fix nan

configs/local/inference_config.yaml

@@ -1,72 +1,76 @@
 
 runner:
   general:
-    seed: 0
+    seed: 1
     device: cuda
     cuda_visible_devices: "0,1,2,3,4,5,6,7"
     
   experiment:
-    name: train_ab_global_only
+    name: w_gf_wo_lf_full
     root_dir: "experiments"
-    epoch: -1 # -1 stands for last epoch
+    epoch: 1 # -1 stands for last epoch
 
   test:
     dataset_list:
-      - OmniObject3d_test
+      - OmniObject3d_train
 
-  blender_script_path: "/data/hofee/project/nbv_rec/blender/data_renderer.py"
+  blender_script_path: "/media/hofee/data/project/python/nbv_reconstruction/blender/data_renderer.py"
-  output_dir: "/data/hofee/data/inference_global_full_on_testset"
+  output_dir: "/media/hofee/data/project/python/nbv_reconstruction/nbv_reconstruction/test/inference_global_full_on_testset"
-  pipeline: nbv_reconstruction_pipeline
+  pipeline: nbv_reconstruction_global_pts_pipeline
-  voxel_size: 0.003
   
 dataset:
   OmniObject3d_train:
-    root_dir: "/data/hofee/data/new_full_data"
+    root_dir: "/media/hofee/repository/nbv_reconstruction_data_512"
-    model_dir: "/data/hofee/data/scaled_object_meshes"
+    model_dir: "/media/hofee/data/data/scaled_object_meshes"
-    source: seq_reconstruction_dataset
+    source: seq_nbv_reconstruction_dataset
-    split_file: "/data/hofee/data/sample.txt"
+    split_file: "/media/hofee/data/project/python/nbv_reconstruction/nbv_reconstruction/test/test_set_list.txt"
     type: test
     filter_degree: 75
     ratio: 1
     batch_size: 1
     num_workers: 12
-    pts_num: 8192
+    pts_num: 4096
-    load_from_preprocess: True
+    load_from_preprocess: False
-
-  OmniObject3d_test:
-    root_dir: "/data/hofee/data/new_full_data"
-    model_dir: "/data/hofee/data/scaled_object_meshes"
-    source: seq_reconstruction_dataset
-    split_file: "/data/hofee/data/new_full_data_list/OmniObject3d_test.txt"
-    type: test
-    filter_degree: 75
-    eval_list:
-      - pose_diff
-      - coverage_rate_increase
-    ratio: 0.1
-    batch_size: 1
-    num_workers: 12
-    pts_num: 8192
-    load_from_preprocess: True
 
 pipeline:
-  nbv_reconstruction_pipeline:
+  nbv_reconstruction_local_pts_pipeline:
     modules:
       pts_encoder: pointnet_encoder
       seq_encoder: transformer_seq_encoder
       pose_encoder: pose_encoder
       view_finder: gf_view_finder
     eps: 1e-5
+    global_scanned_feat: False
+
+  nbv_reconstruction_global_pts_pipeline:
+    modules:
+      pts_encoder: pointnet_encoder
+      pose_seq_encoder: transformer_pose_seq_encoder
+      pose_encoder: pose_encoder
+      view_finder: gf_view_finder
+    eps: 1e-5
     global_scanned_feat: True
 
+
+    
 module:
+
   pointnet_encoder:
     in_dim: 3
     out_dim: 1024
     global_feat: True
     feature_transform: False
+
   transformer_seq_encoder:
-    embed_dim: 256
+    pts_embed_dim: 1024
+    pose_embed_dim: 256
+    num_heads: 4
+    ffn_dim: 256
+    num_layers: 3
+    output_dim: 2048
+
+  transformer_pose_seq_encoder:
+    pose_embed_dim: 256
     num_heads: 4
     ffn_dim: 256
     num_layers: 3
@@ -82,8 +86,7 @@ module:
     sample_mode: ode
     sampling_steps: 500
     sde_mode: ve
+
   pose_encoder:
     pose_dim: 9
     out_dim: 256
-  pts_num_encoder:
-    out_dim: 64

configs/server/server_split_dataset_config.yaml

@@ -6,17 +6,17 @@ runner:
     cuda_visible_devices: "0,1,2,3,4,5,6,7"
     
   experiment:
-    name: debug
+    name: server_split_dataset
     root_dir: "experiments"
   
   split: # 
-    root_dir: "/data/hofee/data/packed_preprocessed_data"
+    root_dir: "/data/hofee/data/new_full_data"
     type: "unseen_instance" # "unseen_category"
     datasets:
       OmniObject3d_train: 
-        path: "/data/hofee/data/OmniObject3d_train.txt"
+        path: "/data/hofee/data/new_full_data_list/OmniObject3d_train.txt"
         ratio: 0.9
 
       OmniObject3d_test: 
-        path: "/data/hofee/data/OmniObject3d_test.txt"
+        path: "/data/hofee/data/new_full_data_list/OmniObject3d_test.txt"
         ratio: 0.1

configs/server/server_train_config.yaml

@@ -3,17 +3,17 @@ runner:
   general:
     seed: 0
     device: cuda
-    cuda_visible_devices: "0"
+    cuda_visible_devices: "1"
     parallel: False
     
   experiment:
-    name: train_ab_global_only
+    name: train_ab_global_and_partial_global
     root_dir: "experiments"
-    use_checkpoint: True
+    use_checkpoint: False
     epoch: -1 # -1 stands for last epoch
     max_epochs: 5000
     save_checkpoint_interval: 1
-    test_first: True  
+    test_first: False  
 
   train:
     optimizer:
@@ -25,7 +25,7 @@ runner:
   test:
     frequency: 3 # test frequency
     dataset_list:
-      - OmniObject3d_test
+      #- OmniObject3d_test
       - OmniObject3d_val
 
   pipeline: nbv_reconstruction_pipeline
@@ -97,7 +97,7 @@ module:
     feature_transform: False
 
   transformer_seq_encoder:
-    embed_dim: 256
+    embed_dim: 320
     num_heads: 4
     ffn_dim: 256
     num_layers: 3

core/nbv_dataset.py

@@ -7,6 +7,7 @@ from PytorchBoot.utils.log_util import Log
 import torch
 import os
 import sys
+import time
 
 sys.path.append(r"/data/hofee/project/nbv_rec/nbv_reconstruction")
 
