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This commit is contained in:
hofee 2024-12-31 02:51:42 +08:00
parent 47624f12cf
commit 2dfb6c57ce
9 changed files with 58 additions and 22 deletions
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6
configs/local/inference_config.yaml
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@ -15,7 +15,7 @@ runner:
- OmniObject3d_test
blender_script_path: "/media/hofee/data/project/python/nbv_reconstruction/blender/data_renderer.py"
output_dir: "/media/hofee/data/results/nbv_rec_inference/global_only_ycb_241204"
output_dir: " /media/hofee/data/data/temp"
pipeline: nbv_reconstruction_pipeline
voxel_size: 0.003
min_new_area: 1.0
@ -34,8 +34,8 @@ dataset:
# load_from_preprocess: True
OmniObject3d_test:
root_dir: "/media/hofee/data/results/ycb_preprocessed_dataset"
model_dir: "/media/hofee/data/data/ycb_obj"
root_dir: "/media/hofee/data/data/new_testset_output"
model_dir: "/media/hofee/data/data/scaled_object_meshes"
source: seq_reconstruction_dataset_preprocessed
# split_file: "C:\\Document\\Datasets\\data_list\\OmniObject3d_test.txt"
type: test

4
configs/local/strategy_generate_config.yaml
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@ -15,13 +15,13 @@ runner:
overlap_area_threshold: 30
compute_with_normal: False
scan_points_threshold: 10
overwrite: False
overwrite: False
seq_num: 10
dataset_list:
- OmniObject3d
datasets:
OmniObject3d:
root_dir: /media/hofee/data/results/ycb_view_data
root_dir: /media/hofee/data/data/test_bottle/view
from: 0
to: -1 # ..-1 means end

8
configs/local/view_generate_config.yaml
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@ -8,11 +8,11 @@ runner:
root_dir: experiments
generate:
port: 5002
from: 1
from: 0
to: 50 # -1 means all
object_dir: /media/hofee/data/data/ycb_obj
object_dir: /media/hofee/data/data/test_bottle/bottle_mesh
table_model_path: /media/hofee/data/data/others/table.obj
output_dir: /media/hofee/data/results/ycb_view_data
output_dir: /media/hofee/data/data/test_bottle/view
binocular_vision: true
plane_size: 10
max_views: 512
@ -34,7 +34,7 @@ runner:
max_y: 0.05
min_z: 0.01
max_z: 0.01
random_rotation_ratio: 0.3
random_rotation_ratio: 0.0
random_objects:
num: 4
cluster: 0.9

12
core/seq_dataset.py
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@ -63,11 +63,15 @@ class SeqReconstructionDataset(BaseDataset):
scene_max_cr_idx = 0
frame_len = DataLoadUtil.get_scene_seq_length(self.root_dir, scene_name)
for i in range(frame_len):
for i in range(10,frame_len):
path = DataLoadUtil.get_path(self.root_dir, scene_name, i)
pts = DataLoadUtil.load_from_preprocessed_pts(path, "npy")
print(pts.shape)
if pts.shape[0] == 0:
continue
else:
break
print(i)
datalist.append({
"scene_name": scene_name,
"first_frame": i,
@ -179,9 +183,9 @@ if __name__ == "__main__":
np.random.seed(seed)
config = {
"root_dir": "/media/hofee/data/results/ycb_view_data",
"root_dir": "/media/hofee/data/data/test_bottle/view",
"source": "seq_reconstruction_dataset",
"split_file": "/media/hofee/data/results/ycb_test.txt",
"split_file": "/media/hofee/data/data/test_bottle/test_bottle.txt",
"load_from_preprocess": True,
"filter_degree": 75,
"num_workers": 0,
@ -189,7 +193,7 @@ if __name__ == "__main__":
"type": namespace.Mode.TEST,
}
output_dir = "/media/hofee/data/results/ycb_preprocessed_dataset"
output_dir = "/media/hofee/data/data/test_bottle/preprocessed_dataset"
os.makedirs(output_dir, exist_ok=True)
ds = SeqReconstructionDataset(config)

4
core/seq_dataset_preprocessed.py
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@ -21,7 +21,7 @@ class SeqReconstructionDatasetPreprocessed(BaseDataset):
super(SeqReconstructionDatasetPreprocessed, self).__init__(config)
self.config = config
self.root_dir = config["root_dir"]
self.real_root_dir = r"/media/hofee/data/results/ycb_view_data"
self.real_root_dir = r"/media/hofee/data/data/new_testset"
self.item_list = os.listdir(self.root_dir)
def __getitem__(self, index):
@ -66,7 +66,7 @@ if __name__ == "__main__":
load_from_preprocess: True
'''
config = {
"root_dir": "H:\\AI\\Datasets\\packed_test_data",
"root_dir": "/media/hofee/data/data/test_bottle/preprocessed_dataset",
"source": "seq_reconstruction_dataset",
"split_file": "H:\\AI\\Datasets\\data_list\\OmniObject3d_test.txt",
"load_from_preprocess": True,

