finish register

runners/cad_strategy.py

@@ -10,8 +10,8 @@ from PytorchBoot.status import status_manager
 
 import sys
 
-sys.path.append("/home/user/nbv_rec/nbv_rec_control")
-from utils.control_util import ControlUtil
+sys.path.append(r"C:\Document\Local Project\nbv_rec_control")
+#from utils.control_util import ControlUtil
 from utils.communicate_util import CommunicateUtil
 from utils.pts_util import PtsUtil
 from utils.view_sample_util import ViewSampleUtil
@@ -99,8 +99,8 @@ class CADStrategyRunner(Runner):
             scan_points_indices_list = scan_points_idx_list,
             init_view=0,
             threshold=self.voxel_size, 
-            soft_overlap_threshold= self.soft_overlap_threshold,
-            hard_overlap_threshold= self.hard_overlap_threshold,
+            soft_overlap_threshold = self.soft_overlap_threshold,
+            hard_overlap_threshold = self.hard_overlap_threshold,
             scan_points_threshold = self.scan_points_threshold, 
             status_info=self.status_info
         )
@@ -136,13 +136,22 @@ class CADStrategyRunner(Runner):
             
     
 if __name__ == "__main__":
-    model_path = "/home/user/nbv_rec/data/mesh.obj"
+    model_path = r"C:\Users\hofee\Downloads\mesh.obj"
     model = trimesh.load(model_path)
-    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)
+    test_pts_L = np.load(r"C:\Users\hofee\Downloads\0.npy")
+    
+    import open3d as o3d
+    def add_noise(points, translation, rotation):
+        R = o3d.geometry.get_rotation_matrix_from_axis_angle(rotation)
+        noisy_points = points @ R.T + translation
+        return noisy_points
+    
+    translation_noise = np.random.uniform(-0.5, 0.5, size=3)
+    rotation_noise = np.random.uniform(-np.pi/4, np.pi/4, size=3) 
+    noisy_pts_L = add_noise(test_pts_L, translation_noise, rotation_noise)
+    
+    cad_to_cam_L = PtsUtil.register(noisy_pts_L, model)
+    
+    cad_pts_L = PtsUtil.transform_point_cloud(noisy_pts_L, cad_to_cam_L)
+    np.savetxt(r"test.txt", cad_pts_L)
+    np.savetxt(r"src.txt", noisy_pts_L)