@@ -114,8 +115,13 @@ class NBVReconstructionDataset(BaseDataset):
         except Exception as e:
             Log.error(f"Save cache failed: {e}")
 
-    def voxel_downsample_with_mask(self, pts, voxel_size):
+    def voxel_downsample_with_mapping(self, point_cloud, voxel_size=0.003):
-        pass
+        voxel_indices = np.floor(point_cloud / voxel_size).astype(np.int32)
+        unique_voxels, inverse, counts = np.unique(voxel_indices, axis=0, return_inverse=True, return_counts=True)
+        idx_sort = np.argsort(inverse)
+        idx_unique = idx_sort[np.cumsum(counts)-counts]
+        downsampled_points = point_cloud[idx_unique]
+        return downsampled_points, inverse
 
 
     def __getitem__(self, index):
@@ -129,6 +135,9 @@ class NBVReconstructionDataset(BaseDataset):
             scanned_coverages_rate,
             scanned_n_to_world_pose,
         ) = ([], [], [])
+        start_time = time.time()
+        start_indices = [0]
+        total_points = 0
         for view in scanned_views:
             frame_idx = view[0]
             coverage_rate = view[1]
@@ -150,8 +159,12 @@ class NBVReconstructionDataset(BaseDataset):
             n_to_world_trans = n_to_world_pose[:3, 3]
             n_to_world_9d = np.concatenate([n_to_world_6d, n_to_world_trans], axis=0)
             scanned_n_to_world_pose.append(n_to_world_9d)
+            total_points += len(downsampled_target_point_cloud)
+            start_indices.append(total_points)
 
 
+        end_time = time.time()
+        #Log.info(f"load data time: {end_time - start_time}")
         nbv_idx, nbv_coverage_rate = nbv[0], nbv[1]
         nbv_path = DataLoadUtil.get_path(self.root_dir, scene_name, nbv_idx)
         cam_info = DataLoadUtil.load_cam_info(nbv_path)
@@ -166,12 +179,25 @@ class NBVReconstructionDataset(BaseDataset):
         )
         
         combined_scanned_views_pts = np.concatenate(scanned_views_pts, axis=0)
-        voxel_downsampled_combined_scanned_pts_np = PtsUtil.voxel_downsample_point_cloud(combined_scanned_views_pts, 0.002)
+        voxel_downsampled_combined_scanned_pts_np, inverse = self.voxel_downsample_with_mapping(combined_scanned_views_pts, 0.003)
-        random_downsampled_combined_scanned_pts_np = PtsUtil.random_downsample_point_cloud(voxel_downsampled_combined_scanned_pts_np, self.pts_num)
+        random_downsampled_combined_scanned_pts_np, random_downsample_idx = PtsUtil.random_downsample_point_cloud(voxel_downsampled_combined_scanned_pts_np, self.pts_num, require_idx=True)
 
+        all_idx_unique = np.arange(len(voxel_downsampled_combined_scanned_pts_np))
+        all_random_downsample_idx = all_idx_unique[random_downsample_idx]
+        scanned_pts_mask = []
+        for idx, start_idx in enumerate(start_indices):
+            if idx == len(start_indices) - 1:
+                break
+            end_idx = start_indices[idx+1]
+            view_inverse = inverse[start_idx:end_idx]
+            view_unique_downsampled_idx = np.unique(view_inverse)
+            view_unique_downsampled_idx_set = set(view_unique_downsampled_idx)
+            mask = np.array([idx in view_unique_downsampled_idx_set for idx in all_random_downsample_idx])
+            scanned_pts_mask.append(mask)
         data_item = {
             "scanned_pts": np.asarray(scanned_views_pts, dtype=np.float32), # Ndarray(S x Nv x 3)
             "combined_scanned_pts": np.asarray(random_downsampled_combined_scanned_pts_np, dtype=np.float32), # Ndarray(N x 3)
+            "scanned_pts_mask": np.asarray(scanned_pts_mask, dtype=np.bool), # Ndarray(N)
             "scanned_coverage_rate": scanned_coverages_rate, # List(S): Float, range(0, 1)
             "scanned_n_to_world_pose_9d": np.asarray(scanned_n_to_world_pose, dtype=np.float32), # Ndarray(S x 9)
             "best_coverage_rate": nbv_coverage_rate, # Float, range(0, 1)
@@ -197,7 +223,9 @@ class NBVReconstructionDataset(BaseDataset):
             collate_data["scanned_n_to_world_pose_9d"] = [
                 torch.tensor(item["scanned_n_to_world_pose_9d"]) for item in batch
             ]
-            
+            collate_data["scanned_pts_mask"] = [
+                torch.tensor(item["scanned_pts_mask"]) for item in batch
+            ]
             ''' ------ Fixed Length ------ '''
             
             collate_data["best_to_world_pose_9d"] = torch.stack(
@@ -206,12 +234,14 @@ class NBVReconstructionDataset(BaseDataset):
             collate_data["combined_scanned_pts"] = torch.stack(
                 [torch.tensor(item["combined_scanned_pts"]) for item in batch]
             )
+            
             for key in batch[0].keys():
                 if key not in [
                     "scanned_pts",
                     "scanned_n_to_world_pose_9d",
                     "best_to_world_pose_9d",
                     "combined_scanned_pts",
+                    "scanned_pts_mask",
                 ]:
                     collate_data[key] = [item[key] for item in batch]
             return collate_data
@@ -227,9 +257,9 @@ if __name__ == "__main__":
     torch.manual_seed(seed)
     np.random.seed(seed)
     config = {
-        "root_dir": "/data/hofee/data/packed_preprocessed_data",
+        "root_dir": "/data/hofee/nbv_rec_part2_preprocessed",
         "source": "nbv_reconstruction_dataset",
-        "split_file": "/data/hofee/data/OmniObject3d_train.txt",
+        "split_file": "/data/hofee/data/sample.txt",
         "load_from_preprocess": True,
         "ratio": 0.5,
         "batch_size": 2,

