update

.gitignore

@@ -1,12 +1,15 @@
 # ---> Python
 # Byte-compiled / optimized / DLL files
+test/
 __pycache__/
 *.py[cod]
 *$py.class
 test_output/
 # C extensions
 *.so
-
+*.txt
+experiments/
+temp_output/
 # Distribution / packaging
 .Python
 build/

app_cad.py

@@ -1,9 +1,16 @@
 from PytorchBoot.application import PytorchBootApplication
-from runners.cad_strategy import CADStrategyRunner
+from runners.cad_open_loop_strategy import CADOpenLoopStrategyRunner
+from runners.cad_close_loop_strategy import CADCloseLoopStrategyRunner
 
-@PytorchBootApplication("cad")
-class AppCAD:
+
+@PytorchBootApplication("cad_ol")
+class AppCADOpenLoopStrategy:
     @staticmethod
     def start():
-        CADStrategyRunner("configs/cad_config.yaml").run()
-        
+        CADOpenLoopStrategyRunner("configs/cad_open_loop_config.yaml").run()
+        
+@PytorchBootApplication("cad_cl")
+class AppCADCloseLoopStrategy:
+    @staticmethod
+    def start():
+        CADCloseLoopStrategyRunner("configs/cad_close_loop_config.yaml").run()

cam_directions.txt

@@ -1,160 +0,0 @@
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cam_poses.txt

@@ -1,16 +0,0 @@
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combine_all_pts.py

@@ -0,0 +1,15 @@
+import numpy as np
+import os
+
+if __name__ == "__main__":
+    pts_dir_path = "/home/yan20/nbv_rec/project/franka_control/temp_output/cad_model_world/pts"
+    pts_dir = os.listdir(pts_dir_path)
+    pts_list = []
+    for i in range(len(pts_dir)):
+        pts_path = os.path.join(pts_dir_path, pts_dir[i])
+        pts = np.loadtxt(pts_path)
+        pts_list.append(pts)
+    combined_pts = np.vstack(pts_list)
+    path = "/home/yan20/nbv_rec/project/franka_control"
+    np.savetxt(os.path.join(path, "combined_pts.txt"), combined_pts)
+    

configs/cad_close_loop_config.yaml

@@ -0,0 +1,46 @@
+
+runner:
+  general:
+    seed: 1
+    device: cpu
+    cuda_visible_devices: "0,1,2,3,4,5,6,7"
+    
+  experiment:
+    name: debug
+    root_dir: "experiments"
+  
+  generate:
+    blender_bin_path: /home/yan20/Desktop/nbv_rec/project/blender_app/blender-4.2.2-linux-x64/blender
+    generator_script_path: /home/yan20/Desktop/nbv_rec/project/blender_app/data_generator.py
+    model_dir: "/home/yan20/Desktop/nbv_rec/data/models"
+    table_model_path: "/home/yan20/Desktop/nbv_rec/data/table.obj"
+    model_start_idx: 0
+    voxel_size: 0.002
+    max_shot_view_num: 50
+    min_shot_new_pts_num: 10
+    min_coverage_increase: 0.001  
+    max_view: 64
+    min_view: 32
+    max_diag: 0.7
+    min_diag: 0.01
+    random_view_ratio: 0
+    min_cam_table_included_degree: 20
+    obj_name: "bear"
+    light_and_camera_config:
+      Camera:
+        near_plane: 0.01
+        far_plane: 5
+        fov_vertical: 25
+        resolution: [640,400]
+        eye_distance: 0.15
+        eye_angle: 25
+      Light:
+        location: [0,0,3.5]
+        orientation: [0,0,0]
+        power: 150
+
+  reconstruct:
+    soft_overlap_threshold: 0.3
+    hard_overlap_threshold: 0.6
+    scan_points_threshold: 10
+ 

configs/cad_open_loop_config.yaml

@@ -10,10 +10,12 @@ runner:
     root_dir: "experiments"
   
   generate:
-    model_dir: "/home/user/nbv_rec/data/models"
-    table_model_path: "/home/user/nbv_rec/data/table.obj"
+    blender_bin_path: /home/yan20/Desktop/nbv_rec/project/blender_app/blender-4.2.2-linux-x64/blender
+    generator_script_path: /home/yan20/Desktop/nbv_rec/project/blender_app/data_generator.py
+    model_dir: "/home/yan20/Desktop/nbv_rec/data/models"
+    table_model_path: "/home/yan20/Desktop/nbv_rec/data/table.obj"
     model_start_idx: 0
-    voxel_size: 0.005
+    voxel_size: 0.002
     max_view: 512
     min_view: 128
     max_diag: 0.7
@@ -26,7 +28,7 @@ runner:
         near_plane: 0.01
         far_plane: 5
         fov_vertical: 25
-        resolution: [1280,800]
+        resolution: [640,400]
         eye_distance: 0.15
         eye_angle: 25
       Light:

