add inference

app_inference.py

@@ -0,0 +1,16 @@
+from PytorchBoot.application import PytorchBootApplication
+from runners.inferencer import Inferencer
+
+@PytorchBootApplication("inference")
+class InferenceApp:
+    @staticmethod
+    def start():
+        ''' 
+            call default or your custom runners here, code will be executed 
+        automatically when type "pytorch-boot run" or "ptb run" in terminal
+        
+            example:
+                Trainer("path_to_your_train_config").run()
+                Evaluator("path_to_your_eval_config").run()
+        '''       
+        Inferencer("./configs/local/inference_config.yaml").run()

configs/local/inference_config.yaml

@@ -0,0 +1,70 @@
+
+runner:
+  general:
+    seed: 1
+    device: cuda
+    cuda_visible_devices: "0,1,2,3,4,5,6,7"
+    
+  experiment:
+    name: local_eval
+    root_dir: "experiments"
+    epoch: 600 # -1 stands for last epoch
+
+  test:
+    dataset_list:
+      - OmniObject3d_train
+
+  blender_script_path: "/media/hofee/data/project/python/nbv_reconstruction/blender/data_renderer.py"
+  output_dir: "/media/hofee/data/project/python/nbv_reconstruction/sample_for_training/inference_result"
+  pipeline: nbv_reconstruction_pipeline
+  
+dataset:
+  OmniObject3d_train:
+    root_dir: "/media/hofee/data/project/python/nbv_reconstruction/sample_for_training/scenes"
+    model_dir: "/media/hofee/data/data/scaled_object_meshes"
+    source: seq_nbv_reconstruction_dataset
+    split_file: "/media/hofee/data/project/python/nbv_reconstruction/sample_for_training/OmniObject3d_train.txt"
+    type: test
+    filter_degree: 75
+    ratio: 1
+    batch_size: 1
+    num_workers: 12
+    pts_num: 4096
+
+pipeline:
+  nbv_reconstruction_pipeline:
+    pts_encoder: pointnet_encoder
+    seq_encoder: transformer_seq_encoder
+    pose_encoder: pose_encoder
+    view_finder: gf_view_finder
+    
+module:
+
+  pointnet_encoder:
+    in_dim: 3
+    out_dim: 1024
+    global_feat: True
+    feature_transform: False
+
+  transformer_seq_encoder:
+    pts_embed_dim: 1024
+    pose_embed_dim: 256
+    num_heads: 4
+    ffn_dim: 256
+    num_layers: 3
+    output_dim: 2048
+
+  gf_view_finder:
+    t_feat_dim: 128
+    pose_feat_dim: 256
+    main_feat_dim: 2048
+    regression_head: Rx_Ry_and_T
+    pose_mode: rot_matrix
+    per_point_feature: False
+    sample_mode: ode
+    sampling_steps: 500
+    sde_mode: ve
+
+  pose_encoder:
+    pose_dim: 9
+    out_dim: 256

core/dataset.py

@@ -27,7 +27,7 @@ class NBVReconstructionDataset(BaseDataset):
 
         self.pts_num = config["pts_num"]
         self.type = config["type"]
-        self.cache = config["cache"]
+        self.cache = config.get("cache")
         if self.type == namespace.Mode.TEST:
             self.model_dir = config["model_dir"]
             self.filter_degree = config["filter_degree"]
@@ -105,6 +105,9 @@ class NBVReconstructionDataset(BaseDataset):
             nR_to_world_pose = cam_info["cam_to_world_R"] 
             n_to_1_pose = np.dot(np.linalg.inv(first_frame_to_world), n_to_world_pose)
             nR_to_1_pose = np.dot(np.linalg.inv(first_frame_to_world), nR_to_world_pose)
+
+            cached_data = None
+            if self.cache:
                 cached_data = self.load_from_cache(scene_name, first_frame_idx, frame_idx)
             
             if cached_data is None:
@@ -116,6 +119,7 @@ class NBVReconstructionDataset(BaseDataset):
                 point_cloud_R = PtsUtil.random_downsample_point_cloud(point_cloud_R, 65536)
                 overlap_points = DataLoadUtil.get_overlapping_points(point_cloud_L, point_cloud_R)
                 downsampled_target_point_cloud = PtsUtil.random_downsample_point_cloud(overlap_points, self.pts_num)
+                if self.cache:
                     self.save_to_cache(scene_name, first_frame_idx, frame_idx, downsampled_target_point_cloud)
             else:
                 downsampled_target_point_cloud = cached_data

core/evaluation.py

@@ -1,44 +1,15 @@
 import torch
-import os
-import json
 import numpy as np
-import subprocess
-import tempfile
-from utils.data_load import DataLoadUtil
 from utils.reconstruction import ReconstructionUtil
 from utils.pose import PoseUtil
 from utils.pts import PtsUtil
+from utils.render import RenderUtil
 import PytorchBoot.stereotype as stereotype
 import PytorchBoot.namespace as namespace
 from PytorchBoot.utils.log_util import Log
 