core/old_seq_dataset.py

@@ -1,154 +0,0 @@
-import numpy as np
-from PytorchBoot.dataset import BaseDataset
-import PytorchBoot.namespace as namespace
-import PytorchBoot.stereotype as stereotype
-from PytorchBoot.utils.log_util import Log
-import torch
-import os
-import sys
-sys.path.append(r"/home/data/hofee/project/nbv_rec/nbv_reconstruction")
-
-from utils.data_load import DataLoadUtil
-from utils.pose import PoseUtil
-from utils.pts import PtsUtil
-
-@stereotype.dataset("old_seq_nbv_reconstruction_dataset")
-class SeqNBVReconstructionDataset(BaseDataset):
-    def __init__(self, config):
-        super(SeqNBVReconstructionDataset, self).__init__(config)
-        self.type = config["type"]
-        if self.type != namespace.Mode.TEST:
-            Log.error("Dataset <seq_nbv_reconstruction_dataset> Only support test mode", terminate=True)
-        self.config = config
-        self.root_dir = config["root_dir"]
-        self.split_file_path = config["split_file"]
-        self.scene_name_list = self.load_scene_name_list()
-        self.datalist = self.get_datalist()
-        self.pts_num = config["pts_num"]
-        
-        self.model_dir = config["model_dir"]
-        self.filter_degree = config["filter_degree"]
-        self.load_from_preprocess = config.get("load_from_preprocess", False)
-        
-
-    def load_scene_name_list(self):
-        scene_name_list = []
-        with open(self.split_file_path, "r") as f:
-            for line in f:
-                scene_name = line.strip()
-                scene_name_list.append(scene_name)
-        return scene_name_list
-    
-    def get_datalist(self):
-        datalist = []
-        for scene_name in self.scene_name_list:
-            seq_num = DataLoadUtil.get_label_num(self.root_dir, scene_name)
-            scene_max_coverage_rate = 0
-            scene_max_cr_idx = 0
-
-            for seq_idx in range(seq_num):
-                label_path = DataLoadUtil.get_label_path(self.root_dir, scene_name, seq_idx)
-                label_data = DataLoadUtil.load_label(label_path)
-                max_coverage_rate = label_data["max_coverage_rate"]
-                if max_coverage_rate > scene_max_coverage_rate:
-                    scene_max_coverage_rate = max_coverage_rate
-                    scene_max_cr_idx = seq_idx
-        
-            label_path = DataLoadUtil.get_label_path(self.root_dir, scene_name, scene_max_cr_idx)
-            label_data = DataLoadUtil.load_label(label_path)
-            first_frame = label_data["best_sequence"][0]
-            best_seq_len = len(label_data["best_sequence"])
-            datalist.append({
-                    "scene_name": scene_name,
-                    "first_frame": first_frame,
-                    "max_coverage_rate": scene_max_coverage_rate,
-                    "best_seq_len": best_seq_len,
-                    "label_idx": scene_max_cr_idx,
-                })
-        return datalist
-
-    def __getitem__(self, index):
-        data_item_info = self.datalist[index]
-        first_frame_idx = data_item_info["first_frame"][0]
-        first_frame_coverage = data_item_info["first_frame"][1]
-        max_coverage_rate = data_item_info["max_coverage_rate"]
-        scene_name = data_item_info["scene_name"]
-        first_cam_info = DataLoadUtil.load_cam_info(DataLoadUtil.get_path(self.root_dir, scene_name, first_frame_idx), binocular=True)
-        first_view_path = DataLoadUtil.get_path(self.root_dir, scene_name, first_frame_idx)
-        first_left_cam_pose = first_cam_info["cam_to_world"]
-        first_center_cam_pose = first_cam_info["cam_to_world_O"]
-        first_target_point_cloud = DataLoadUtil.load_from_preprocessed_pts(first_view_path)
-        first_pts_num = first_target_point_cloud.shape[0]
-        first_downsampled_target_point_cloud = PtsUtil.random_downsample_point_cloud(first_target_point_cloud, self.pts_num)
-        first_to_world_rot_6d = PoseUtil.matrix_to_rotation_6d_numpy(np.asarray(first_left_cam_pose[:3,:3]))
-        first_to_world_trans = first_left_cam_pose[:3,3]
-        first_to_world_9d = np.concatenate([first_to_world_rot_6d, first_to_world_trans], axis=0)
-        diag = DataLoadUtil.get_bbox_diag(self.model_dir, scene_name)
-        voxel_threshold = diag*0.02
-        first_O_to_first_L_pose = np.dot(np.linalg.inv(first_left_cam_pose), first_center_cam_pose)
-        scene_path = os.path.join(self.root_dir, scene_name)
-        model_points_normals = DataLoadUtil.load_points_normals(self.root_dir, scene_name)
-
-        data_item = {
-            "first_pts_num": np.asarray(
-                first_pts_num, dtype=np.int32
-            ),
-            "first_pts": np.asarray([first_downsampled_target_point_cloud],dtype=np.float32),
-            "combined_scanned_pts": np.asarray(first_downsampled_target_point_cloud,dtype=np.float32),
-            "first_to_world_9d": np.asarray([first_to_world_9d],dtype=np.float32),
-            "scene_name": scene_name,
-            "max_coverage_rate": max_coverage_rate,
-            "voxel_threshold": voxel_threshold,
-            "filter_degree": self.filter_degree,
-            "O_to_L_pose": first_O_to_first_L_pose,
-            "first_frame_coverage": first_frame_coverage,
-            "scene_path": scene_path,
-            "model_points_normals": model_points_normals,
-            "best_seq_len": data_item_info["best_seq_len"],
-            "first_frame_id": first_frame_idx,
-        }
-        return data_item
-
-    def __len__(self):
-        return len(self.datalist)
-    
-    def get_collate_fn(self):
-        def collate_fn(batch):
-            collate_data = {}
-            collate_data["first_pts"] = [torch.tensor(item['first_pts']) for item in batch]
-            collate_data["first_to_world_9d"] = [torch.tensor(item['first_to_world_9d']) for item in batch]
-            collate_data["combined_scanned_pts"] = torch.stack([torch.tensor(item['combined_scanned_pts']) for item in batch])
-            for key in batch[0].keys():
-                if key not in ["first_pts", "first_to_world_9d", "combined_scanned_pts"]:
-                    collate_data[key] = [item[key] for item in batch]
-            return collate_data
-        return collate_fn
-
-# -------------- Debug ---------------- #
-if __name__ == "__main__":
-    import torch
-    seed = 0
-    torch.manual_seed(seed)
-    np.random.seed(seed)
-    config = {
-        "root_dir": "/home/data/hofee/project/nbv_rec/data/nbv_rec_data_512_preproc_npy",
-        "split_file": "/home/data/hofee/project/nbv_rec/data/OmniObject3d_train.txt",
-        "model_dir": "/home/data/hofee/project/nbv_rec/data/scaled_object_meshes",
-        "ratio": 0.005,
-        "batch_size": 2,
-        "filter_degree": 75,
-        "num_workers": 0,
-        "pts_num": 32684,
-        "type": namespace.Mode.TEST,
-        "load_from_preprocess": True
-    }
-    ds = SeqNBVReconstructionDataset(config)
-    print(len(ds))
-    #ds.__getitem__(10)
-    dl = ds.get_loader(shuffle=True)
-    for idx, data in enumerate(dl):
-        data = ds.process_batch(data, "cuda:0")
-        print(data)
-        # ------  Debug Start ------
-        import ipdb;ipdb.set_trace()
-        # ------  Debug End ------+

