add points_normals under display_table_world_space

configs/server/train_config.yaml

@@ -9,7 +9,7 @@ runner:
   experiment:
     name: new_test_overfit_to_world
     root_dir: "experiments"
-    use_checkpoint: False
+    use_checkpoint: True
     epoch: -1 # -1 stands for last epoch
     max_epochs: 5000
     save_checkpoint_interval: 3

runners/strategy_generator.py

@@ -117,7 +117,6 @@ class StrategyGenerator(Runner):
         if self.save_mesh:
             DataLoadUtil.save_target_mesh_at_world_space(root, model_dir, scene_name)
 
-        DataLoadUtil.save_downsampled_world_model_points(root, scene_name, down_sampled_model_pts)
 
     def generate_data_pairs(self, useful_view):
         data_pairs = []

utils/data_load.py

@@ -17,27 +17,11 @@ class DataLoadUtil:
         path = os.path.join(root,scene_name, f"label.json")
         return path
     
-    @staticmethod
-    def get_sampled_model_points_path(root, scene_name):
-        path = os.path.join(root,scene_name, f"sampled_model_points.txt")
-        return path
-    
     @staticmethod
     def get_scene_seq_length(root, scene_name):
         camera_params_path = os.path.join(root, scene_name, "camera_params")
         return len(os.listdir(camera_params_path))
     
-    @staticmethod
-    def load_downsampled_world_model_points(root, scene_name):
-        model_path = DataLoadUtil.get_sampled_model_points_path(root, scene_name)
-        model_points = np.loadtxt(model_path)
-        return model_points
-
-    @staticmethod
-    def save_downsampled_world_model_points(root, scene_name, model_points):
-        model_path = DataLoadUtil.get_sampled_model_points_path(root, scene_name)
-        np.savetxt(model_path, model_points)
-    
     @staticmethod
     def load_mesh_at(model_dir, object_name, world_object_pose):
         model_path = os.path.join(model_dir, object_name, "mesh.obj")
@@ -269,7 +253,9 @@ class DataLoadUtil:
         return overlapping_points
     
     @staticmethod
-    def load_points_normals(root, scene_name):
+    def load_points_normals(root, scene_name, display_table_as_world_space_origin=True):
         points_path = os.path.join(root, scene_name, "points_and_normals.txt")
         points_normals = np.loadtxt(points_path)
+        if display_table_as_world_space_origin:
+            points_normals[:,:3] = points_normals[:,:3] - DataLoadUtil.DISPLAY_TABLE_POSITION
         return points_normals