-def render_pts(cam_pose, scene_path,script_path, model_points_normals, voxel_threshold=0.005, filter_degree=75, nO_to_nL_pose=None):
-    nO_to_world_pose = cam_pose.cpu().numpy()  @ nO_to_nL_pose
-    nO_to_world_pose = DataLoadUtil.cam_pose_transformation(nO_to_world_pose)
 
 
-    with tempfile.TemporaryDirectory() as temp_dir:
-        params = {
-            "cam_pose": nO_to_world_pose.tolist(),
-            "scene_path": scene_path
-        }
-        params_data_path = os.path.join(temp_dir, "params.json")
-        with open(params_data_path, 'w') as f:
-            json.dump(params, f)
-        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)
-        cam_params = DataLoadUtil.load_cam_info(path, binocular=True)
-        sampled_point_cloud = ReconstructionUtil.filter_points(point_cloud, model_points_normals, cam_pose=cam_params["cam_to_world"], voxel_size=voxel_threshold, theta=filter_degree)
-        return sampled_point_cloud
-
 @stereotype.evaluation_method("pose_diff")
 class PoseDiff:
     def __init__(self, _):
@@ -110,7 +81,7 @@ class ConverageRateIncrease:
                 filter_degree = filter_degree_list[idx]
                 nO_to_nL_pose = nO_to_nL_pose_batch[idx]
                 try:
-                    new_pts = render_pts(pred_pose, scene_path, self.renderer_path, model_points_normals, voxel_threshold=voxel_threshold, filter_degree=filter_degree, nO_to_nL_pose=nO_to_nL_pose)
+                    new_pts, _ = RenderUtil.render_pts(pred_pose, scene_path, self.renderer_path, model_points_normals, voxel_threshold=voxel_threshold, filter_degree=filter_degree, nO_to_nL_pose=nO_to_nL_pose)
                     pred_cr = self.compute_coverage_rate(scanned_view_pts, new_pts, down_sampled_model_pts, threshold=voxel_threshold)
                 except Exception as e:
                     Log.warning(f"Error in scene {scene_path}, {e}")

core/pipeline.py

@@ -5,7 +5,7 @@ import PytorchBoot.stereotype as stereotype
 from PytorchBoot.factory.component_factory import ComponentFactory
 from PytorchBoot.utils import Log
 
-@stereotype.pipeline("nbv_reconstruction_pipeline", comment="should be tested")
+@stereotype.pipeline("nbv_reconstruction_pipeline")
 class NBVReconstructionPipeline(nn.Module):
     def __init__(self, config):
         super(NBVReconstructionPipeline, self).__init__()
@@ -67,14 +67,13 @@ class NBVReconstructionPipeline(nn.Module):
     def get_seq_feat(self, data):
         scanned_pts_batch = data['scanned_pts']
         scanned_n_to_1_pose_9d_batch = data['scanned_n_to_1_pose_9d']
-        best_to_1_pose_9d_batch = data["best_to_1_pose_9d"]
         pts_feat_seq_list = []
         pose_feat_seq_list = []
-        
+        device = next(self.parameters()).device
         for scanned_pts,scanned_n_to_1_pose_9d in zip(scanned_pts_batch,scanned_n_to_1_pose_9d_batch):
             