core/pipeline.py

@@ -89,25 +89,49 @@ class NBVReconstructionPipeline(nn.Module):
             "scanned_n_to_world_pose_9d"
         ]  # List(B): Tensor(S x 9)
 
+        scanned_pts_mask_batch = data["scanned_pts_mask"] # List(B): Tensor(N)
+
         device = next(self.parameters()).device
 
         embedding_list_batch = []
 
         combined_scanned_pts_batch = data["combined_scanned_pts"]  # Tensor(B x N x 3)
-        global_scanned_feat = self.pts_encoder.encode_points(
+        global_scanned_feat, per_point_feat_batch = self.pts_encoder.encode_points(
-            combined_scanned_pts_batch, require_per_point_feat=False
+            combined_scanned_pts_batch, require_per_point_feat=True
         )  # global_scanned_feat: Tensor(B x Dg)
+        batch_size = len(scanned_n_to_world_pose_9d_batch)
+        for i in range(batch_size):
+            seq_len = len(scanned_n_to_world_pose_9d_batch[i])
+            scanned_n_to_world_pose_9d = scanned_n_to_world_pose_9d_batch[i].to(device)  # Tensor(S x 9)
+            scanned_pts_mask = scanned_pts_mask_batch[i] # Tensor(S x N)
+            per_point_feat = per_point_feat_batch[i] # Tensor(N x Dp)
+            partial_point_feat_seq = []
+            for j in range(seq_len):
+                partial_per_point_feat = per_point_feat[scanned_pts_mask[j]]
+                if partial_per_point_feat.shape[0] == 0:
+                    partial_point_feat = torch.zeros(per_point_feat.shape[1], device=device)
+                else:
+                    partial_point_feat = torch.mean(partial_per_point_feat, dim=0) # Tensor(Dp)
+                partial_point_feat_seq.append(partial_point_feat)
+            partial_point_feat_seq = torch.stack(partial_point_feat_seq, dim=0) # Tensor(S x Dp)
             
-        for scanned_n_to_world_pose_9d in scanned_n_to_world_pose_9d_batch:
-            scanned_n_to_world_pose_9d = scanned_n_to_world_pose_9d.to(device)  # Tensor(S x 9)
             pose_feat_seq = self.pose_encoder.encode_pose(scanned_n_to_world_pose_9d)  # Tensor(S x Dp) 
-            seq_embedding = pose_feat_seq
+
+            seq_embedding = torch.cat([partial_point_feat_seq, pose_feat_seq], dim=-1)
+            
             embedding_list_batch.append(seq_embedding) # List(B): Tensor(S x (Dp))
         
         seq_feat = self.seq_encoder.encode_sequence(embedding_list_batch) # Tensor(B x Ds)
         main_feat = torch.cat([seq_feat, global_scanned_feat], dim=-1) # Tensor(B x (Ds+Dg))
 
         if torch.isnan(main_feat).any():
+            for i in range(len(main_feat)):
+                if torch.isnan(main_feat[i]).any():
+                    scanned_pts_mask = scanned_pts_mask_batch[i]
+                    Log.info(f"scanned_pts_mask shape: {scanned_pts_mask.shape}")
+                    Log.info(f"scanned_pts_mask sum: {scanned_pts_mask.sum()}")
+                    import ipdb
+                    ipdb.set_trace()
             Log.error("nan in main_feat", True)
 
         return main_feat

core/seq_dataset.py

@@ -2,45 +2,34 @@ import numpy as np
 from PytorchBoot.dataset import BaseDataset
 import PytorchBoot.namespace as namespace
 import PytorchBoot.stereotype as stereotype
-from PytorchBoot.config import ConfigManager
 from PytorchBoot.utils.log_util import Log
 import torch
 import os
 import sys
-
+sys.path.append(r"/home/data/hofee/project/nbv_rec/nbv_reconstruction")
-sys.path.append(r"/data/hofee/project/nbv_rec/nbv_reconstruction")
 
 from utils.data_load import DataLoadUtil
 from utils.pose import PoseUtil
 from utils.pts import PtsUtil
 
