hofee/nbv_reconstruction
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Merge branch 'master' of https://git.hofee.top/hofee/nbv_reconstruction

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hofee 2024-10-10 10:16:03 -05:00
commit 8d92676c34
5 changed files with 20 additions and 25 deletions
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4
configs/local/strategy_generate_config.yaml
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@ -28,8 +28,8 @@ runner:
datasets: datasets:
OmniObject3d: OmniObject3d:
#"/media/hofee/data/data/temp_output" #"/media/hofee/data/data/temp_output"
root_dir: "/media/hofee/data/tempdir/test_real_output" root_dir: "/media/hofee/data/data/box_output"
model_dir: "/media/hofee/data/tempdir/test_real" model_dir: "/media/hofee/data/data/box_object_meshes"
from: 0 from: 0
to: -1 # -1 means end to: -1 # -1 means end
#output_dir: "/media/hofee/data/data/label_output" #output_dir: "/media/hofee/data/data/label_output"

12
configs/local/view_generate_config.yaml
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@ -8,11 +8,11 @@ runner:
root_dir: experiments root_dir: experiments
generate: generate:
port: 5004 port: 5004
from: 0 from: 590
to: 1 # -1 means all to: 2000 # -1 means all
object_dir: /media/hofee/data/tempdir/test_real object_dir: /media/hofee/data/data/scaled_object_meshes
table_model_path: /media/hofee/data/data/others/table.obj table_model_path: /media/hofee/data/data/others/table.obj
output_dir: /media/hofee/data/tempdir/test_real_output output_dir: /media/hofee/repository/full_data_output
binocular_vision: true binocular_vision: true
plane_size: 10 plane_size: 10
max_views: 512 max_views: 512
@ -29,9 +29,9 @@ runner:
max_radius: 0.3 max_radius: 0.3
display_object: display_object:
min_x: 0 min_x: 0
max_x: 0.03 max_x: 0.05
min_y: 0 min_y: 0
max_y: 0.03 max_y: 0.05
min_z: 0.01 min_z: 0.01
max_z: 0.01 max_z: 0.01
random_rotation_ratio: 0.3 random_rotation_ratio: 0.3

2
configs/server/server_strategy_generate_config.yaml
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@ -11,7 +11,7 @@ runner:
root_dir: "experiments" root_dir: "experiments"
generate: generate:
voxel_threshold: 0.01 voxel_threshold: 0.005
overlap_threshold: 0.5 overlap_threshold: 0.5
filter_degree: 75 filter_degree: 75
to_specified_dir: False # if True, output_dir is used, otherwise, root_dir is used to_specified_dir: False # if True, output_dir is used, otherwise, root_dir is used