-            scanned_pts = scanned_pts.to(best_to_1_pose_9d_batch.device)
+            scanned_pts = scanned_pts.to(device)
-            scanned_n_to_1_pose_9d = scanned_n_to_1_pose_9d.to(best_to_1_pose_9d_batch.device)
+            scanned_n_to_1_pose_9d = scanned_n_to_1_pose_9d.to(device)
             pts_feat_seq_list.append(self.pts_encoder.encode_points(scanned_pts))
             pose_feat_seq_list.append(self.pose_encoder.encode_pose(scanned_n_to_1_pose_9d))
         

core/seq_dataset.py

@@ -51,7 +51,7 @@ class SeqNBVReconstructionDataset(BaseDataset):
                 "first_frame": first_frame,
                 "max_coverage_rate": max_coverage_rate
             })
-        return datalist
+        return datalist[5:]
 
     def __getitem__(self, index):
         data_item_info = self.datalist[index]
@@ -85,6 +85,7 @@ class SeqNBVReconstructionDataset(BaseDataset):
         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": np.asarray([first_downsampled_target_point_cloud],dtype=np.float32),
             "first_to_first_9d": np.asarray([first_to_first_9d],dtype=np.float32),
@@ -92,10 +93,11 @@ class SeqNBVReconstructionDataset(BaseDataset):
             "max_coverage_rate": max_coverage_rate,
             "voxel_threshold": voxel_threshold,
             "filter_degree": self.filter_degree,
-            "first_frame_to_world": first_frame_to_world,
+            "first_frame_to_world": np.asarray(first_frame_to_world, dtype=np.float32),
-            "first_O_to_first_L_pose": first_O_to_first_L_pose,
+            "O_to_L_pose": first_O_to_first_L_pose,
             "first_frame_coverage": first_frame_coverage,
-            "scene_path": scene_path
+            "scene_path": scene_path,
+            "model_points_normals": model_points_normals,
         }
         return data_item
 

runners/inferencer.py

@@ -1,33 +1,35 @@
 import os
 import json
-from datetime import datetime
+from utils.render import RenderUtil
+from utils.pose import PoseUtil
+from utils.pts import PtsUtil
+from utils.reconstruction import ReconstructionUtil
 
 import torch
 from tqdm import tqdm
+import numpy as np
+import pickle
 
 from PytorchBoot.config import ConfigManager
 import PytorchBoot.namespace as namespace
 import PytorchBoot.stereotype as stereotype
 from PytorchBoot.factory import ComponentFactory
-from PytorchBoot.factory import OptimizerFactory
 
 from PytorchBoot.dataset import BaseDataset
 from PytorchBoot.runners.runner import Runner
-from PytorchBoot.stereotype import EXTERNAL_FRONZEN_MODULES
 from PytorchBoot.utils import Log
 from PytorchBoot.status import status_manager
 
-@stereotype.runner("nbv_evaluator")
+@stereotype.runner("inferencer", comment="not tested")
-class NextBestViewEvaluator(Runner):
+class Inferencer(Runner):
     def __init__(self, config_path):
         super().__init__(config_path)
     
+        self.script_path = ConfigManager.get(namespace.Stereotype.RUNNER, "blender_script_path")
+        self.output_dir = ConfigManager.get(namespace.Stereotype.RUNNER, "output_dir")
         ''' Pipeline '''
         self.pipeline_name = self.config[namespace.Stereotype.PIPELINE]
-        self.parallel = self.config["general"]["parallel"]
         self.pipeline:torch.nn.Module = ComponentFactory.create(namespace.Stereotype.PIPELINE, self.pipeline_name)
-        if self.parallel and self.device == "cuda":
-            self.pipeline = torch.nn.DataParallel(self.pipeline)
         self.pipeline = self.pipeline.to(self.device)
             
         ''' Experiment '''
@@ -46,55 +48,135 @@ class NextBestViewEvaluator(Runner):
                 raise ValueError("Duplicate test dataset name: {}".format(test_dataset_name))
             test_set: BaseDataset = ComponentFactory.create(namespace.Stereotype.DATASET, test_dataset_name)
             self.test_set_list.append(test_set)
-
-
         self.print_info()
         
+
     def run(self):
         Log.info("Loading from epoch {}.".format(self.current_epoch))
-        self.test()
+        self.inference()
+        Log.success("Inference finished.")
         
