hofee/nbv_rec_control
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

update

Browse Source
This commit is contained in:
hofee
2024-10-13 19:47:05 +08:00
parent 41ee79db0c
commit 2f87a2626c
6 changed files with 75 additions and 92 deletions
Download Patch File Download Diff File Expand all files Collapse all files

59
runners/cad_close_loop_strategy.py
View File

@@ -44,7 +44,7 @@ class CADCloseLoopStrategyRunner(Runner):
"min_cam_table_included_degree"
]
self.max_shot_view_num = self.generate_config["max_shot_view_num"]
self.min_shot_new_pts_num = self.generate_config["max_shot_new_pts_num"]
self.min_shot_new_pts_num = self.generate_config["min_shot_new_pts_num"]
self.min_coverage_increase = self.generate_config["min_coverage_increase"]
self.random_view_ratio = self.generate_config["random_view_ratio"]
@@ -151,12 +151,16 @@ class CADCloseLoopStrategyRunner(Runner):
scan_points_idx_list.append(indices)
""" close-loop strategy """
scanned_pts = [first_real_world_pts]
scanned_pts = PtsUtil.voxel_downsample_point_cloud(
first_splitted_real_world_pts, self.voxel_size
)
shot_pts_list = [first_splitted_real_world_pts]
history_indices = []
last_coverage = 0
last_covered_num = 0
Log.info("[Part 4/4] start close-loop control")
cnt = 0
while True:
#import ipdb; ipdb.set_trace()
next_best_view, next_best_coverage, next_best_covered_num = (
ReconstructionUtil.compute_next_best_view_with_overlap(
scanned_pts,
@@ -164,8 +168,7 @@ class CADCloseLoopStrategyRunner(Runner):
history_indices,
scan_points_idx_list,
threshold=self.voxel_size,
soft_overlap_threshold=self.soft_overlap_threshold,
hard_overlap_threshold=self.hard_overlap_threshold,
overlap_area_threshold=25,
scan_points_threshold=self.scan_points_threshold,
)
)
@@ -176,28 +179,50 @@ class CADCloseLoopStrategyRunner(Runner):
''' get world pts '''
time.sleep(0.5)
view_data = CommunicateUtil.get_view_data()
world_shot_pts = ViewUtil.get_pts(view_data)
scanned_pts.append(world_shot_pts)
if view_data is None:
Log.error("No view data received")
continue
cam_shot_pts = ViewUtil.get_pts(view_data)
world_shot_pts = PtsUtil.transform_point_cloud(
cam_shot_pts, first_cam_to_real_world
)
_, world_splitted_shot_pts = self.split_scan_pts_and_obj_pts(
world_shot_pts
)
shot_pts_list.append(world_splitted_shot_pts)
debug_dir = os.path.join(temp_dir, "debug")
if not os.path.exists(debug_dir):
os.makedirs(debug_dir)
np.savetxt(os.path.join(debug_dir, f"shot_pts_{cnt}.txt"), world_splitted_shot_pts)
np.savetxt(os.path.join(debug_dir, f"render_pts_{cnt}.txt"), sample_view_pts_list[next_best_view])
#real_world_to_cad = PtsUtil.register(first_splitted_real_world_pts, cad_model)
#import ipdb; ipdb.set_trace()
last_scanned_pts_num = scanned_pts.shape[0]
new_scanned_pts = PtsUtil.voxel_downsample_point_cloud(
np.vstack([scanned_pts, world_splitted_shot_pts]), self.voxel_size
)
new_scanned_pts_num = new_scanned_pts.shape[0]
history_indices.append(scan_points_idx_list[next_best_view])
scanned_pts = new_scanned_pts
Log.info(
f"Current rec pts num: {len(scanned_pts)}, Best cover pts: {next_best_covered_num}, Best coverage: {next_best_coverage}"
f"Next Best cover pts: {next_best_covered_num}, Best coverage: {next_best_coverage}"
)
coverage_rate_increase = next_best_coverage - last_coverage
if coverage_rate_increase < self.min_coverage_increase:
Log.info(f"Coverage rate = {coverage_rate_increase} < {self.min_coverage_increase}, stop scanning")
break
# break
last_coverage = next_best_coverage
new_added_pts_num = next_best_covered_num - last_covered_num
new_added_pts_num = new_scanned_pts_num - last_scanned_pts_num
if new_added_pts_num < self.min_shot_new_pts_num:
Log.info(f"New added pts num = {new_added_pts_num} < {self.min_shot_new_pts_num}, stop scanning")
break
last_covered_num = next_best_covered_num
if len(scanned_pts) >= self.max_shot_view_num:
Log.info(f"Scanned view num = {len(scanned_pts)} >= {self.max_shot_view_num}, stop scanning")
break
Log.info(f"New added pts num = {new_added_pts_num} < {self.min_shot_new_pts_num}")
#ipdb.set_trace()
if len(shot_pts_list) >= self.max_shot_view_num:
Log.info(f"Scanned view num = {len(shot_pts_list)} >= {self.max_shot_view_num}, stop scanning")
#break
cnt += 1
Log.success("[Part 4/4] finish close-loop control")