configs/render_config.yaml

@@ -1,23 +0,0 @@
-
-runner:
-  general:
-    seed: 1
-    device: cpu
-    cuda_visible_devices: "0,1,2,3,4,5,6,7"
-    
-  experiment:
-    name: debug
-    root_dir: "experiments"
-  
-  web:
-    host: “0.0.0.0”
-    port: 11111
-  render:
-    model_dir: "/home/yan20/nbv_rec/data/test_CAD/test_model"
-    
-
-  reconstruct:
-    soft_overlap_threshold: 0.3
-    hard_overlap_threshold: 0.6
-    scan_points_threshold: 10
- 

load_normal.py

@@ -0,0 +1,49 @@
+import cv2
+import os
+import numpy as np
+
+def load_normal(path, binocular=False, left_only=False):
+    if binocular and not left_only:
+        normal_path_L = os.path.join(
+            os.path.dirname(path), "normal", os.path.basename(path) + "_L.png"
+        )
+        normal_image_L = cv2.imread(normal_path_L, cv2.IMREAD_UNCHANGED)
+        normal_path_R = os.path.join(
+            os.path.dirname(path), "normal", os.path.basename(path) + "_R.png"
+        )
+        normal_image_R = cv2.imread(normal_path_R, cv2.IMREAD_UNCHANGED)
+        normalized_normal_image_L = normal_image_L / 255.0 * 2.0 - 1.0
+        normalized_normal_image_R = normal_image_R / 255.0 * 2.0 - 1.0
+        return normalized_normal_image_L, normalized_normal_image_R
+    else:
+        if binocular and left_only:
+            normal_path = os.path.join(
+                os.path.dirname(path), "normal", os.path.basename(path) + "_L.png"
+            )
+        else:
+            normal_path = os.path.join(
+                os.path.dirname(path), "normal", os.path.basename(path) + ".png"
+            )
+        normal_image = cv2.imread(normal_path, cv2.IMREAD_UNCHANGED)
+        normalized_normal_image = normal_image / 255.0 * 2.0 - 1.0
+        return normalized_normal_image
+
+def show_rgb(event, x, y, flags, param):
+    if event == cv2.EVENT_MOUSEMOVE:
+        pixel_value = param[y, x]
+        print(f"RGB at ({x},{y}): {pixel_value}")
+
+if __name__ == "__main__":
+    path = "/Users/hofee/temp/1"
+    normal_image = load_normal(path, binocular=True, left_only=True)
+    display_image = ((normal_image + 1.0) / 2.0 * 255).astype(np.uint8)
+
+    cv2.namedWindow("Normal Image")
+    cv2.setMouseCallback("Normal Image", show_rgb, param=display_image)
+
+    while True:
+        cv2.imshow("Normal Image", display_image)
+        if cv2.waitKey(1) & 0xFF == ord('q'):
+            break
+
+    cv2.destroyAllWindows()

