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upd inference

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This commit is contained in:
hofee 2024-11-05 12:17:20 -06:00
parent 5bcd0fc6e3
commit 6f427785b3
4 changed files with 18 additions and 11 deletions
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2
configs/local/inference_config.yaml
View File

@ -15,7 +15,7 @@ runner:
- OmniObject3d_test
blender_script_path: "C:\\Document\\Local Project\\nbv_rec\\blender\\data_renderer.py"
output_dir: "C:\\Document\\Datasets\\inference_scan_pts_overlap_global_full_on_testset"
output_dir: "C:\\Document\\Datasets\\debug_output"
pipeline: nbv_reconstruction_pipeline
voxel_size: 0.003

8
configs/local/view_generate_config.yaml
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@ -8,11 +8,11 @@ runner:
root_dir: experiments
generate:
port: 5002
from: 600
from: 0
to: -1 # -1 means all
object_dir: /media/hofee/data/data/object_meshes_part1
table_model_path: "/media/hofee/data/data/others/table.obj"
output_dir: /media/hofee/repository/data_part_1
object_dir: C:\\Document\\Datasets\\ball_meshes
table_model_path: C:\\Document\\Datasets\\table.obj
output_dir: C:\\Document\\Datasets\\debug_ball_generate_view
binocular_vision: true
plane_size: 10
max_views: 512

17
runners/inferencer.py
View File

@ -76,6 +76,8 @@ class Inferencer(Runner):
for i in tqdm(range(total), desc=f"Processing {test_set_name}", ncols=100):
data = test_set.__getitem__(i)
scene_name = data["scene_name"]
if scene_name != "omniobject3d-suitcase_001":
continue
inference_result_path = os.path.join(self.output_dir, test_set_name, f"{scene_name}.pkl")
if os.path.exists(inference_result_path):
Log.info(f"Inference result already exists for scene: {scene_name}")
@ -87,7 +89,7 @@ class Inferencer(Runner):
status_manager.set_progress("inference", "inferencer", f"dataset", len(self.test_set_list), len(self.test_set_list))
def predict_sequence(self, data, cr_increase_threshold=0, overlap_area_threshold=25, scan_points_threshold=10, max_iter=50, max_retry = 7):
def predict_sequence(self, data, cr_increase_threshold=0, overlap_area_threshold=25, scan_points_threshold=10, max_iter=50, max_retry = 5):
scene_name = data["scene_name"]
Log.info(f"Processing scene: {scene_name}")
status_manager.set_status("inference", "inferencer", "scene", scene_name)
@ -110,10 +112,12 @@ class Inferencer(Runner):
input_data["scanned_n_to_world_pose_9d"] = [torch.tensor(data["first_scanned_n_to_world_pose_9d"], dtype=torch.float32).to(self.device)]
input_data["mode"] = namespace.Mode.TEST
input_pts_N = input_data["combined_scanned_pts"].shape[1]
root = os.path.dirname(scene_path)
display_table_info = DataLoadUtil.get_display_table_info(root, scene_name)
radius = display_table_info["radius"]
scan_points = np.asarray(ReconstructionUtil.generate_scan_points(display_table_top=0,display_table_radius=radius))
first_frame_target_pts, first_frame_target_normals, first_frame_scan_points_indices = RenderUtil.render_pts(first_frame_to_world, scene_path, self.script_path, scan_points, voxel_threshold=voxel_threshold, filter_degree=filter_degree, nO_to_nL_pose=O_to_L_pose)
scanned_view_pts = [first_frame_target_pts]
history_indices = [first_frame_scan_points_indices]
@ -124,6 +128,7 @@ class Inferencer(Runner):
retry = 0
pred_cr_seq = [last_pred_cr]
success = 0
last_pts_num = PtsUtil.voxel_downsample_point_cloud(data["first_scanned_pts"][0], 0.002)
import time
while len(pred_cr_seq) < max_iter and retry < max_retry:
start_time = time.time()
@ -174,13 +179,9 @@ class Inferencer(Runner):
end_time = time.time()
print(f"Time taken for coverage rate computation: {end_time - start_time} seconds")
print(pred_cr, last_pred_cr, " max: ", data["seq_max_coverage_rate"])
print("new added pts num: ", new_added_pts_num)
if pred_cr >= data["seq_max_coverage_rate"] - 1e-3:
print("max coverage rate reached!: ", pred_cr)
success += 1
elif new_added_pts_num < 5:
#success += 1
print("min added pts num reached!: ", new_added_pts_num)
if pred_cr <= last_pred_cr + cr_increase_threshold:
retry += 1
retry_duplication_pose.append(pred_pose.cpu().numpy().tolist())
@ -202,6 +203,12 @@ class Inferencer(Runner):
if success > 3:
break
last_pred_cr = pred_cr
pts_num = voxel_downsampled_combined_scanned_pts_np.shape[0]
if pts_num - last_pts_num < 10:
retry += 1
print("delta pts num < 10:", pts_num, last_pts_num)
last_pts_num = pts_num
input_data["scanned_n_to_world_pose_9d"] = input_data["scanned_n_to_world_pose_9d"][0].cpu().numpy().tolist()
result = {

2
runners/view_generator.py
View File

@ -9,7 +9,7 @@ class ViewGenerator(Runner):
self.config_path = config_path
def run(self):
result = subprocess.run(['/home/hofee/blender-4.0.2-linux-x64/blender', '-b', '-P', '../blender/run_blender.py', '--', self.config_path])
result = subprocess.run(['blender', '-b', '-P', '../blender/run_blender.py', '--', self.config_path])
print()
def create_experiment(self, backup_name=None):