hofee/nbv_rec_control
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update

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hofee
2024-10-18 17:13:45 +08:00
parent 20514be419
commit 307994c20d
4 changed files with 110 additions and 6 deletions
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12
runners/cad_close_loop_strategy.py
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@@ -88,10 +88,10 @@ class CADCloseLoopStrategyRunner(Runner):
)
np.savetxt(f"first_real_pts_{model_name}.txt", first_splitted_real_world_pts)
""" register """
Log.info("[Part 1/5] do registeration")
Log.info("[Part 1/4] do registeration")
real_world_to_cad = PtsUtil.register(first_splitted_real_world_pts, cad_model)
cad_to_real_world = np.linalg.inv(real_world_to_cad)
Log.success("[Part 1/5] finish init and register")
Log.success("[Part 1/4] finish init and register")
real_world_to_blender_world = np.eye(4)
real_world_to_blender_world[:3, 3] = np.asarray([0, 0, 0.9215])
cad_model_real_world: trimesh.Trimesh = cad_model.apply_transform(
@@ -108,7 +108,7 @@ class CADCloseLoopStrategyRunner(Runner):
temp_dir = "/home/yan20/nbv_rec/project/franka_control/temp_output"
cad_model_blender_world.export(os.path.join(temp_dir, f"{temp_name}.obj"))
""" sample view """
Log.info("[Part 2/5] start running renderer")
Log.info("[Part 2/4] start running renderer")
subprocess.run(
[
self.blender_bin_path,
@@ -121,12 +121,12 @@ class CADCloseLoopStrategyRunner(Runner):
capture_output=True,
text=True,
)
Log.success("[Part 2/5] finish running renderer")
Log.success("[Part 2/4] finish running renderer")
""" preprocess """
Log.info("[Part 3/5] start preprocessing data")
Log.info("[Part 3/4] start preprocessing data")
save_scene_data(temp_dir, temp_name)
Log.success("[Part 3/5] finish preprocessing data")
Log.success("[Part 3/4] finish preprocessing data")
pts_dir = os.path.join(temp_dir, temp_name, "pts")
sample_view_pts_list = []