2
preprocess/preprocessor.py
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@ -164,7 +164,7 @@ 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"/media/hofee/data/results/ycb_view_data"
root = r"/media/hofee/data/data/test_bottle/view"
scene_list = os.listdir(root)
from_idx = 0 # 1000
to_idx = len(scene_list) # 1500

24
runners/inferencer.py
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@ -146,7 +146,21 @@ class Inferencer(Runner):
pred_pose[:3,:3] = PoseUtil.rotation_6d_to_matrix_tensor_batch(pred_pose_9d[:,:6])[0]
pred_pose[:3,3] = pred_pose_9d[0,6:]
# ----- Debug -----
from utils.vis import visualizeUtil
import ipdb; ipdb.set_trace()
all_directions = []
np.savetxt("input_pts.txt", input_data["combined_scanned_pts"].cpu().numpy()[0])
for i in range(50):
output = self.pipeline(input_data)
pred_pose_9d = output["pred_pose_9d"]
cam_pos, sample_points = visualizeUtil.get_cam_pose_and_cam_axis(pred_pose_9d.cpu().numpy()[0], is_6d_pose=True)
all_directions.append(sample_points)
all_directions = np.array(all_directions)
reshape_all_directions = all_directions.reshape(-1, 3)
np.savetxt("all_directions.txt", reshape_all_directions)
# ----- ----- -----
try:
new_target_pts, new_target_normals, new_scan_points_indices = RenderUtil.render_pts(pred_pose, scene_path, self.script_path, scan_points, voxel_threshold=voxel_threshold, filter_degree=filter_degree, nO_to_nL_pose=O_to_L_pose)
#import ipdb; ipdb.set_trace()
@ -157,11 +171,11 @@ class Inferencer(Runner):
downsampled_new_target_pts = PtsUtil.voxel_downsample_point_cloud(new_target_pts, voxel_threshold)
overlap, _ = ReconstructionUtil.check_overlap(downsampled_new_target_pts, voxel_downsampled_combined_scanned_pts_np, overlap_area_threshold = curr_overlap_area_threshold, voxel_size=voxel_threshold, require_new_added_pts_num = True)
if not overlap:
Log.yellow("no overlap!")
retry += 1
retry_overlap_pose.append(pred_pose.cpu().numpy().tolist())
continue
# if not overlap:
# Log.yellow("no overlap!")
# retry += 1
# retry_overlap_pose.append(pred_pose.cpu().numpy().tolist())
# continue
history_indices.append(new_scan_points_indices)
except Exception as e:

2
utils/render.py
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@ -84,10 +84,12 @@ class RenderUtil:
params_data_path = os.path.join(temp_dir, "params.json")
with open(params_data_path, 'w') as f:
json.dump(params, f)
#import ipdb; ipdb.set_trace()
result = subprocess.run([
'/home/hofee/blender-4.0.2-linux-x64/blender', '-b', '-P', script_path, '--', temp_dir
], capture_output=True, text=True)
#print(result)
#import ipdb; ipdb.set_trace()
path = os.path.join(temp_dir, "tmp")
cam_info = DataLoadUtil.load_cam_info(path, binocular=True)
depth_L, depth_R = DataLoadUtil.load_depth(

18
utils/vis.py
View File

@ -7,6 +7,7 @@ import trimesh
sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
from utils.data_load import DataLoadUtil
from utils.pts import PtsUtil
from utils.pose import PoseUtil
class visualizeUtil:
@ -33,7 +34,22 @@ class visualizeUtil:
all_cam_axis = np.array(all_cam_axis).reshape(-1, 3)
np.savetxt(os.path.join(output_dir, "all_cam_pos.txt"), all_cam_pos)
np.savetxt(os.path.join(output_dir, "all_cam_axis.txt"), all_cam_axis)
@staticmethod
def get_cam_pose_and_cam_axis(cam_pose, is_6d_pose):
if is_6d_pose:
matrix_cam_pose = np.eye(4)
matrix_cam_pose[:3,:3] = PoseUtil.rotation_6d_to_matrix_numpy(cam_pose[:6])
matrix_cam_pose[:3, 3] = cam_pose[6:]
else:
matrix_cam_pose = cam_pose
cam_pos = matrix_cam_pose[:3, 3]
cam_axis = matrix_cam_pose[:3, 2]
num_samples = 10
sample_points = [cam_pos + 0.02*t * cam_axis for t in range(num_samples)]
sample_points = np.array(sample_points)
return cam_pos, sample_points
@staticmethod
def save_all_combined_pts(root, scene, output_dir):
length = DataLoadUtil.get_scene_seq_length(root, scene)