 
-    def test(self):
+    def inference(self):
         self.pipeline.eval()
         with torch.no_grad():
             test_set: BaseDataset
             for dataset_idx, test_set in enumerate(self.test_set_list):
-                test_set_config = test_set.get_config()
+                status_manager.set_progress("inference", "inferencer", f"dataset", dataset_idx, len(self.test_set_list))
-                eval_list = test_set_config["eval_list"]
-                ratio = test_set_config["ratio"]
                 test_set_name = test_set.get_name()
-              
-                output_list = []
-                data_list = []
                 test_loader = test_set.get_loader()
+
+                if test_loader.batch_size > 1:
+                    Log.error("Batch size should be 1 for inference, found {} in {}".format(test_loader.batch_size, test_set_name), terminate=True)
+
                 total=int(len(test_loader))
                 loop = tqdm(enumerate(test_loader), total=total)
                 for i, data in loop:
-                    status_manager.set_progress("train", "default_trainer", f"(test) Batch[{test_set_name}]", i+1, total)
+                    status_manager.set_progress("inference", "inferencer", f"Batch[{test_set_name}]", i+1, total)
                     test_set.process_batch(data, self.device)
-                    data["mode"] = namespace.Mode.TEST
+                    output = self.predict_sequence(data)
-                    output = self.pipeline(data)
+                    self.save_inference_result(output, data)
-                    output_list.append(output)
-                    data_list.append(data)
-                    loop.set_description(
-                        f'Epoch [{self.current_epoch}/{self.max_epochs}] (Test: {test_set_name}, ratio={ratio})')
-                result_dict = self.eval_fn(output_list, data_list, eval_list)
                     
-    @staticmethod
+            status_manager.set_progress("inference", "inferencer", f"dataset", len(self.test_set_list), len(self.test_set_list))
-    def eval_fn(output_list, data_list, eval_list):
+        
-        collected_result = {}
+    def predict_sequence(self, data, cr_increase_threshold=0, max_iter=100):
-        for eval_method_name in eval_list:
+        pred_cr_seq = []
-            eval_method = ComponentFactory.create(namespace.Stereotype.EVALUATION_METHOD, eval_method_name)
+        scene_name = data["scene_name"][0]
-            eval_results:dict = eval_method.evaluate(output_list, data_list)
+        Log.info(f"Processing scene: {scene_name}")
-            for data_type, eval_result in eval_results.items():
+        status_manager.set_status("inference", "inferencer", "scene", scene_name)
-                if data_type not in collected_result:
+
-                    collected_result[data_type] = {}
+        ''' data for rendering '''
-                for name, value in eval_result.items():
+        scene_path = data["scene_path"][0]
-                    collected_result[data_type][name] = value
+        O_to_L_pose = data["O_to_L_pose"][0]
-                    status_manager.set_status("train", "default_trainer", f"[eval]{name}", value)
+        voxel_threshold = data["voxel_threshold"][0]
+        filter_degree = data["filter_degree"][0]
+        model_points_normals = data["model_points_normals"][0]
+        model_pts = model_points_normals[:,:3]
+        down_sampled_model_pts = PtsUtil.voxel_downsample_point_cloud(model_pts, voxel_threshold)
+        first_frame_to_world = data["first_frame_to_world"][0]
+        
+        ''' data for inference '''
+        input_data = {}
+        input_data["scanned_pts"] = [data["first_pts"][0].to(self.device)]
+        input_data["scanned_n_to_1_pose_9d"] = [data["first_to_first_9d"][0].to(self.device)]
+        input_data["mode"] = namespace.Mode.TEST
+        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 = self.compute_coverage_rate(scanned_view_pts, None, down_sampled_model_pts, threshold=voxel_threshold)
+
+        
+
+        while len(pred_cr_seq) < max_iter:
+            
+            output = self.pipeline(input_data)
+            next_pose_9d = output["pred_pose_9d"]
+            pred_pose = torch.eye(4, device=next_pose_9d.device)
+
+            pred_pose[:3,:3] = PoseUtil.rotation_6d_to_matrix_tensor_batch(next_pose_9d[:,:6])[0]
+            pred_pose[:3,3] = next_pose_9d[0,6:]
+            pred_n_to_world_pose_mat = torch.matmul(first_frame_to_world, pred_pose)
+            try:
+                new_target_pts_world, new_pts_world = RenderUtil.render_pts(pred_n_to_world_pose_mat, 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)
+                print("curr_pred_cr: ", last_pred_cr)
+                continue
+            
+
+            pred_cr = self.compute_coverage_rate(scanned_view_pts, new_target_pts_world, down_sampled_model_pts, threshold=voxel_threshold)
+            pred_cr_seq.append(pred_cr)
+            if pred_cr >= data["max_coverage_rate"]:
+                break
+            if pred_cr < last_pred_cr + cr_increase_threshold:
+                break
+            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)
+            
+            input_data["scanned_pts"] = [torch.cat([input_data["scanned_pts"][0] , new_pts_tensor], dim=0)]
+            input_data["scanned_n_to_1_pose_9d"] = [torch.cat([input_data["scanned_n_to_1_pose_9d"][0], next_pose_9d], dim=0)]
+            
+            last_pred_cr = pred_cr
+            # ------  Debug Start ------
+            import ipdb;ipdb.set_trace()
+            # ------  Debug End ------
+            
+        
+        input_data["scanned_pts"] = input_data["scanned_pts"][0].cpu().numpy().tolist()
+        input_data["scanned_n_to_1_pose_9d"] = input_data["scanned_n_to_1_pose_9d"][0].cpu().numpy().tolist()
+        result = {
+            "pred_pose_9d_seq": input_data["scanned_n_to_1_pose_9d"],
+            "pts_seq": input_data["scanned_pts"],
+            "target_pts_seq": scanned_view_pts,
+            "coverage_rate_seq": pred_cr_seq,
+            "max_coverage_rate": data["max_coverage_rate"],
+            "pred_max_coverage_rate": max(pred_cr_seq)
+        }
+        return result
+
+    def compute_coverage_rate(self, scanned_view_pts, new_pts, model_pts, threshold=0.005):
+        if new_pts is not None:
+            new_scanned_view_pts = scanned_view_pts + [new_pts]
+        else:
+            new_scanned_view_pts = scanned_view_pts
+        combined_point_cloud = np.vstack(new_scanned_view_pts)
+        down_sampled_combined_point_cloud = PtsUtil.voxel_downsample_point_cloud(combined_point_cloud,threshold)
+        return ReconstructionUtil.compute_coverage_rate(model_pts, down_sampled_combined_point_cloud, threshold)
+        
+
+    def save_inference_result(self, dataset_name, scene_name, output):
+        dataset_dir = os.path.join(self.output_dir, dataset_name)
+        if not os.path.exists(dataset_dir):
+            os.makedirs(dataset_dir)
+        pickle.dump(output, open(f"result_{scene_name}.pkl", "wb"))
     