-
+@stereotype.dataset("seq_nbv_reconstruction_dataset")
-@stereotype.dataset("seq_reconstruction_dataset")
+class SeqNBVReconstructionDataset(BaseDataset):
-class SeqReconstructionDataset(BaseDataset):
     def __init__(self, config):
-        super(SeqReconstructionDataset, self).__init__(config)
+        super(SeqNBVReconstructionDataset, self).__init__(config)
+        self.type = config["type"]
+        if self.type != namespace.Mode.TEST:
+            Log.error("Dataset <seq_nbv_reconstruction_dataset> Only support test mode", terminate=True)
         self.config = config
         self.root_dir = config["root_dir"]
         self.split_file_path = config["split_file"]
         self.scene_name_list = self.load_scene_name_list()
         self.datalist = self.get_datalist()
-
         self.pts_num = config["pts_num"]
-        self.type = config["type"]
+        
-        self.cache = config.get("cache")
+        self.model_dir = config["model_dir"]
+        self.filter_degree = config["filter_degree"]
         self.load_from_preprocess = config.get("load_from_preprocess", False)
         
-        if self.type == namespace.Mode.TEST:
-            #self.model_dir = config["model_dir"]
-            self.filter_degree = config["filter_degree"]
-        if self.type == namespace.Mode.TRAIN:
-            scale_ratio = 1
-            self.datalist = self.datalist*scale_ratio
-        if self.cache:
-            expr_root = ConfigManager.get("runner", "experiment", "root_dir")
-            expr_name = ConfigManager.get("runner", "experiment", "name")
-            self.cache_dir = os.path.join(expr_root, expr_name, "cache")
-            # self.preprocess_cache()
 
     def load_scene_name_list(self):
         scene_name_list = []
@@ -55,143 +44,111 @@ class SeqReconstructionDataset(BaseDataset):
         for scene_name in self.scene_name_list:
             seq_num = DataLoadUtil.get_label_num(self.root_dir, scene_name)
             scene_max_coverage_rate = 0
-            max_coverage_rate_list = []
             scene_max_cr_idx = 0
+
             for seq_idx in range(seq_num):
-                label_path = DataLoadUtil.get_label_path(
+                label_path = DataLoadUtil.get_label_path(self.root_dir, scene_name, seq_idx)
-                    self.root_dir, scene_name, seq_idx
-                )
                 label_data = DataLoadUtil.load_label(label_path)
                 max_coverage_rate = label_data["max_coverage_rate"]
                 if max_coverage_rate > scene_max_coverage_rate:
                     scene_max_coverage_rate = max_coverage_rate
                     scene_max_cr_idx = seq_idx
-                max_coverage_rate_list.append(max_coverage_rate)
+        
-            best_label_path = DataLoadUtil.get_label_path(self.root_dir, scene_name, scene_max_cr_idx)
+            label_path = DataLoadUtil.get_label_path(self.root_dir, scene_name, scene_max_cr_idx)
-            best_label_data = DataLoadUtil.load_label(best_label_path)
+            label_data = DataLoadUtil.load_label(label_path)
-            first_frame = best_label_data["best_sequence"][0]
+            first_frame = label_data["best_sequence"][0]
-            best_seq_len = len(best_label_data["best_sequence"])
+            best_seq_len = len(label_data["best_sequence"])
             datalist.append({
                     "scene_name": scene_name,
                     "first_frame": first_frame,
-                "best_seq_len": best_seq_len,
                     "max_coverage_rate": scene_max_coverage_rate,
+                    "best_seq_len": best_seq_len,
                     "label_idx": scene_max_cr_idx,
                 })
         return datalist
 
-    def preprocess_cache(self):
-        Log.info("preprocessing cache...")
-        for item_idx in range(len(self.datalist)):
-            self.__getitem__(item_idx)
-        Log.success("finish preprocessing cache.")
-
-    def load_from_cache(self, scene_name, curr_frame_idx):
-        cache_name = f"{scene_name}_{curr_frame_idx}.txt"
-        cache_path = os.path.join(self.cache_dir, cache_name)
-        if os.path.exists(cache_path):
-            data = np.loadtxt(cache_path)
-            return data
-        else:
-            return None
-
-    def save_to_cache(self, scene_name, curr_frame_idx, data):
-        cache_name = f"{scene_name}_{curr_frame_idx}.txt"
-        cache_path = os.path.join(self.cache_dir, cache_name)
-        try:
-            np.savetxt(cache_path, data)
-        except Exception as e:
-            Log.error(f"Save cache failed: {e}")
-
-    def seq_combined_pts(self, scene, frame_idx_list):
-        all_combined_pts = []   
-        for i in frame_idx_list:
-            path = DataLoadUtil.get_path(self.root_dir, scene, i)
-            pts = DataLoadUtil.load_from_preprocessed_pts(path,"npy")
-            if pts.shape[0] == 0:
-                continue
-            all_combined_pts.append(pts)
-        all_combined_pts = np.vstack(all_combined_pts)
-        downsampled_all_pts = PtsUtil.voxel_downsample_point_cloud(all_combined_pts, 0.003)
-        return downsampled_all_pts
-
     def __getitem__(self, index):
         data_item_info = self.datalist[index]
+        first_frame_idx = data_item_info["first_frame"][0]
+        first_frame_coverage = data_item_info["first_frame"][1]
         max_coverage_rate = data_item_info["max_coverage_rate"]
-        best_seq_len = data_item_info["best_seq_len"]
         scene_name = data_item_info["scene_name"]
-        (
+        first_cam_info = DataLoadUtil.load_cam_info(DataLoadUtil.get_path(self.root_dir, scene_name, first_frame_idx), binocular=True)
-            scanned_views_pts,
+        first_view_path = DataLoadUtil.get_path(self.root_dir, scene_name, first_frame_idx)
-            scanned_coverages_rate,
+        first_left_cam_pose = first_cam_info["cam_to_world"]
-            scanned_n_to_world_pose,
+        first_center_cam_pose = first_cam_info["cam_to_world_O"]
-        ) = ([], [], [])
+        first_target_point_cloud = DataLoadUtil.load_from_preprocessed_pts(first_view_path)
-        view = data_item_info["first_frame"]
+        first_pts_num = first_target_point_cloud.shape[0]
-        frame_idx = view[0]
+        first_downsampled_target_point_cloud = PtsUtil.random_downsample_point_cloud(first_target_point_cloud, self.pts_num)
-        coverage_rate = view[1]
+        first_to_world_rot_6d = PoseUtil.matrix_to_rotation_6d_numpy(np.asarray(first_left_cam_pose[:3,:3]))
-        view_path = DataLoadUtil.get_path(self.root_dir, scene_name, frame_idx)
+        first_to_world_trans = first_left_cam_pose[:3,3]
-        cam_info = DataLoadUtil.load_cam_info(view_path, binocular=True)
+        first_to_world_9d = np.concatenate([first_to_world_rot_6d, first_to_world_trans], axis=0)
-        
+        diag = DataLoadUtil.get_bbox_diag(self.model_dir, scene_name)
-        n_to_world_pose = cam_info["cam_to_world"]  
+        voxel_threshold = diag*0.02
-        target_point_cloud = (
-            DataLoadUtil.load_from_preprocessed_pts(view_path)
-        )
-        downsampled_target_point_cloud = PtsUtil.random_downsample_point_cloud(
-            target_point_cloud, self.pts_num
-        )
-        scanned_views_pts.append(downsampled_target_point_cloud)
-        scanned_coverages_rate.append(coverage_rate)
-        n_to_world_6d = PoseUtil.matrix_to_rotation_6d_numpy(
-            np.asarray(n_to_world_pose[:3, :3])
-        ) 
-        first_left_cam_pose = cam_info["cam_to_world"]
-        first_center_cam_pose = cam_info["cam_to_world_O"]
         first_O_to_first_L_pose = np.dot(np.linalg.inv(first_left_cam_pose), first_center_cam_pose)
-        n_to_world_trans = n_to_world_pose[:3, 3]
+        scene_path = os.path.join(self.root_dir, scene_name)
-        n_to_world_9d = np.concatenate([n_to_world_6d, n_to_world_trans], axis=0)
+        model_points_normals = DataLoadUtil.load_points_normals(self.root_dir, scene_name)
-        scanned_n_to_world_pose.append(n_to_world_9d)
 
