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global: debug inference

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This commit is contained in:
hofee 2024-11-01 15:47:11 +00:00
parent 985a08d89c
commit ecd4cfa806
4 changed files with 113 additions and 43 deletions
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8
configs/local/inference_config.yaml
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@ -1,12 +1,12 @@
runner:
general:
seed: 1
seed: 0
device: cuda
cuda_visible_devices: "0,1,2,3,4,5,6,7"
experiment:
name: overfit_ab_global_only
name: train_ab_global_only
root_dir: "experiments"
epoch: -1 # -1 stands for last epoch
@ -22,7 +22,7 @@ runner:
dataset:
OmniObject3d_train:
root_dir: "/data/hofee/data/new_full_data"
model_dir: "/data/hofee/data/scaled_object_meshes"
model_dir: "/data/hofee/data/object_meshes_part3"
source: seq_reconstruction_dataset
split_file: "/data/hofee/data/sample.txt"
type: test
@ -35,7 +35,7 @@ dataset:
OmniObject3d_test:
root_dir: "/data/hofee/data/new_full_data"
model_dir: "/data/hofee/data/scaled_object_meshes"
model_dir: "/data/hofee/data/object_meshes_part3"
source: seq_reconstruction_dataset
split_file: "/data/hofee/data/sample.txt"
type: test

2
configs/server/server_train_config.yaml
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@ -9,7 +9,7 @@ runner:
experiment:
name: train_ab_global_only
root_dir: "experiments"
use_checkpoint: False
use_checkpoint: True
epoch: -1 # -1 stands for last epoch
max_epochs: 5000
save_checkpoint_interval: 1