-        return collected_result
 
     def get_checkpoint_path(self, is_last=False):
         return os.path.join(self.experiment_path, namespace.Direcotry.CHECKPOINT_DIR_NAME,
@@ -116,55 +198,19 @@ class NextBestViewEvaluator(Runner):
             self.current_epoch = meta["last_epoch"]
             self.current_iter = meta["last_iter"]
 
-    def save_checkpoint(self, is_last=False):
-        self.save(self.get_checkpoint_path(is_last))
-        if not is_last:
-            Log.success(f"Checkpoint at epoch {self.current_epoch} saved to {self.get_checkpoint_path(is_last)}")
-        else:
-            meta = {
-                "last_epoch": self.current_epoch,
-                "last_iter": self.current_iter,
-                "time": str(datetime.now())
-            }
-            checkpoint_root = os.path.join(self.experiment_path, namespace.Direcotry.CHECKPOINT_DIR_NAME)
-            file_path = os.path.join(checkpoint_root, "meta.json")
-            with open(file_path, "w") as f:
-                json.dump(meta, f)
-
     def load_experiment(self, backup_name=None):
         super().load_experiment(backup_name)
-        if self.experiments_config["use_checkpoint"]:
         self.current_epoch = self.experiments_config["epoch"]
         self.load_checkpoint(is_last=(self.current_epoch == -1))
 
     def create_experiment(self, backup_name=None):
         super().create_experiment(backup_name)
-        ckpt_dir = os.path.join(str(self.experiment_path), namespace.Direcotry.CHECKPOINT_DIR_NAME)
+       
-        os.makedirs(ckpt_dir)
-        tensorboard_dir = os.path.join(str(self.experiment_path), namespace.Direcotry.TENSORBOARD_DIR_NAME)
-        os.makedirs(tensorboard_dir)
         
     def load(self, path):
         state_dict = torch.load(path)
-        if self.parallel:
-            self.pipeline.module.load_state_dict(state_dict)
-        else:
         self.pipeline.load_state_dict(state_dict)
 