-        frame_list = []
-        for i in range(DataLoadUtil.get_scene_seq_length(self.root_dir, scene_name)):
-            frame_list.append(i)
-        gt_pts = self.seq_combined_pts(scene_name, frame_list)
         data_item = {
-            "first_scanned_pts": np.asarray(scanned_views_pts, dtype=np.float32), # Ndarray(S x Nv x 3)
+            "first_pts_num": np.asarray(
-            "first_scanned_coverage_rate": scanned_coverages_rate, # List(S): Float, range(0, 1)
+                first_pts_num, dtype=np.int32
-            "first_scanned_n_to_world_pose_9d": np.asarray(scanned_n_to_world_pose, dtype=np.float32), # Ndarray(S x 9)
+            ),
-            "seq_max_coverage_rate": max_coverage_rate, # Float, range(0, 1)
+            "first_pts": np.asarray([first_downsampled_target_point_cloud],dtype=np.float32),
-            "best_seq_len": best_seq_len, # Int
+            "combined_scanned_pts": np.asarray(first_downsampled_target_point_cloud,dtype=np.float32),
-            "scene_name": scene_name, # String
+            "first_to_world_9d": np.asarray([first_to_world_9d],dtype=np.float32),
-            "gt_pts": gt_pts, # Ndarray(N x 3)
+            "scene_name": scene_name,
-            "scene_path": os.path.join(self.root_dir, scene_name), # String
+            "max_coverage_rate": max_coverage_rate,
+            "voxel_threshold": voxel_threshold,
+            "filter_degree": self.filter_degree,
             "O_to_L_pose": first_O_to_first_L_pose,
+            "first_frame_coverage": first_frame_coverage,
+            "scene_path": scene_path,
+            "model_points_normals": model_points_normals,
+            "best_seq_len": data_item_info["best_seq_len"],
+            "first_frame_id": first_frame_idx,
         }
-
         return data_item
 
     def __len__(self):
         return len(self.datalist)
     
+    def get_collate_fn(self):
+        def collate_fn(batch):
+            collate_data = {}
+            collate_data["first_pts"] = [torch.tensor(item['first_pts']) for item in batch]
+            collate_data["first_to_world_9d"] = [torch.tensor(item['first_to_world_9d']) for item in batch]
+            collate_data["combined_scanned_pts"] = torch.stack([torch.tensor(item['combined_scanned_pts']) for item in batch])
+            for key in batch[0].keys():
+                if key not in ["first_pts", "first_to_world_9d", "combined_scanned_pts"]:
+                    collate_data[key] = [item[key] for item in batch]
+            return collate_data
+        return collate_fn
 
 # -------------- Debug ---------------- #
 if __name__ == "__main__":
     import torch
-
     seed = 0
     torch.manual_seed(seed)
     np.random.seed(seed)
     config = {
-        "root_dir": "/data/hofee/data/new_full_data",
+        "root_dir": "/home/data/hofee/project/nbv_rec/data/nbv_rec_data_512_preproc_npy",
-        "source": "seq_reconstruction_dataset",
+        "split_file": "/home/data/hofee/project/nbv_rec/data/OmniObject3d_train.txt",
-        "split_file": "/data/hofee/data/sample.txt",
+        "model_dir": "/home/data/hofee/project/nbv_rec/data/scaled_object_meshes",
-        "load_from_preprocess": True,
+        "ratio": 0.005,
-        "ratio": 0.5,
         "batch_size": 2,
         "filter_degree": 75,
         "num_workers": 0,
-        "pts_num": 4096,
+        "pts_num": 32684,
-        "type": namespace.Mode.TRAIN,
+        "type": namespace.Mode.TEST,
+        "load_from_preprocess": True
     }
-    ds = SeqReconstructionDataset(config)
+    ds = SeqNBVReconstructionDataset(config)
     print(len(ds))
-    print(ds.__getitem__(10))
+    #ds.__getitem__(10)
-    
+    dl = ds.get_loader(shuffle=True)
+    for idx, data in enumerate(dl):
+        data = ds.process_batch(data, "cuda:0")
+        print(data)
+        # ------  Debug Start ------
+        import ipdb;ipdb.set_trace()
+        # ------  Debug End ------+

