + Log.info("[Part 2/4] start running renderer") subprocess.run( [ self.blender_bin_path, @@ -121,12 +121,12 @@ class CADCloseLoopStrategyRunner(Runner): capture_output=True, text=True, ) - Log.success("[Part 2/5] finish running renderer") + Log.success("[Part 2/4] finish running renderer") """ preprocess """ - Log.info("[Part 3/5] start preprocessing data") + Log.info("[Part 3/4] start preprocessing data") save_scene_data(temp_dir, temp_name) - Log.success("[Part 3/5] finish preprocessing data") + Log.success("[Part 3/4] finish preprocessing data") pts_dir = os.path.join(temp_dir, temp_name, "pts") sample_view_pts_list = [] diff --git a/vis_pts_and_nrm.py b/vis_pts_and_nrm.py new file mode 100644 index 0000000..3bc32cc --- /dev/null +++ b/vis_pts_and_nrm.py @@ -0,0 +1,54 @@ +# import numpy as np +# import matplotlib.pyplot as plt +# from mpl_toolkits.mplot3d import Axes3D + +# # 假设 points_and_normals 是你的 Nx6 矩阵 +# # 前三列是点坐标，后三列是法线 +# points_and_normals = np.loadtxt("/Users/hofee/Downloads/temp_output/cad_model_world/points_and_normals.txt") # 这里用随机点代替你的数据 +# points = points_and_normals[:100, :3] +# normals = points_and_normals[:100, 3:] + +# # 创建3D图形 +# fig = plt.figure() +# ax = fig.add_subplot(111, projection='3d') + +# # 绘制点云 +# ax.scatter(points[:, 0], points[:, 1], points[:, 2], color='b', marker='o') + +# # 绘制法线 (从每个点出发的一小段箭头) +# ax.quiver(points[:, 0], points[:, 1], points[:, 2], +# normals[:, 0], normals[:, 1], normals[:, 2], length=0.1, color='r') + +# plt.show() + +import numpy as np + +# 假设 points_and_normals 是你的 Nx6 矩阵 +# points_and_normals[:,:3] 是点的坐标 +# points_and_normals[:,3:] 是法线 +points_and_normals = np.loadtxt("/Users/hofee/Downloads/temp_output/cad_model_world/points_and_normals.txt") # 这里用随机点代替你的数据 +print(points_and_normals.shape) +points = points_and_normals[300:400, :3] +normals = points_and_normals[300:400, 3:] + +# 设置你想在法线方向上采样的距离范围和点数 +num_samples_per_point = 20 # 每个法线方向采样的点数 +sampling_distances = np.linspace(0, 0.5, num_samples_per_point) # 采样距离范围 + +# 创建一个空列表来保存采样点 +sampled_points = [] + +# 对每个点进行法线方向的采样 +for point, normal in zip(points, normals): + for dist in sampling_distances: + # 在法线方向上偏移点 + sampled_point = point + dist * normal + sampled_points.append(sampled_point) + +# 转换为 numpy 数组 +sampled_points = np.array(sampled_points) + +# 保存为点云文件 (例如 .txt 或 .xyz 格式) +np.savetxt('sampled_points.txt', sampled_points) + +print("采样点云已保存为 'sampled_points.xyz'") \ No newline at end of file