-    def save(self, path):
-        if self.parallel:
-            state_dict = self.pipeline.module.state_dict()
-        else:
-            state_dict = self.pipeline.state_dict()
-
-        for name, module in self.pipeline.named_modules():
-            if module.__class__ in EXTERNAL_FRONZEN_MODULES:
-                if name in state_dict:
-                    del state_dict[name]
-
-        torch.save(state_dict, path)
-
-
     def print_info(self):
         def print_dataset(dataset: BaseDataset):
             config = dataset.get_config()
@@ -178,8 +224,6 @@ class NextBestViewEvaluator(Runner):
         Log.blue(f"{'+' + '-' * (table_size // 2)} Pipeline {'-' * (table_size // 2)}" + '+')
         Log.blue(self.pipeline)
         Log.blue(f"{'+' + '-' * (table_size // 2)} Datasets {'-' * (table_size // 2)}" + '+')
-        Log.blue("train dataset: ")
-        print_dataset(self.train_set)
         for i, test_set in enumerate(self.test_set_list):
             Log.blue(f"test dataset {i}: ")
             print_dataset(test_set)

runners/strategy_generator.py

@@ -16,10 +16,10 @@ from utils.pts import PtsUtil
 class StrategyGenerator(Runner):
     def __init__(self, config):
         super().__init__(config)
-        self.load_experiment("generate")
+        self.load_experiment("generate_strategy")
         self.status_info = {
             "status_manager": status_manager,
-            "app_name": "generate",
+            "app_name": "generate_strategy",
             "runner_name": "strategy_generator"
         }
         self.to_specified_dir = ConfigManager.get("runner", "generate", "to_specified_dir")
@@ -36,7 +36,7 @@ class StrategyGenerator(Runner):
         self.save_pts = ConfigManager.get("runner","generate","save_points")
         for dataset_idx in range(len(dataset_name_list)):
             dataset_name = dataset_name_list[dataset_idx]
-            status_manager.set_progress("generate", "strategy_generator", "dataset", dataset_idx, len(dataset_name_list))
+            status_manager.set_progress("generate_strategy", "strategy_generator", "dataset", dataset_idx, len(dataset_name_list))
             root_dir = ConfigManager.get("datasets", dataset_name, "root_dir")
             model_dir = ConfigManager.get("datasets", dataset_name, "model_dir")
             scene_name_list = os.listdir(root_dir)
@@ -44,10 +44,10 @@ class StrategyGenerator(Runner):
             total = len(scene_name_list)
             for scene_name in scene_name_list:
                 Log.info(f"({dataset_name})Processing [{cnt}/{total}]: {scene_name}")
-                status_manager.set_progress("generate", "strategy_generator", "scene", cnt, total)
+                status_manager.set_progress("generate_strategy", "strategy_generator", "scene", cnt, total)
                 diag = DataLoadUtil.get_bbox_diag(model_dir, scene_name)
                 voxel_threshold = diag*0.02
-                status_manager.set_status("generate", "strategy_generator", "voxel_threshold", voxel_threshold)
+                status_manager.set_status("generate_strategy", "strategy_generator", "voxel_threshold", voxel_threshold)
                 output_label_path = DataLoadUtil.get_label_path(root_dir, scene_name)
                 if os.path.exists(output_label_path) and not self.overwrite:
                     Log.info(f"Scene <{scene_name}> Already Exists, Skip")
@@ -58,8 +58,8 @@ class StrategyGenerator(Runner):
                 except Exception as e:
                     Log.error(f"Scene <{scene_name}> Failed, Error: {e}")
                 cnt += 1
-            status_manager.set_progress("generate", "strategy_generator", "scene", total, total)
+            status_manager.set_progress("generate_strategy", "strategy_generator", "scene", total, total)
-        status_manager.set_progress("generate", "strategy_generator", "dataset", len(dataset_name_list), len(dataset_name_list))
+        status_manager.set_progress("generate_strategy", "strategy_generator", "dataset", len(dataset_name_list), len(dataset_name_list))
     
     def create_experiment(self, backup_name=None):
         super().create_experiment(backup_name)
@@ -70,7 +70,7 @@ class StrategyGenerator(Runner):
         super().load_experiment(backup_name)
     