runners/inferencer.py

@@ -27,7 +27,6 @@ class Inferencer(Runner):
     
         self.script_path = ConfigManager.get(namespace.Stereotype.RUNNER, "blender_script_path")
         self.output_dir = ConfigManager.get(namespace.Stereotype.RUNNER, "output_dir")
-        self.voxel_size = ConfigManager.get(namespace.Stereotype.RUNNER, "voxel_size")
         ''' Pipeline '''
         self.pipeline_name = self.config[namespace.Stereotype.PIPELINE]
         self.pipeline:torch.nn.Module = ComponentFactory.create(namespace.Stereotype.PIPELINE, self.pipeline_name)
@@ -66,48 +65,56 @@ class Inferencer(Runner):
             for dataset_idx, test_set in enumerate(self.test_set_list):
                 status_manager.set_progress("inference", "inferencer", f"dataset", dataset_idx, len(self.test_set_list))
                 test_set_name = test_set.get_name()
+                test_loader = test_set.get_loader()
 
-                total=int(len(test_set))
+                if test_loader.batch_size > 1:
-                for i in range(total):
+                    Log.error("Batch size should be 1 for inference, found {} in {}".format(test_loader.batch_size, test_set_name), terminate=True)
-                    data = test_set.__getitem__(i)
+
+                total=int(len(test_loader))
+                loop = tqdm(enumerate(test_loader), total=total)
+                for i, data in loop:
                     status_manager.set_progress("inference", "inferencer", f"Batch[{test_set_name}]", i+1, total)
+                    test_set.process_batch(data, self.device)
                     output = self.predict_sequence(data)
-                    self.save_inference_result(test_set_name, data["scene_name"], output)
+                    self.save_inference_result(test_set_name, data["scene_name"][0], output)
                     
             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"]
+        scene_name = data["scene_name"][0]
         Log.info(f"Processing scene: {scene_name}")
         status_manager.set_status("inference", "inferencer", "scene", scene_name)
 
         ''' data for rendering '''
-        scene_path = data["scene_path"]
+        scene_path = data["scene_path"][0]
-        O_to_L_pose = data["O_to_L_pose"]
+        O_to_L_pose = data["O_to_L_pose"][0]
-        voxel_threshold = self.voxel_size
+        voxel_threshold = data["voxel_threshold"][0]
-        filter_degree = 75
+        filter_degree = data["filter_degree"][0]
-        down_sampled_model_pts = data["gt_pts"]
+        model_points_normals = data["model_points_normals"][0]
-        
+        model_pts = model_points_normals[:,:3]
-        first_frame_to_world_9d = data["first_scanned_n_to_world_pose_9d"][0]
+        down_sampled_model_pts = PtsUtil.voxel_downsample_point_cloud(model_pts, voxel_threshold)
-        first_frame_to_world = np.eye(4)
+        first_frame_to_world_9d = data["first_to_world_9d"][0]
-        first_frame_to_world[:3,:3] = PoseUtil.rotation_6d_to_matrix_numpy(first_frame_to_world_9d[:6])
+        first_frame_to_world = torch.eye(4, device=first_frame_to_world_9d.device)
-        first_frame_to_world[:3,3] = first_frame_to_world_9d[6:]
+        first_frame_to_world[:3,:3] = PoseUtil.rotation_6d_to_matrix_tensor_batch(first_frame_to_world_9d[:,:6])[0]
+        first_frame_to_world[:3,3] = first_frame_to_world_9d[0,6:]
+        first_frame_to_world = first_frame_to_world.to(self.device)
         
         ''' data for inference '''
         input_data = {}
-        input_data["combined_scanned_pts"] = torch.tensor(data["first_scanned_pts"][0], dtype=torch.float32).to(self.device).unsqueeze(0)
+        input_data["scanned_pts"] = [data["first_pts"][0].to(self.device)]
-        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["scanned_n_to_world_pose_9d"] = [data["first_to_world_9d"][0].to(self.device)]
         input_data["mode"] = namespace.Mode.TEST
-        input_pts_N = input_data["combined_scanned_pts"].shape[1]
+        input_data["combined_scanned_pts"] = data["combined_scanned_pts"]
-        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)
+        input_pts_N = input_data["scanned_pts"][0].shape[1]
+        
+        first_frame_target_pts, _ = RenderUtil.render_pts(first_frame_to_world, scene_path, self.script_path, model_points_normals, 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, added_pts_num = self.compute_coverage_rate(scanned_view_pts, None, down_sampled_model_pts, threshold=voxel_threshold)
+        last_pred_cr = self.compute_coverage_rate(scanned_view_pts, None, down_sampled_model_pts, threshold=voxel_threshold)
 
         retry_duplication_pose = []
         retry_no_pts_pose = []
         retry = 0
         pred_cr_seq = [last_pred_cr]
-        success = 0
         while len(pred_cr_seq) < max_iter and retry < max_retry:
             
             output = self.pipeline(input_data)
@@ -118,7 +125,7 @@ class Inferencer(Runner):
             pred_pose[:3,3] = pred_pose_9d[0,6:]
             
             try:
-                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)
+                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)
             except Exception as e:
                 Log.warning(f"Error in scene {scene_path}, {e}")
                 print("current pose: ", pred_pose)
@@ -127,20 +134,12 @@ 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)
             
