configs/local/strategy_generate_config.yaml

@@ -16,14 +16,14 @@ runner:
     compute_with_normal: False
     scan_points_threshold: 10
     overwrite: False
-    seq_num: 10
+    seq_num: 15
     dataset_list:
       - OmniObject3d
   
 datasets:
     OmniObject3d:
-      root_dir: H:\\AI\\Datasets\\nbv_rec_part2
+      root_dir: C:\\Document\\Local Project\\nbv_rec\\nbv_reconstruction\\temp
       from: 0
-      to: 300 # -1 means end
+      to: 1 # -1 means end
 
     

preprocess/pack_preprocessed_data.py

@@ -1,48 +0,0 @@
-import os
-import shutil
-
-def pack_scene_data(root, scene, output_dir):
-    scene_dir = os.path.join(output_dir, scene)
-    if not os.path.exists(scene_dir):
-        os.makedirs(scene_dir)
-
-    pts_dir = os.path.join(root, scene, "pts")
-    if os.path.exists(pts_dir):
-        shutil.move(pts_dir, os.path.join(scene_dir, "pts"))
-        
-    scan_points_indices_dir = os.path.join(root, scene, "scan_points_indices")
-    if os.path.exists(scan_points_indices_dir):
-        shutil.move(scan_points_indices_dir, os.path.join(scene_dir, "scan_points_indices")) 
-
-    scan_points_file = os.path.join(root, scene, "scan_points.txt")
-    if os.path.exists(scan_points_file):
-        shutil.move(scan_points_file, os.path.join(scene_dir, "scan_points.txt"))
-
-    model_pts_nrm_file = os.path.join(root, scene, "points_and_normals.txt")
-    if os.path.exists(model_pts_nrm_file):
-        shutil.move(model_pts_nrm_file, os.path.join(scene_dir, "points_and_normals.txt"))
-
-    camera_dir = os.path.join(root, scene, "camera_params")
-    if os.path.exists(camera_dir):
-        shutil.move(camera_dir, os.path.join(scene_dir, "camera_params"))
-
-    scene_info_file = os.path.join(root, scene, "scene_info.json")
-    if os.path.exists(scene_info_file):
-        shutil.move(scene_info_file, os.path.join(scene_dir, "scene_info.json"))
-
-def pack_all_scenes(root, scene_list, output_dir):
-    for idx, scene in enumerate(scene_list):
-        print(f"正在打包场景 {scene} ({idx+1}/{len(scene_list)})")
-        pack_scene_data(root, scene, output_dir)
-
-if __name__ == "__main__":
-    root = r"H:\AI\Datasets\nbv_rec_part2"
-    output_dir = r"H:\AI\Datasets\scene_info_part2"
-    scene_list = os.listdir(root)
-    from_idx = 0
-    to_idx = len(scene_list)
-    print(f"正在打包场景 {scene_list[from_idx:to_idx]}")
-
-    pack_all_scenes(root, scene_list[from_idx:to_idx], output_dir)
-    print("打包完成")
-

preprocess/pack_upload_data.py

@@ -1,41 +0,0 @@
-import os
-import shutil
-
-def pack_scene_data(root, scene, output_dir):
-    scene_dir = os.path.join(output_dir, scene)
-    if not os.path.exists(scene_dir):
-        os.makedirs(scene_dir)
-
-    pts_dir = os.path.join(root, scene, "pts")
-    if os.path.exists(pts_dir):
-        shutil.move(pts_dir, os.path.join(scene_dir, "pts"))
-
-    camera_dir = os.path.join(root, scene, "camera_params")
-    if os.path.exists(camera_dir):
-        shutil.move(camera_dir, os.path.join(scene_dir, "camera_params"))
-
-    scene_info_file = os.path.join(root, scene, "scene_info.json")
-    if os.path.exists(scene_info_file):
-        shutil.move(scene_info_file, os.path.join(scene_dir, "scene_info.json"))
-
-    label_dir = os.path.join(root, scene, "label")
-    if os.path.exists(label_dir):
-        shutil.move(label_dir, os.path.join(scene_dir, "label"))
-
-
-def pack_all_scenes(root, scene_list, output_dir):
-    for idx, scene in enumerate(scene_list):
-        print(f"packing {scene} ({idx+1}/{len(scene_list)})")
-        pack_scene_data(root, scene, output_dir)
-
-if __name__ == "__main__":
-    root = r"H:\AI\Datasets\nbv_rec_part2"
-    output_dir = r"H:\AI\Datasets\upload_part2"
-    scene_list = os.listdir(root)
-    from_idx = 0
-    to_idx = len(scene_list)
-    print(f"packing {scene_list[from_idx:to_idx]}")
-
-    pack_all_scenes(root, scene_list[from_idx:to_idx], output_dir)
-    print("packing done")
-