24
preprocess/preprocessor.py
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@ -31,14 +31,17 @@ def save_scan_points(root, scene, scan_points: np.ndarray):
scan_points_path = os.path.join(root,scene, "scan_points.txt") scan_points_path = os.path.join(root,scene, "scan_points.txt")
save_np_pts(scan_points_path, scan_points) save_np_pts(scan_points_path, scan_points)
def get_world_points(depth, mask, cam_intrinsic, cam_extrinsic): def get_world_points(depth, mask, cam_intrinsic, cam_extrinsic, random_downsample_N):
z = depth[mask] z = depth[mask]
i, j = np.nonzero(mask) i, j = np.nonzero(mask)
x = (j - cam_intrinsic[0, 2]) * z / cam_intrinsic[0, 0] x = (j - cam_intrinsic[0, 2]) * z / cam_intrinsic[0, 0]
y = (i - cam_intrinsic[1, 2]) * z / cam_intrinsic[1, 1] y = (i - cam_intrinsic[1, 2]) * z / cam_intrinsic[1, 1]
points_camera = np.stack((x, y, z), axis=-1).reshape(-1, 3) points_camera = np.stack((x, y, z), axis=-1).reshape(-1, 3)
points_camera_aug = np.concatenate((points_camera, np.ones((points_camera.shape[0], 1))), axis=-1) sampled_target_points = PtsUtil.random_downsample_point_cloud(
points_camera, random_downsample_N
)
points_camera_aug = np.concatenate((sampled_target_points, np.ones((sampled_target_points.shape[0], 1))), axis=-1)
points_camera_world = np.dot(cam_extrinsic, points_camera_aug.T).T[:, :3] points_camera_world = np.dot(cam_extrinsic, points_camera_aug.T).T[:, :3]
return points_camera_world return points_camera_world
@ -96,15 +99,9 @@ def save_scene_data(root, scene, scene_idx=0, scene_total=1,file_type="txt"):
target_mask_img_R = (mask_R == target_mask_label).all(axis=-1) target_mask_img_R = (mask_R == target_mask_label).all(axis=-1)
target_points_L = get_world_points(depth_L, target_mask_img_L, cam_info["cam_intrinsic"], cam_info["cam_to_world"]) sampled_target_points_L = get_world_points(depth_L, target_mask_img_L, cam_info["cam_intrinsic"], cam_info["cam_to_world"], random_downsample_N)
target_points_R = get_world_points(depth_R, target_mask_img_R, cam_info["cam_intrinsic"], cam_info["cam_to_world_R"]) sampled_target_points_R = get_world_points(depth_R, target_mask_img_R, cam_info["cam_intrinsic"], cam_info["cam_to_world_R"], random_downsample_N)
sampled_target_points_L = PtsUtil.random_downsample_point_cloud(
target_points_L, random_downsample_N
)
sampled_target_points_R = PtsUtil.random_downsample_point_cloud(
target_points_R, random_downsample_N
)
has_points = sampled_target_points_L.shape[0] > 0 and sampled_target_points_R.shape[0] > 0 has_points = sampled_target_points_L.shape[0] > 0 and sampled_target_points_R.shape[0] > 0
if has_points: if has_points:
@ -138,7 +135,7 @@ def save_scene_data(root, scene, scene_idx=0, scene_total=1,file_type="txt"):
if __name__ == "__main__": if __name__ == "__main__":
#root = "/media/hofee/repository/new_data_with_normal" #root = "/media/hofee/repository/new_data_with_normal"
root = r"/media/hofee/data/tempdir/test_real_output" root = r"/media/hofee/data/data/box_output"
# list_path = r"/media/hofee/repository/full_list.txt" # list_path = r"/media/hofee/repository/full_list.txt"
# scene_list = [] # scene_list = []
@ -147,7 +144,8 @@ if __name__ == "__main__":
# scene_list.append(line.strip()) # scene_list.append(line.strip())
scene_list = os.listdir(root) scene_list = os.listdir(root)
from_idx = 0 # 1000 from_idx = 0 # 1000
to_idx = 1 # 1500 to_idx = len(scene_list) # 1500
print(scene_list)
cnt = 0 cnt = 0
@ -155,7 +153,7 @@ if __name__ == "__main__":
total = to_idx - from_idx total = to_idx - from_idx
for scene in scene_list[from_idx:to_idx]: for scene in scene_list[from_idx:to_idx]:
start = time.time() start = time.time()
save_scene_data(root, scene, cnt, total, file_type="npy") save_scene_data(root, scene, cnt, total, file_type="txt")
cnt+=1 cnt+=1
end = time.time() end = time.time()
print(f"Time cost: {end-start}") print(f"Time cost: {end-start}")

3
utils/reconstruction.py
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@ -121,9 +121,6 @@ class ReconstructionUtil:
else: else:
break break
# ----- Debug Trace ----- #
import ipdb; ipdb.set_trace()
# ------------------------ #
if status_info is not None: if status_info is not None:
sm = status_info["status_manager"] sm = status_info["status_manager"]
app_name = status_info["app_name"] app_name = status_info["app_name"]