runners/cad_close_loop_strategy.py

@@ -0,0 +1,244 @@
+import os
+import time
+import trimesh
+import tempfile
+import subprocess
+import numpy as np
+from PytorchBoot.runners.runner import Runner
+from PytorchBoot.config import ConfigManager
+import PytorchBoot.stereotype as stereotype
+from PytorchBoot.utils.log_util import Log
+from PytorchBoot.status import status_manager
+
+from utils.control_util import ControlUtil
+from utils.communicate_util import CommunicateUtil
+from utils.pts_util import PtsUtil
+from utils.reconstruction_util import ReconstructionUtil
+from utils.preprocess_util import save_scene_data, save_scene_data_multithread
+from utils.data_load import DataLoadUtil
+from utils.view_util import ViewUtil
+
+
+@stereotype.runner("CAD_close_loop_strategy_runner")
+class CADCloseLoopStrategyRunner(Runner):
+
+    def __init__(self, config_path: str):
+        super().__init__(config_path)
+        self.load_experiment("cad_strategy")
+        self.status_info = {
+            "status_manager": status_manager,
+            "app_name": "cad",
+            "runner_name": "CAD_close_loop_strategy_runner",
+        }
+        self.generate_config = ConfigManager.get("runner", "generate")
+        self.reconstruct_config = ConfigManager.get("runner", "reconstruct")
+        self.blender_bin_path = self.generate_config["blender_bin_path"]
+        self.generator_script_path = self.generate_config["generator_script_path"]
+        self.model_dir = self.generate_config["model_dir"]
+        self.voxel_size = self.generate_config["voxel_size"]
+        self.max_view = self.generate_config["max_view"]
+        self.min_view = self.generate_config["min_view"]
+        self.max_diag = self.generate_config["max_diag"]
+        self.min_diag = self.generate_config["min_diag"]
+        self.min_cam_table_included_degree = self.generate_config[
+            "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["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"]
+
+        self.soft_overlap_threshold = self.reconstruct_config["soft_overlap_threshold"]
+        self.hard_overlap_threshold = self.reconstruct_config["hard_overlap_threshold"]
+        self.scan_points_threshold = self.reconstruct_config["scan_points_threshold"]
+
+    def create_experiment(self, backup_name=None):
+        super().create_experiment(backup_name)
+
+    def load_experiment(self, backup_name=None):
+        super().load_experiment(backup_name)
+
+    def split_scan_pts_and_obj_pts(self, world_pts, z_threshold=0):
+        scan_pts = world_pts[world_pts[:, 2] < z_threshold]
+        obj_pts = world_pts[world_pts[:, 2] >= z_threshold]
+        return scan_pts, obj_pts
+
+    def run_one_model(self, model_name):
+        temp_dir = "/home/yan20/nbv_rec/project/franka_control/temp_output"
+        ControlUtil.connect_robot()
+        """ init robot """
+        Log.info("[Part 1/5] start init and register")
+        ControlUtil.init()
+
+        """ load CAD model """
+        model_path = os.path.join(self.model_dir, model_name, "mesh.ply")
+        temp_name = "cad_model_world"
+        cad_model = trimesh.load(model_path)
+        """ take first view """
+        Log.info("[Part 1/5] take first view data")
+        view_data = CommunicateUtil.get_view_data(init=True)
+        first_cam_pts = ViewUtil.get_pts(view_data)
+        first_cam_to_real_world = ControlUtil.get_pose()
+        first_real_world_pts = PtsUtil.transform_point_cloud(
+            first_cam_pts, first_cam_to_real_world
+        )
+        _, first_splitted_real_world_pts = self.split_scan_pts_and_obj_pts(
+            first_real_world_pts
+        )
+        np.savetxt(f"first_real_pts_{model_name}.txt", first_splitted_real_world_pts)
+        """ register """
+        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 1/4] 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(
+            cad_to_real_world
+        )
+        cad_model_real_world.export(
+            os.path.join(temp_dir, f"real_world_{temp_name}.obj")
+        )
+        cad_model_blender_world: trimesh.Trimesh = cad_model.apply_transform(
+            real_world_to_blender_world
+        )
+
+        with tempfile.TemporaryDirectory() as temp_dir:
+            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 2/4] start running renderer")
+            subprocess.run(
+                [
+                    self.blender_bin_path,
+                    "-b",
+                    "-P",
+                    self.generator_script_path,
+                    "--",
+                    temp_dir,
+                ],
+                capture_output=True,
+                text=True,
+            )
+            Log.success("[Part 2/4] finish running renderer")
+            
+            """ preprocess """
+            Log.info("[Part 3/4] start preprocessing data")
+            save_scene_data(temp_dir, temp_name)
+            Log.success("[Part 3/4] finish preprocessing data")
+
+            pts_dir = os.path.join(temp_dir, temp_name, "pts")
+            sample_view_pts_list = []
+            scan_points_idx_list = []
+            frame_num = len(os.listdir(pts_dir))
+            for frame_idx in range(frame_num):
+                pts_path = os.path.join(temp_dir, temp_name, "pts", f"{frame_idx}.txt")
+                idx_path = os.path.join(
+                    temp_dir, temp_name, "scan_points_indices", f"{frame_idx}.npy"
+                )
+                point_cloud = np.loadtxt(pts_path)
+                if point_cloud.shape[0] != 0:
+                    sampled_point_cloud = PtsUtil.voxel_downsample_point_cloud(
+                        point_cloud, self.voxel_size
+                    )
+                indices = np.load(idx_path)
+                try:
+                    len(indices)
+                except:
+                    indices = np.array([indices])
+                sample_view_pts_list.append(sampled_point_cloud)
+                scan_points_idx_list.append(indices)
+
+            """ close-loop strategy """
+            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
+            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,
+                        sample_view_pts_list,
+                        history_indices,
+                        scan_points_idx_list,
+                        threshold=self.voxel_size,
+                        overlap_area_threshold=25,
+                        scan_points_threshold=self.scan_points_threshold,
+                    )
+                )
+                nbv_path = DataLoadUtil.get_path(temp_dir, temp_name, next_best_view)
+                nbv_cam_info = DataLoadUtil.load_cam_info(nbv_path, binocular=True)
+                nbv_cam_to_world = nbv_cam_info["cam_to_world_O"]
+                ControlUtil.move_to(nbv_cam_to_world)
+                ''' get world pts '''
+                time.sleep(0.5)
+                view_data = CommunicateUtil.get_view_data()
+                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"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
+                last_coverage = next_best_coverage
+                
+                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}")
+                    #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")
+
+
+    def run(self):
+        total = len(os.listdir(self.model_dir))
+        model_start_idx = self.generate_config["model_start_idx"]
+        count_object = model_start_idx
+        for model_name in os.listdir(self.model_dir[model_start_idx:]):
+            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)