48
runners/inferencer.py
View File

@ -77,17 +77,17 @@ 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, max_iter=50, max_retry=5):
scene_name = data["scene_name"][0]
scene_name = data["scene_name"]
Log.info(f"Processing scene: {scene_name}")
status_manager.set_status("inference", "inferencer", "scene", scene_name)
''' data for rendering '''
scene_path = data["scene_path"][0]
O_to_L_pose = data["O_to_L_pose"][0]
scene_path = data["scene_path"]
O_to_L_pose = data["O_to_L_pose"]
voxel_threshold = self.voxel_size
filter_degree = 75
down_sampled_model_pts = data["gt_pts"]
import ipdb; ipdb.set_trace()
first_frame_to_world_9d = data["first_scanned_n_to_world_pose_9d"][0]
first_frame_to_world = np.eye(4)
first_frame_to_world[:3,:3] = PoseUtil.rotation_6d_to_matrix_numpy(first_frame_to_world_9d[:6])
@ -95,14 +95,13 @@ class Inferencer(Runner):
''' data for inference '''
input_data = {}
input_data["combined_scanned_pts"] = torch.tensor(data["first_scanned_pts"][0], dtype=torch.float32).to(self.device)
input_data["combined_scanned_pts"] = torch.tensor(data["first_scanned_pts"][0], dtype=torch.float32).to(self.device).unsqueeze(0)
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]
first_frame_target_pts, _ = RenderUtil.render_pts(first_frame_to_world, scene_path, self.script_path, down_sampled_model_pts, voxel_threshold=voxel_threshold, filter_degree=filter_degree, nO_to_nL_pose=O_to_L_pose)
first_frame_target_pts, first_frame_target_normals = RenderUtil.render_pts(first_frame_to_world, scene_path, self.script_path, voxel_threshold=voxel_threshold, filter_degree=filter_degree, nO_to_nL_pose=O_to_L_pose)
scanned_view_pts = [first_frame_target_pts]
last_pred_cr = self.compute_coverage_rate(scanned_view_pts, None, down_sampled_model_pts, threshold=voxel_threshold)
last_pred_cr, added_pts_num = self.compute_coverage_rate(scanned_view_pts, None, down_sampled_model_pts, threshold=voxel_threshold)
retry_duplication_pose = []
retry_no_pts_pose = []
@ -118,7 +117,7 @@ class Inferencer(Runner):
pred_pose[:3,3] = pred_pose_9d[0,6:]
try:
new_target_pts_world, new_pts_world = RenderUtil.render_pts(pred_pose, scene_path, self.script_path, model_points_normals, voxel_threshold=voxel_threshold, filter_degree=filter_degree, nO_to_nL_pose=O_to_L_pose, require_full_scene=True)
new_target_pts, new_target_normals = RenderUtil.render_pts(pred_pose, scene_path, self.script_path, voxel_threshold=voxel_threshold, filter_degree=filter_degree, nO_to_nL_pose=O_to_L_pose)
except Exception as e:
Log.warning(f"Error in scene {scene_path}, {e}")
print("current pose: ", pred_pose)
@ -127,12 +126,18 @@ class Inferencer(Runner):
retry += 1
continue
if new_target_pts.shape[0] == 0:
print("no pts in new target")
retry_no_pts_pose.append(pred_pose.cpu().numpy().tolist())
retry += 1
continue
pred_cr = self.compute_coverage_rate(scanned_view_pts, new_target_pts_world, down_sampled_model_pts, threshold=voxel_threshold)
print(pred_cr, last_pred_cr, " max: ", data["max_coverage_rate"])
if pred_cr >= data["max_coverage_rate"]:
print("max coverage rate reached!")
pred_cr, new_added_pts_num = self.compute_coverage_rate(scanned_view_pts, new_target_pts, down_sampled_model_pts, threshold=voxel_threshold)
print(pred_cr, last_pred_cr, " max: ", data["seq_max_coverage_rate"])
if pred_cr >= data["seq_max_coverage_rate"] - 1e-3:
print("max coverage rate reached!: ", pred_cr)
if new_added_pts_num < 10:
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())
@ -140,17 +145,14 @@ class Inferencer(Runner):
retry = 0
pred_cr_seq.append(pred_cr)
scanned_view_pts.append(new_target_pts_world)
down_sampled_new_pts_world = PtsUtil.random_downsample_point_cloud(new_pts_world, input_pts_N)
new_pts_world_aug = np.hstack([down_sampled_new_pts_world, np.ones((down_sampled_new_pts_world.shape[0], 1))])
new_pts = np.dot(np.linalg.inv(first_frame_to_world.cpu()), new_pts_world_aug.T).T[:,:3]
new_pts_tensor = torch.tensor(new_pts, dtype=torch.float32).unsqueeze(0).to(self.device)
scanned_view_pts.append(new_target_pts)
down_sampled_new_pts_world = PtsUtil.random_downsample_point_cloud(new_target_pts, input_pts_N)
input_data["scanned_pts"] = [torch.cat([input_data["scanned_pts"][0] , new_pts_tensor], dim=0)]
new_pts = down_sampled_new_pts_world
input_data["scanned_n_to_world_pose_9d"] = [torch.cat([input_data["scanned_n_to_world_pose_9d"][0], pred_pose_9d], dim=0)]
combined_scanned_views_pts = np.concatenate(input_data["scanned_pts"][0].tolist(), axis=0)
voxel_downsampled_combined_scanned_pts_np = PtsUtil.voxel_downsample_point_cloud(combined_scanned_views_pts, 0.002)
combined_scanned_pts = np.concatenate([input_data["combined_scanned_pts"][0].cpu().numpy(), new_pts], axis=0)
voxel_downsampled_combined_scanned_pts_np = PtsUtil.voxel_downsample_point_cloud(combined_scanned_pts, 0.002)
random_downsampled_combined_scanned_pts_np = PtsUtil.random_downsample_point_cloud(voxel_downsampled_combined_scanned_pts_np, input_pts_N)
input_data["combined_scanned_pts"] = torch.tensor(random_downsampled_combined_scanned_pts_np, dtype=torch.float32).unsqueeze(0).to(self.device)

