hofee/nbv_rec_visualization_backend
Template
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

recover tool script

Browse Source
This commit is contained in:
hofee
2024-09-20 16:23:11 +08:00
parent b5703cdc0e
commit caab57e998
2 changed files with 98 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files

45
reconstruction.py
View File

@@ -1,19 +1,52 @@
import numpy as np
import open3d as o3d
from pts import PtsUtil
from scipy.spatial import cKDTree
class ReconstructionUtil:
@staticmethod
def reconstruct_with_pts(pts):
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(pts)
pcd.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.001, max_nn=30))
pcd.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1, max_nn=30))
mesh, densities = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(pcd, depth=9)
densities = np.asarray(densities)
vertices_to_remove = densities < np.quantile(densities, 0.03)
vertices_to_remove = densities < np.quantile(densities, 0.2)
mesh.remove_vertices_by_mask(vertices_to_remove)
return mesh
@staticmethod
def filter_points(points, points_normals, cam_pose, voxel_size=0.005, theta=45):
sampled_points = PtsUtil.voxel_downsample_point_cloud(points, voxel_size)
kdtree = cKDTree(points_normals[:,:3])
_, indices = kdtree.query(sampled_points)
nearest_points = points_normals[indices]
normals = nearest_points[:, 3:]
camera_axis = -cam_pose[:3, 2]
normals_normalized = normals / np.linalg.norm(normals, axis=1, keepdims=True)
cos_theta = np.dot(normals_normalized, camera_axis)
theta_rad = np.deg2rad(theta)
filtered_sampled_points= sampled_points[cos_theta > np.cos(theta_rad)]
return filtered_sampled_points[:, :3]
if __name__ == "__main__":
path = r"C:\Document\Local Project\nbv_rec_visualize\mis\sampled_model_points.txt"
test_pts = np.loadtxt(path)
mesh = ReconstructionUtil.reconstruct_with_pts(test_pts)
o3d.io.write_triangle_mesh("output_mesh.obj", mesh)
import os
root = "/media/hofee/data/project/python/nbv_reconstruction/nbv_rec_visualize/data/sample/"
name = "google_scan-box_0106"
model_path = os.path.join(root, name, "sampled_model_points.txt")
rec_path = os.path.join(root, name, "best_reconstructed_pts.txt")
model_pts = np.loadtxt(model_path)
rec_pts = np.loadtxt(rec_path)
import time
start = time.time()
model_mesh = ReconstructionUtil.reconstruct_with_pts(model_pts)
end = time.time()
print(f"Time taken to reconstruct model: {end-start}")
rec_mesh = ReconstructionUtil.reconstruct_with_pts(rec_pts)
output_dir = "/media/hofee/data/project/python/nbv_reconstruction/nbv_rec_visualize/mis/output_test"
model_output_path = os.path.join(output_dir, f"{name}_model_mesh.obj")
rec_output_path = os.path.join(output_dir, f"{name}_rec_mesh.obj")
o3d.io.write_triangle_mesh(model_output_path, model_mesh)
o3d.io.write_triangle_mesh(rec_output_path, rec_mesh)