runners/cad_open_loop_strategy.py

@@ -0,0 +1,224 @@
+import os
+import time
+import trimesh
+import tempfile
+import subprocess
+import numpy as np
+from PytorchBoot.runners.runner import Runner
+from PytorchBoot.config import ConfigManager
+import PytorchBoot.stereotype as stereotype
+from PytorchBoot.utils.log_util import Log
+from PytorchBoot.status import status_manager
+
+from utils.control_util import ControlUtil
+from utils.communicate_util import CommunicateUtil
+from utils.pts_util import PtsUtil
+from utils.reconstruction_util import ReconstructionUtil
+from utils.preprocess_util import save_scene_data, save_scene_data_multithread
+from utils.data_load import DataLoadUtil
+from utils.view_util import ViewUtil
+
+
+@stereotype.runner("CAD_open_loop_strategy_runner")
+class CADOpenLoopStrategyRunner(Runner):
+
+    def __init__(self, config_path: str):
+        super().__init__(config_path)
+        self.load_experiment("cad_open_loop_strategy")
+        self.status_info = {
+            "status_manager": status_manager,
+            "app_name": "cad",
+            "runner_name": "CAD_open_loop_strategy_runner"
+        }
+        self.generate_config = ConfigManager.get("runner", "generate")
+        self.reconstruct_config = ConfigManager.get("runner", "reconstruct")
+        self.blender_bin_path = self.generate_config["blender_bin_path"]
+        self.generator_script_path = self.generate_config["generator_script_path"]
+        self.model_dir = self.generate_config["model_dir"]
+        self.voxel_size = self.generate_config["voxel_size"]
+        self.max_view = self.generate_config["max_view"]
+        self.min_view = self.generate_config["min_view"]
+        self.max_diag = self.generate_config["max_diag"]
+        self.min_diag = self.generate_config["min_diag"]
+        self.min_cam_table_included_degree = self.generate_config["min_cam_table_included_degree"]
+        self.random_view_ratio = self.generate_config["random_view_ratio"]
+        
+        self.soft_overlap_threshold = self.reconstruct_config["soft_overlap_threshold"]
+        self.hard_overlap_threshold = self.reconstruct_config["hard_overlap_threshold"]
+        self.scan_points_threshold = self.reconstruct_config["scan_points_threshold"]
+        
+    def create_experiment(self, backup_name=None):
+        super().create_experiment(backup_name)
+    
+    def load_experiment(self, backup_name=None):
+        super().load_experiment(backup_name)
+    
+    def split_scan_pts_and_obj_pts(self, world_pts, z_threshold = 0):
+        scan_pts = world_pts[world_pts[:,2] < z_threshold]
+        obj_pts = world_pts[world_pts[:,2] >= z_threshold]
+        return scan_pts, obj_pts
+
+    def run_one_model(self, model_name):
+        temp_dir = "/home/yan20/nbv_rec/project/franka_control/temp_output"
+        result = dict()
+        
+        shot_pts_list = []
+        ControlUtil.connect_robot()
+        ''' init robot '''
+        Log.info("[Part 1/5] start init and register")
+        ControlUtil.init()
+        
+        ''' load CAD model '''
+        model_path = os.path.join(self.model_dir, model_name,"mesh.ply")
+        temp_name = "cad_model_world"
+        cad_model = trimesh.load(model_path)
+        ''' take first view '''
+        Log.info("[Part 1/5] take first view data")
+        view_data = CommunicateUtil.get_view_data(init=True)
+        first_cam_pts = ViewUtil.get_pts(view_data)
+        first_cam_to_real_world = ControlUtil.get_pose()
+        first_real_world_pts = PtsUtil.transform_point_cloud(first_cam_pts, first_cam_to_real_world)
+        _, first_splitted_real_world_pts = self.split_scan_pts_and_obj_pts(first_real_world_pts)
+        np.savetxt(f"first_real_pts_{model_name}.txt", first_splitted_real_world_pts)
+        ''' register '''
+        Log.info("[Part 1/5] 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")
+        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(cad_to_real_world)
+        cad_model_real_world.export(os.path.join(temp_dir, f"real_world_{temp_name}.obj"))
+        cad_model_blender_world:trimesh.Trimesh = cad_model.apply_transform(real_world_to_blender_world)
+        
+        with tempfile.TemporaryDirectory() as temp_dir:
+            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"))
+            scene_dir = os.path.join(temp_dir, temp_name)
+            ''' sample view '''
+            Log.info("[Part 2/5] start running renderer")
+            subprocess.run([
+                self.blender_bin_path, '-b', '-P', self.generator_script_path, '--', temp_dir
+            ], capture_output=True, text=True)
+            Log.success("[Part 2/5] finish running renderer")
+            
+        
+            world_model_points = np.loadtxt(os.path.join(scene_dir, "points_and_normals.txt"))[:,:3]
+            ''' preprocess '''
+            Log.info("[Part 3/5] start preprocessing data")
+            save_scene_data(temp_dir, temp_name)
+            Log.success("[Part 3/5] finish preprocessing data")
+            
+            pts_dir = os.path.join(temp_dir,temp_name,"pts")
+            sample_view_pts_list = []
+            scan_points_idx_list = []
+            frame_num = len(os.listdir(pts_dir))
+            