-            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["max_coverage_rate"])
-            print(pred_cr, last_pred_cr, " max: ", data["seq_max_coverage_rate"])
+            if pred_cr >= data["max_coverage_rate"]:
-            if pred_cr >= data["seq_max_coverage_rate"] - 1e-3:
+                print("max coverage rate reached!")
-                print("max coverage rate reached!: ", pred_cr)
-                success += 1
-            elif 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())
@@ -148,40 +147,46 @@ class Inferencer(Runner):
 
             retry = 0
             pred_cr_seq.append(pred_cr)
-            scanned_view_pts.append(new_target_pts)
+            scanned_view_pts.append(new_target_pts_world)
-            down_sampled_new_pts_world = PtsUtil.random_downsample_point_cloud(new_target_pts, input_pts_N)
+            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 = down_sampled_new_pts_world
+            new_pts_tensor = torch.tensor(new_pts, dtype=torch.float32).unsqueeze(0).to(self.device)
+            
+            input_data["scanned_pts"] = [torch.cat([input_data["scanned_pts"][0] , new_pts_tensor], dim=0)]
             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)
-            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_views_pts, 0.002)
-            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)
 
-            if success > 3:
+            
-                break
             last_pred_cr = pred_cr
 
+        
+        input_data["scanned_pts"] = input_data["scanned_pts"][0].cpu().numpy().tolist()
         input_data["scanned_n_to_world_pose_9d"] = input_data["scanned_n_to_world_pose_9d"][0].cpu().numpy().tolist()
         result = {
             "pred_pose_9d_seq": input_data["scanned_n_to_world_pose_9d"],
-            "combined_scanned_pts": input_data["combined_scanned_pts"],
+            "pts_seq": input_data["scanned_pts"],
             "target_pts_seq": scanned_view_pts,
             "coverage_rate_seq": pred_cr_seq,
-            "max_coverage_rate": data["seq_max_coverage_rate"],
+            "max_coverage_rate": data["max_coverage_rate"][0],
             "pred_max_coverage_rate": max(pred_cr_seq),
             "scene_name": scene_name,
             "retry_no_pts_pose": retry_no_pts_pose,
             "retry_duplication_pose": retry_duplication_pose,
-            "best_seq_len": data["best_seq_len"],
+            "best_seq_len": data["best_seq_len"][0],
         }
         self.stat_result[scene_name] = {
+            "max_coverage_rate": data["max_coverage_rate"][0],
+            "success_rate": max(pred_cr_seq)/ data["max_coverage_rate"][0],
             "coverage_rate_seq": pred_cr_seq,
             "pred_max_coverage_rate": max(pred_cr_seq),
             "pred_seq_len": len(pred_cr_seq),
         }
-        print('success rate: ', max(pred_cr_seq))
+        print('success rate: ', max(pred_cr_seq) / data["max_coverage_rate"][0])
 
         return result
 

utils/pts.py

@@ -14,16 +14,38 @@ class PtsUtil:
             downsampled_points = point_cloud[idx_unique]
             return downsampled_points, idx_unique
         else:
-            unique_voxels = np.unique(voxel_indices, axis=0, return_inverse=True)
+            import ipdb; ipdb.set_trace()
-            return unique_voxels[0]*voxel_size
+            unique_voxels = np.unique(voxel_indices, axis=0, return_inverse=False)
+            return unique_voxels*voxel_size
 
     @staticmethod
-    def random_downsample_point_cloud(point_cloud, num_points, require_idx=False):
+    def voxel_downsample_point_cloud_o3d(point_cloud, voxel_size=0.005):
+        pcd = o3d.geometry.PointCloud()
+        pcd.points = o3d.utility.Vector3dVector(point_cloud)
+        pcd = pcd.voxel_down_sample(voxel_size)
+        return np.asarray(pcd.points)
+    
+    @staticmethod
+    def voxel_downsample_point_cloud_and_trace_o3d(point_cloud, voxel_size=0.005):
+        pcd = o3d.geometry.PointCloud()
+        pcd.points = o3d.utility.Vector3dVector(point_cloud)
+        max_bound = pcd.get_max_bound()
+        min_bound = pcd.get_min_bound()
+        pcd = pcd.voxel_down_sample_and_trace(voxel_size, max_bound, min_bound, True)
+        
+        return np.asarray(pcd.points)
+       
+    @staticmethod
+    def random_downsample_point_cloud(point_cloud, num_points, require_idx=False, replace=True):
         if point_cloud.shape[0] == 0:
             if require_idx:
                 return point_cloud, np.array([])
             return point_cloud
-        idx = np.random.choice(len(point_cloud), num_points, replace=True)
+        if not replace and num_points > len(point_cloud):
+            if require_idx:
+                return point_cloud, np.arange(len(point_cloud))
+            return point_cloud
+        idx = np.random.choice(len(point_cloud), num_points, replace=replace)
         if require_idx:
             return point_cloud[idx], idx
         return point_cloud[idx]

utils/render.py

@@ -4,56 +4,13 @@ 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):
+    def render_pts(cam_pose, scene_path, script_path, model_points_normals, voxel_threshold=0.005, filter_degree=75, nO_to_nL_pose=None, require_full_scene=False):
-        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):
         
         nO_to_world_pose = DataLoadUtil.get_real_cam_O_from_cam_L(cam_pose, nO_to_nL_pose, scene_path=scene_path)
 
@@ -76,44 +33,20 @@ class RenderUtil:
                 print(result.stderr)
                 return None
             path = os.path.join(temp_dir, "tmp")
-            cam_info = DataLoadUtil.load_cam_info(path, binocular=True)
+            point_cloud = DataLoadUtil.get_target_point_cloud_world_from_path(path, binocular=True)
-            depth_L, depth_R = DataLoadUtil.load_depth(
+            cam_params = DataLoadUtil.load_cam_info(path, binocular=True)
-                    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)
+            ''' TODO: old code: filter_points api is changed, need to update the code '''
-            target_mask_img_R = (mask_R == RenderUtil.target_mask_label).all(axis=-1)
+            filtered_point_cloud = PtsUtil.filter_points(point_cloud, model_points_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)
 
             
-            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)
+            return filtered_point_cloud, full_scene_point_cloud
-            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