     def generate_sequence(self, root, model_dir, scene_name, voxel_threshold, overlap_threshold):
-        status_manager.set_status("generate", "strategy_generator", "scene", scene_name)
+        status_manager.set_status("generate_strategy", "strategy_generator", "scene", scene_name)
         frame_num = DataLoadUtil.get_scene_seq_length(root, scene_name)
         model_points_normals = DataLoadUtil.load_points_normals(root, scene_name)
         model_pts = model_points_normals[:,:3]
@@ -81,7 +81,7 @@ class StrategyGenerator(Runner):
         for frame_idx in range(frame_num):
             path = DataLoadUtil.get_path(root, scene_name, frame_idx)
             cam_params = DataLoadUtil.load_cam_info(path, binocular=True)
-            status_manager.set_progress("generate", "strategy_generator", "loading frame", frame_idx, frame_num)
+            status_manager.set_progress("generate_strategy", "strategy_generator", "loading frame", frame_idx, frame_num)
             point_cloud = DataLoadUtil.get_target_point_cloud_world_from_path(path, binocular=True)
             #display_table = None #DataLoadUtil.get_target_point_cloud_world_from_path(path, binocular=True, target_mask_label=()) #TODO
             sampled_point_cloud = ReconstructionUtil.filter_points(point_cloud, model_points_normals, cam_pose=cam_params["cam_to_world"], voxel_size=voxel_threshold, theta=self.filter_degree)
@@ -92,7 +92,7 @@ class StrategyGenerator(Runner):
                     os.makedirs(pts_dir)
                 np.savetxt(os.path.join(pts_dir, f"{frame_idx}.txt"), sampled_point_cloud)
             pts_list.append(sampled_point_cloud)
-        status_manager.set_progress("generate", "strategy_generator", "loading frame", frame_num, frame_num)
+        status_manager.set_progress("generate_strategy", "strategy_generator", "loading frame", frame_num, frame_num)
         
         limited_useful_view, _, best_combined_pts = ReconstructionUtil.compute_next_best_view_sequence_with_overlap(down_sampled_model_pts, pts_list, threshold=voxel_threshold, overlap_threshold=overlap_threshold, status_info=self.status_info)
         data_pairs = self.generate_data_pairs(limited_useful_view)
@@ -102,7 +102,7 @@ class StrategyGenerator(Runner):
             "max_coverage_rate": limited_useful_view[-1][1]
         }
     
-        status_manager.set_status("generate", "strategy_generator", "max_coverage_rate", limited_useful_view[-1][1])
+        status_manager.set_status("generate_strategy", "strategy_generator", "max_coverage_rate", limited_useful_view[-1][1])
         Log.success(f"Scene <{scene_name}> Finished, Max Coverage Rate: {limited_useful_view[-1][1]}, Best Sequence length: {len(limited_useful_view)}")
 
         output_label_path = DataLoadUtil.get_label_path(root, scene_name)

utils/pts.py

@@ -1,5 +1,6 @@
 import numpy as np
 import open3d as o3d
+import torch
 
 class PtsUtil:
 
@@ -20,3 +21,8 @@ class PtsUtil:
     def random_downsample_point_cloud(point_cloud, num_points):
         idx = np.random.choice(len(point_cloud), num_points, replace=True)
         return point_cloud[idx]
+    
+    @staticmethod
+    def random_downsample_point_cloud_tensor(point_cloud, num_points):
+        idx = torch.randint(0, len(point_cloud), (num_points,))
+        return point_cloud[idx]

utils/render.py

@@ -0,0 +1,51 @@
+
+import os
+import json
+import subprocess
+import tempfile
+from utils.data_load import DataLoadUtil
+from utils.reconstruction import ReconstructionUtil
+from utils.pts import PtsUtil
+class RenderUtil:
+
+    @staticmethod
+    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):
+        nO_to_world_pose = cam_pose.cpu().numpy()  @ nO_to_nL_pose
+        nO_to_world_pose = DataLoadUtil.cam_pose_transformation(nO_to_world_pose)
+        
+        
+        with tempfile.TemporaryDirectory() as temp_dir:
+            params = {
+                "cam_pose": nO_to_world_pose.tolist(),
+                "scene_path": scene_path
+            }
+            params_data_path = os.path.join(temp_dir, "params.json")
+            with open(params_data_path, 'w') as f:
+                json.dump(params, f)
+            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")
+            # ------  Debug Start ------
+            import ipdb;ipdb.set_trace()
+            # ------  Debug End ------
+            
+            point_cloud = DataLoadUtil.get_target_point_cloud_world_from_path(path, binocular=True)
+            cam_params = DataLoadUtil.load_cam_info(path, binocular=True)
+            filtered_point_cloud = ReconstructionUtil.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 = DataLoadUtil.get_overlapping_points(point_cloud_L, point_cloud_R)
+
+            return filtered_point_cloud, full_scene_point_cloud