update

runners/cad_strategy.py

@@ -7,6 +7,10 @@ import PytorchBoot.stereotype as stereotype
 from PytorchBoot.utils.log_util import Log
 from PytorchBoot.status import status_manager
 
+
+import sys
+
+sys.path.append("/home/user/nbv_rec/nbv_rec_control")
 from utils.control_util import ControlUtil
 from utils.communicate_util import CommunicateUtil
 from utils.pts_util import PtsUtil
@@ -101,7 +105,7 @@ class CADStrategyRunner(Runner):
             status_info=self.status_info
         )
         
-        ''' extract cam_to world sequence  '''
+        ''' extract cam_to_world sequence  '''
         cam_to_world_seq = []
         coveraget_rate_seq = []
         
@@ -132,13 +136,13 @@ class CADStrategyRunner(Runner):
             
     
 if __name__ == "__main__":
-    model_path = "/home/yan20/nbv_rec/data/test_CAD/test_model/bear_scaled.ply"
+    model_path = "/home/user/nbv_rec/data/mesh.obj"
     model = trimesh.load(model_path)
-    test_pts_L = np.loadtxt("/home/yan20/nbv_rec/data/test_CAD/cam_pts_0_L.txt")
-    test_pts_R = np.loadtxt("/home/yan20/nbv_rec/data/test_CAD/cam_pts_0_R.txt")
-    cam_to_world_L = PtsUtil.register_icp(test_pts_L, model)
-    cam_to_world_R = PtsUtil.register_icp(test_pts_R, model)
-    print(cam_to_world_L)
-    print("================================")
-    print(cam_to_world_R)
-    
+    test_pts_L = np.loadtxt("/home/user/nbv_rec/data/cam_pts_0_L.txt")
+    test_pts_R = np.loadtxt("/home/user/nbv_rec/data/cam_pts_0_R.txt")
+    cad_to_cam_L = PtsUtil.register_icp(test_pts_L, model)
+    cad_to_cam_R = PtsUtil.register_icp(test_pts_R, model)
+    cad_pts_L = PtsUtil.transform_point_cloud(test_pts_L, cad_to_cam_L)
+    cad_pts_R = PtsUtil.transform_point_cloud(test_pts_R, cad_to_cam_R)
+    np.savetxt("/home/user/nbv_rec/data/cad_pts_0_L.txt", cad_pts_L)
+    np.savetxt("/home/user/nbv_rec/data/cad_pts_0_R.txt", cad_pts_R)