98
utils/render.py
View File

@ -4,11 +4,54 @@ import json
import subprocess
import tempfile
import shutil
import numpy as np
from utils.data_load import DataLoadUtil
from utils.reconstruction import ReconstructionUtil
from utils.pts import PtsUtil
class RenderUtil:
target_mask_label = (0, 255, 0)
display_table_mask_label = (0, 0, 255)
random_downsample_N = 32768
min_z = 0.2
max_z = 0.5
@staticmethod
def get_world_points_and_normal(depth, mask, normal, cam_intrinsic, cam_extrinsic, random_downsample_N):
z = depth[mask]
i, j = np.nonzero(mask)
x = (j - cam_intrinsic[0, 2]) * z / cam_intrinsic[0, 0]
y = (i - cam_intrinsic[1, 2]) * z / cam_intrinsic[1, 1]
points_camera = np.stack((x, y, z), axis=-1).reshape(-1, 3)
normal_camera = normal[mask].reshape(-1, 3)
sampled_target_points, idx = PtsUtil.random_downsample_point_cloud(
points_camera, random_downsample_N, require_idx=True
)
if len(sampled_target_points) == 0:
return np.zeros((0, 3)), np.zeros((0, 3))
sampled_normal_camera = normal_camera[idx]
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]
return points_camera_world, sampled_normal_camera
@staticmethod
def get_world_points(depth, mask, cam_intrinsic, cam_extrinsic, random_downsample_N):
z = depth[mask]
i, j = np.nonzero(mask)
x = (j - cam_intrinsic[0, 2]) * z / cam_intrinsic[0, 0]
y = (i - cam_intrinsic[1, 2]) * z / cam_intrinsic[1, 1]
points_camera = np.stack((x, y, z), axis=-1).reshape(-1, 3)
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]
return points_camera_world
@staticmethod
def render_pts(cam_pose, scene_path, script_path, voxel_threshold=0.005, filter_degree=75, nO_to_nL_pose=None, require_full_scene=False):
@ -28,25 +71,50 @@ class RenderUtil:
result = subprocess.run([
'blender', '-b', '-P', script_path, '--', temp_dir
], capture_output=True, text=True)
if result.returncode != 0:
print("Blender script failed:")
print(result.stderr)
return None
path = os.path.join(temp_dir, "tmp")
point_cloud = DataLoadUtil.get_target_point_cloud_world_from_path(path, binocular=True)
normals = DataLoadUtil.get_target_normals_world_from_path(path, binocular=True)
cam_params = DataLoadUtil.load_cam_info(path, binocular=True)
filtered_point_cloud = PtsUtil.filter_points(point_cloud, normals, cam_pose=cam_params["cam_to_world"], voxel_size=voxel_threshold, theta=filter_degree)
full_scene_point_cloud = None
if require_full_scene:
depth_L, depth_R = DataLoadUtil.load_depth(path, cam_params['near_plane'], cam_params['far_plane'], binocular=True)
point_cloud_L = DataLoadUtil.get_point_cloud(depth_L, cam_params['cam_intrinsic'], cam_params['cam_to_world'])['points_world']
point_cloud_R = DataLoadUtil.get_point_cloud(depth_R, cam_params['cam_intrinsic'], cam_params['cam_to_world_R'])['points_world']
point_cloud_L = PtsUtil.random_downsample_point_cloud(point_cloud_L, 65536)
point_cloud_R = PtsUtil.random_downsample_point_cloud(point_cloud_R, 65536)
full_scene_point_cloud = PtsUtil.get_overlapping_points(point_cloud_L, point_cloud_R)
cam_info = DataLoadUtil.load_cam_info(path, binocular=True)
depth_L, depth_R = DataLoadUtil.load_depth(
path, cam_info["near_plane"],
cam_info["far_plane"],
binocular=True
)
mask_L, mask_R = DataLoadUtil.load_seg(path, binocular=True)
normal_L = DataLoadUtil.load_normal(path, binocular=True, left_only=True)
''' target points '''
mask_img_L = mask_L
mask_img_R = mask_R
target_mask_img_L = (mask_L == RenderUtil.target_mask_label).all(axis=-1)
target_mask_img_R = (mask_R == RenderUtil.target_mask_label).all(axis=-1)
return filtered_point_cloud, full_scene_point_cloud
sampled_target_points_L, sampled_target_normal_L = RenderUtil.get_world_points_and_normal(depth_L,target_mask_img_L,normal_L, cam_info["cam_intrinsic"], cam_info["cam_to_world"], RenderUtil.random_downsample_N)
sampled_target_points_R = RenderUtil.get_world_points(depth_R, target_mask_img_R, cam_info["cam_intrinsic"], cam_info["cam_to_world_R"], RenderUtil.random_downsample_N )
has_points = sampled_target_points_L.shape[0] > 0 and sampled_target_points_R.shape[0] > 0
if has_points:
target_points, overlap_idx = PtsUtil.get_overlapping_points(
sampled_target_points_L, sampled_target_points_R, voxel_threshold, require_idx=True
)
sampled_target_normal_L = sampled_target_normal_L[overlap_idx]
if has_points:
has_points = target_points.shape[0] > 0
if has_points:
target_points, target_normals = PtsUtil.filter_points(
target_points, sampled_target_normal_L, cam_info["cam_to_world"], theta_limit = filter_degree, z_range=(RenderUtil.min_z, RenderUtil.max_z)
)
if not has_points:
target_points = np.zeros((0, 3))
target_normals = np.zeros((0, 3))
#import ipdb; ipdb.set_trace()
return target_points, target_normals