preprocess/preprocessor.py

@@ -164,10 +164,10 @@ def save_scene_data(root, scene, scene_idx=0, scene_total=1,file_type="txt"):
 
 if __name__ == "__main__":
     #root = "/media/hofee/repository/new_data_with_normal"
-    root = r"H:\AI\Datasets\nbv_rec_part2"
+    root = r"C:\Document\Datasets\nbv_rec_part2"
     scene_list = os.listdir(root)
-    from_idx = 0 # 1000
+    from_idx = 600 # 1000
-    to_idx = 600 # 1500
+    to_idx = len(scene_list) # 1500
 
 
     cnt = 0

utils/data_load.py

@@ -211,17 +211,6 @@ class DataLoadUtil:
             pts = np.load(npy_path)
         return pts
 
-    @staticmethod
-    def load_from_preprocessed_nrm(path, file_type="npy"):
-        npy_path = os.path.join(
-            os.path.dirname(path), "nrm", os.path.basename(path) + "." + file_type
-        )
-        if file_type == "txt":
-            nrm = np.loadtxt(npy_path)
-        else:
-            nrm = np.load(npy_path)
-        return nrm
-
     @staticmethod
     def cam_pose_transformation(cam_pose_before):
         offset = np.asarray([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])

utils/vis.py

@@ -158,22 +158,17 @@ class visualizeUtil:
         np.savetxt(os.path.join(output_dir, "target_normal.txt"), sampled_visualized_normal)
 
     @staticmethod
-    def save_pts_nrm(root, scene, frame_idx, output_dir, binocular=False):
+    def save_pts_nrm(pts_nrm, output_dir):
-        path = DataLoadUtil.get_path(root, scene, frame_idx)
+        pts = pts_nrm[:, :3]
-        pts_world = DataLoadUtil.load_from_preprocessed_pts(path, "npy")
+        nrm = pts_nrm[:, 3:]
-        nrm_camera = DataLoadUtil.load_from_preprocessed_nrm(path, "npy")
-        cam_info = DataLoadUtil.load_cam_info(path, binocular=binocular)
-        cam_to_world = cam_info["cam_to_world"]
-        nrm_world = nrm_camera @ cam_to_world[:3, :3].T
         visualized_nrm = []
         num_samples = 10
-        for i in range(len(pts_world)):
+        for i in range(len(pts)):
-            for t in range(num_samples):
+            visualized_nrm.append(pts[i] + 0.02*t * nrm[i] for t in range(num_samples))
-                visualized_nrm.append(pts_world[i] - 0.02 * t * nrm_world[i])
+        visualized_nrm = np.array(visualized_nrm).reshape(-1, 3)
-        
-        visualized_nrm = np.array(visualized_nrm)
         np.savetxt(os.path.join(output_dir, "nrm.txt"), visualized_nrm)
-        np.savetxt(os.path.join(output_dir, "pts.txt"), pts_world)
+        np.savetxt(os.path.join(output_dir, "pts.txt"), pts)
+
 
 # ------ Debug ------
 
@@ -189,4 +184,6 @@ if __name__ == "__main__":
     # visualizeUtil.save_seq_cam_pos_and_cam_axis(root, scene, [0, 121, 286, 175, 111,366,45,230,232,225,255,17,199,78,60], output_dir)
     # visualizeUtil.save_target_mesh_at_world_space(root, model_dir, scene)
     #visualizeUtil.save_points_and_normals(root, scene,"10", output_dir, binocular=True)
-    visualizeUtil.save_pts_nrm(root, scene, "116", output_dir, binocular=True)   
+    pts_nrm = np.loadtxt(r"C:\Document\Local Project\nbv_rec\nbv_reconstruction\pts_nrm_target.txt")
+    visualizeUtil.save_pts_nrm(pts_nrm, output_dir)
+