+            for frame_idx in range(frame_num):
+                pts_path = os.path.join(temp_dir,temp_name, "pts", f"{frame_idx}.txt")
+                idx_path = os.path.join(temp_dir,temp_name, "scan_points_indices", f"{frame_idx}.npy")
+                point_cloud = np.loadtxt(pts_path)
+                if point_cloud.shape[0] != 0:
+                    sampled_point_cloud = PtsUtil.voxel_downsample_point_cloud(point_cloud, self.voxel_size)
+                indices = np.load(idx_path) 
+                try:
+                    len(indices)
+                except:
+                    indices = np.array([indices])
+                sample_view_pts_list.append(sampled_point_cloud)
+                scan_points_idx_list.append(indices)
+
+            ''' generate strategy '''
+            
+            Log.info("[Part 4/5] start generating strategy")
+            limited_useful_view, _, _ = ReconstructionUtil.compute_next_best_view_sequence_with_overlap(
+                world_model_points, sample_view_pts_list, 
+                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,
+                scan_points_threshold = self.scan_points_threshold, 
+                status_info=self.status_info
+            )
+            Log.success("[Part 4/5] finish generating strategy")
+        
+            ''' extract cam_to_world sequence  '''
+            cam_to_world_seq = []
+            coveraget_rate_seq = []
+            render_pts = []
+            idx_seq = []
+            for idx, coverage_rate in limited_useful_view:
+                path = DataLoadUtil.get_path(temp_dir, temp_name, idx)
+                cam_info = DataLoadUtil.load_cam_info(path, binocular=True)
+                cam_to_world_seq.append(cam_info["cam_to_world_O"])
+                coveraget_rate_seq.append(coverage_rate)
+                idx_seq.append(idx)
+                render_pts.append(sample_view_pts_list[idx])
+            
+        Log.info("[Part 5/5] start running robot")
+        ''' take best seq view '''
+        #import ipdb; ipdb.set_trace()
+        target_scanned_pts = np.concatenate(sample_view_pts_list)
+        voxel_downsampled_target_scanned_pts = PtsUtil.voxel_downsample_point_cloud(target_scanned_pts, self.voxel_size)
+        result = dict()
+        gt_scanned_pts = np.concatenate(render_pts, axis=0)
+        voxel_down_sampled_gt_scanned_pts = PtsUtil.voxel_downsample_point_cloud(gt_scanned_pts, self.voxel_size)
+        result["gt_final_coverage_rate_cad"] = ReconstructionUtil.compute_coverage_rate(voxel_downsampled_target_scanned_pts, voxel_down_sampled_gt_scanned_pts, self.voxel_size)
+        step = 1
+        result["real_coverage_rate_seq"] = []
+        for cam_to_world in cam_to_world_seq:
+            try:
+                ControlUtil.move_to(cam_to_world)
+                ''' get world pts '''
+                time.sleep(0.5)
+                view_data = CommunicateUtil.get_view_data()
+                if view_data is None:
+                    Log.error("Failed to get view data")
+                    continue
+                cam_pts = ViewUtil.get_pts(view_data)
+                shot_pts_list.append(cam_pts)
+                scanned_pts = np.concatenate(shot_pts_list, axis=0)
+                voxel_down_sampled_scanned_pts = PtsUtil.voxel_downsample_point_cloud(scanned_pts, self.voxel_size)
+                voxel_down_sampled_scanned_pts_world = PtsUtil.transform_point_cloud(voxel_down_sampled_scanned_pts, first_cam_to_real_world)
+                curr_CR = ReconstructionUtil.compute_coverage_rate(voxel_downsampled_target_scanned_pts, voxel_down_sampled_scanned_pts_world, self.voxel_size)
+                Log.success(f"(step {step}/{len(cam_to_world_seq)}) current coverage: {curr_CR} | gt coverage: {result['gt_final_coverage_rate_cad']}")
+                result["real_final_coverage_rate"] = curr_CR
+                result["real_coverage_rate_seq"].append(curr_CR)
+                step += 1
+            except Exception as e:
+                Log.error(f"Failed to move to {cam_to_world}")
+                Log.error(e)
+            
+            #import ipdb;ipdb.set_trace()
+
+        for idx in range(len(shot_pts_list)):
+            if not os.path.exists(os.path.join(temp_dir, temp_name, "shot_pts")):
+                os.makedirs(os.path.join(temp_dir, temp_name, "shot_pts"))
+            if not os.path.exists(os.path.join(temp_dir, temp_name, "render_pts")):
+                os.makedirs(os.path.join(temp_dir, temp_name, "render_pts"))
+            shot_pts = PtsUtil.transform_point_cloud(shot_pts_list[idx], first_cam_to_real_world)
+            np.savetxt(os.path.join(temp_dir, temp_name, "shot_pts", f"{idx}.txt"), shot_pts)
+            np.savetxt(os.path.join(temp_dir, temp_name, "render_pts", f"{idx}.txt"), render_pts[idx])
+        
+            
+        Log.success("[Part 5/5] finish running robot")
+        
+        Log.debug(result)
+    
+    def run(self):
+        total = len(os.listdir(self.model_dir))
+        model_start_idx = self.generate_config["model_start_idx"]
+        count_object = model_start_idx
+        for model_name in os.listdir(self.model_dir[model_start_idx:]):
+            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)
+    

