debug view sample

runners/cad_strategy.py

@@ -133,25 +133,58 @@ class CADStrategyRunner(Runner):
             Log.info(f"[{count_object}/{total}]Processing {model_name}")
             self.run_one_model(model_name)
             Log.success(f"[{count_object}/{total}]Finished processing {model_name}")
+        
             
-    
+# ---------------------------- test ---------------------------- #
 if __name__ == "__main__":
+    
     model_path = r"C:\Users\hofee\Downloads\mesh.obj"
     model = trimesh.load(model_path)
-    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
+    ''' test register '''
+    # test_pts_L = np.load(r"C:\Users\hofee\Downloads\0.npy")
     
-    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)
+    # 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
     
-    cad_to_cam_L = PtsUtil.register(noisy_pts_L, model)
+    # 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_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)
+    # 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)
+    
+    ''' test view sample '''
+    
+    sampled_view_data = ViewSampleUtil.sample_view_data_world_space(
+            model, np.eye(4),  
+            voxel_size = 0.005,
+            max_views = 20,
+            min_cam_table_included_degree= 20,
+            random_view_ratio = 0
+        )
+    cam_poses = sampled_view_data["cam_to_world_poses"]
+    cam_poses = np.array(cam_poses)
+    print(cam_poses.shape)
+    def sample_camera_direction(cam_pose, num_samples, sample_distance):
+        cam_position = cam_pose[:3, 3]
+        cam_direction = cam_pose[:3, 2]
+        sampled_points = np.array([cam_position - (i + 1) * sample_distance * cam_direction for i in range(num_samples)])
+        return sampled_points
+    
+    all_sampled_points = []
+    for i in range(cam_poses.shape[0]):
+        samped_points = sample_camera_direction(cam_poses[i], 10, 0.02)
+        all_sampled_points.append(samped_points)
+        
+    all_sampled_points = np.concatenate(all_sampled_points, axis=0)
+    np.savetxt(r"cam_poses.txt", cam_poses[:, :3, 3])
+    np.savetxt(r"cam_directions.txt", all_sampled_points)
+    
+