runners/cad_strategy.py

@@ -1,193 +0,0 @@
-import os
-import trimesh
-import tempfile
-import subprocess
-import numpy as np
-from PytorchBoot.runners.runner import Runner
-from PytorchBoot.config import ConfigManager
-import PytorchBoot.stereotype as stereotype
-from PytorchBoot.utils.log_util import Log
-from PytorchBoot.status import status_manager
-
-from utils.control_util import ControlUtil
-from utils.communicate_util import CommunicateUtil
-from utils.pts_util import PtsUtil
-from utils.reconstruction_util import ReconstructionUtil
-from utils.preprocess_util import save_scene_data
-from utils.data_load import DataLoadUtil
-
-@stereotype.runner("CAD_strategy_runner")
-class CADStrategyRunner(Runner):
-
-    def __init__(self, config_path: str):
-        super().__init__(config_path)
-        self.load_experiment("cad_strategy")
-        self.status_info = {
-            "status_manager": status_manager,
-            "app_name": "cad",
-            "runner_name": "cad_strategy"
-        }
-        self.generate_config = ConfigManager.get("runner", "generate")
-        self.reconstruct_config = ConfigManager.get("runner", "reconstruct")
-        self.model_dir = self.generate_config["model_dir"]
-        self.voxel_size = self.generate_config["voxel_size"]
-        self.max_view = self.generate_config["max_view"]
-        self.min_view = self.generate_config["min_view"]
-        self.max_diag = self.generate_config["max_diag"]
-        self.min_diag = self.generate_config["min_diag"]
-        self.min_cam_table_included_degree = self.generate_config["min_cam_table_included_degree"]
-        self.random_view_ratio = self.generate_config["random_view_ratio"]
-        
-        self.soft_overlap_threshold = self.reconstruct_config["soft_overlap_threshold"]
-        self.hard_overlap_threshold = self.reconstruct_config["hard_overlap_threshold"]
-        self.scan_points_threshold = self.reconstruct_config["scan_points_threshold"]
-        
-    def create_experiment(self, backup_name=None):
-        super().create_experiment(backup_name)
-    
-    def load_experiment(self, backup_name=None):
-        super().load_experiment(backup_name)
-        
-    def get_pts_from_view_data(self, view_data):
-        depth = view_data["depth_image"]
-        depth_intrinsics = view_data["depth_intrinsics"]
-        depth_extrinsics = view_data["depth_extrinsics"]
-        cam_pts = PtsUtil.get_pts_from_depth(depth, depth_intrinsics, depth_extrinsics)
-        return cam_pts
-    
-    def split_scan_pts_and_obj_pts(self, world_pts, scan_pts_z, z_threshold = 0.003):
-        scan_pts = world_pts[scan_pts_z < z_threshold]
-        obj_pts = world_pts[scan_pts_z >= z_threshold]
-        return scan_pts, obj_pts
-
-    def run_one_model(self, model_name):
-        
-        ''' init robot '''
-        #ControlUtil.init()
-        ''' load CAD model '''
-        model_path = os.path.join(self.model_dir, model_name,"mesh.obj")
-        cad_model = trimesh.load(model_path)
-        ''' take first view '''
-        #view_data = CommunicateUtil.get_view_data(init=True)
-        #first_cam_pts = self.get_pts_from_view_data(view_data)
-        ''' register '''
-        #cad_to_cam = PtsUtil.register(first_cam_pts, cad_model)
-        #cam_to_world = ControlUtil.get_pose()
-        cad_to_world = np.eye(4) #cam_to_world @ cad_to_cam
-        
-        
-        world_to_blender_world = np.eye(4)
-        world_to_blender_world[:3, 3] = np.asarray([0, 0, 0.9215])
-        cad_to_blender_world = np.dot(world_to_blender_world, cad_to_world)
-        cad_model:trimesh.Trimesh = cad_model.apply_transform(cad_to_blender_world)
-        
-        with tempfile.TemporaryDirectory() as temp_dir:
-            name = "cad_model_world"
-            
-            cad_model.export(os.path.join(temp_dir, f"{name}.obj"))
-            temp_dir = "/home/user/nbv_rec/nbv_rec_control/test_output"
-            scene_dir = os.path.join(temp_dir, name)
-            script_path = "/home/user/nbv_rec/blender_app/data_generator.py"
-            ''' sample view '''
-            # import ipdb; ipdb.set_trace()
-            # print("start running renderer")
-            # result = subprocess.run([
-            #     'blender', '-b', '-P', script_path, '--', temp_dir
-            # ], capture_output=True, text=True)
-            # print("finish running renderer")
-            # 
-        
-            world_model_points = np.loadtxt(os.path.join(scene_dir, "points_and_normals.txt"))[:,:3]
-            ''' preprocess '''
-            # save_scene_data(temp_dir, name)
-            
-            pts_dir = os.path.join(temp_dir,name,"pts")
-            sample_view_pts_list = []
-            scan_points_idx_list = []
-            frame_num = len(os.listdir(pts_dir))
-            
-            for frame_idx in range(frame_num):
-                pts_path = os.path.join(temp_dir,name, "pts", f"{frame_idx}.txt")
-                idx_path = os.path.join(temp_dir,name, "scan_points_indices", f"{frame_idx}.txt")
-                point_cloud = np.loadtxt(pts_path)
-                sampled_point_cloud = PtsUtil.voxel_downsample_point_cloud(point_cloud, self.voxel_size)
-                indices = np.loadtxt(idx_path, dtype=np.int32) 
-                try:
-                    len(indices)
-                except:
-                    indices = np.array([indices])
-                sample_view_pts_list.append(sampled_point_cloud)
-                scan_points_idx_list.append(indices)
-
-            ''' generate strategy '''
-            
-            limited_useful_view, _, _ = ReconstructionUtil.compute_next_best_view_sequence_with_overlap(
-                world_model_points, sample_view_pts_list, 
-                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,
-                scan_points_threshold = self.scan_points_threshold, 
-                status_info=self.status_info
-            )
-           
-            ''' extract cam_to_world sequence  '''
-            cam_to_world_seq = []
-            coveraget_rate_seq = []
-            
-            from ipdb import set_trace; set_trace()
-            for idx, coverage_rate in limited_useful_view:
-                path = DataLoadUtil.get_path(temp_dir, name, idx)
-                cam_info = DataLoadUtil.load_cam_info(path, binocular=True)
-                cam_to_world_seq.append(cam_info["cam_to_world"])
-                coveraget_rate_seq.append(coverage_rate)
-            
-        # ''' take best seq view '''
-        # for cam_to_world in cam_to_world_seq:
-        #     ControlUtil.move_to(cam_to_world)
-        #     ''' get world pts '''
-        #     view_data = CommunicateUtil.get_view_data()
-        #     cam_pts = self.get_pts_from_view_data(view_data)
-        #     scan_points_idx = None
-        #     world_pts = PtsUtil.transform_point_cloud(cam_pts, cam_to_world)
-        #     sample_view_pts_list.append(world_pts)
-        #     scan_points_idx_list.append(scan_points_idx)
-        
-    
-    def run(self):
-        total = len(os.listdir(self.model_dir))
-        model_start_idx = self.generate_config["model_start_idx"]
-        count_object = model_start_idx
-        for model_name in os.listdir(self.model_dir[model_start_idx:]):
-            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 register '''
-    # 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)
-
-    

utils/communicate_util.py

@@ -1,23 +1,35 @@
 import requests
 import numpy as np
-import cv2
-
 
 class CommunicateUtil:
-    VIEW_HOST = "127.0.0.1:5000"
-    INFERENCE_HOST = "127.0.0.1:5000"
+    VIEW_HOST = "192.168.1.2:7999"  #"10.7.250.52:7999" ##
+    INFERENCE_HOST = "127.0.0.1"
+    INFERENCE_PORT = 5000
     
     def get_view_data(init = False) -> dict:
         params = {}
         params["create_scanner"] = init
         response = requests.get(f"http://{CommunicateUtil.VIEW_HOST}/api/data", json=params)
         data = response.json()
+        
         if not data["success"]:
             print(f"Failed to get view data")
             return None
-        return data
+        
+        image_id = data["image_id"]
+        depth_image = np.array(data["depth_image"], dtype=np.uint16)
+        depth_intrinsics = data["depth_intrinsics"]
+        depth_extrinsics = np.array(data["depth_extrinsics"])
+        view_data = {
+            "image_id": image_id,
+            "depth_image": depth_image,
+            "depth_intrinsics": depth_intrinsics,
+            "depth_extrinsics": depth_extrinsics
+        }
+        return view_data
     
     def get_inference_data(view_data:dict) -> dict:
         data = {}
         return data
+        
         

utils/control_util.py

@@ -1,41 +1,51 @@
 import numpy as np
 from frankapy import FrankaArm
 from autolab_core import RigidTransform
+import serial
+import time
 
 class ControlUtil:
     
-    #__fa = FrankaArm(robot_num=2)
+    __fa:FrankaArm = None
+    __ser: serial.Serial = None
+    curr_rotation = 0
     
     BASE_TO_WORLD:np.ndarray = np.asarray([
-        [1, 0, 0, -0.5],
-        [0, 1, 0, 0],
-        [0, 0, 1, -0.2],
+        [1, 0, 0, -0.61091665],
+        [0, 1, 0, -0.00309726],
+        [0, 0, 1, -0.1136743],
         [0, 0, 0, 1]
         ])
     
     CAMERA_TO_GRIPPER:np.ndarray = np.asarray([
+        [0, -1, 0, 0.01],
         [1, 0, 0, 0],
-        [0, 1, 0, 0],
-        [0, 0, 1, 0],
+        [0, 0, 1, 0.08],
         [0, 0, 0, 1]
         ])
-    theta = np.radians(25)
-    INIT_POSE:np.ndarray = np.asarray([
-        [np.cos(theta), 0, -np.sin(theta), 0],
-        [0, -1, 0, 0],
-        [-np.sin(theta), 0, -np.cos(theta), 0.35],
-        [0, 0, 0, 1]
+    INIT_GRIPPER_POSE:np.ndarray = np.asarray([
+        [ 0.46532393,  0.62171798,  0.63002284,  0.21230963],
+        [ 0.43205618, -0.78075723,  0.45136491, -0.25127173],
+        [ 0.77251656,  0.06217437, -0.63193429,  0.499957  ],
+        [ 0.        ,  0.        ,  0.        ,  1.        ],
         ])
+
     
-    AXIS_THRESHOLD = (-(np.pi+5e-2)/2, (np.pi+5e-2)/2)
-    
+    @staticmethod
+    def connect_robot():
+        if ControlUtil.__fa is None:
+            ControlUtil.__fa = FrankaArm(robot_num=2)
+        if ControlUtil.__ser is None:
+            ControlUtil.__ser = serial.Serial(port="/dev/ttyUSB0", baudrate=115200) 
+        
     @staticmethod
     def franka_reset() -> None:
         ControlUtil.__fa.reset_joints()
         
     @staticmethod
     def init() -> None:
-        ControlUtil.set_pose(ControlUtil.INIT_POSE)
+        ControlUtil.franka_reset()
+        ControlUtil.set_gripper_pose(ControlUtil.INIT_GRIPPER_POSE)
         
     @staticmethod
     def get_pose() -> np.ndarray:
@@ -46,17 +56,35 @@ class ControlUtil:
     @staticmethod
     def set_pose(cam_to_world: np.ndarray) -> None:
         gripper_to_base = ControlUtil.solve_gripper_to_base(cam_to_world)
-        gripper_to_base = RigidTransform(rotation=gripper_to_base[:3, :3], translation=gripper_to_base[:3, 3], from_frame="franka_tool", to_frame="world")
-        ControlUtil.__fa.goto_pose(gripper_to_base, use_impedance=False, ignore_errors=False)
+        ControlUtil.set_gripper_pose(gripper_to_base)
         
     @staticmethod
     def rotate_display_table(degree):
-        pass
+        turn_directions = {
+            "left": 1,
+            "right": 0
+        }
+        delta_degree = degree - ControlUtil.curr_rotation
+        ControlUtil.curr_rotation += delta_degree
+        print(f"Table rotated {ControlUtil.cnt_rotation} degree")
+        if degree >= 0:
+            turn_angle = delta_degree
+            turn_direction = turn_directions["right"]
+        else:
+            turn_angle = -delta_degree
+            turn_direction = turn_directions["left"]
+        write_len = ControlUtil.__ser.write(f"CT+TRUNSINGLE({turn_direction},{turn_angle});".encode('utf-8'))
+        
     
     @staticmethod
     def get_curr_gripper_to_base_pose() -> np.ndarray:
         return ControlUtil.__fa.get_pose().matrix
     
+    @staticmethod
+    def set_gripper_pose(gripper_to_base: np.ndarray) -> None:
+        gripper_to_base = RigidTransform(rotation=gripper_to_base[:3, :3], translation=gripper_to_base[:3, 3], from_frame="franka_tool", to_frame="world")
+        ControlUtil.__fa.goto_pose(gripper_to_base, duration=5, use_impedance=False, ignore_errors=False)
+        
     @staticmethod
     def solve_gripper_to_base(cam_to_world: np.ndarray) -> np.ndarray:
         return np.linalg.inv(ControlUtil.BASE_TO_WORLD) @ cam_to_world @ np.linalg.inv(ControlUtil.CAMERA_TO_GRIPPER)
@@ -66,24 +94,38 @@ class ControlUtil:
         return ControlUtil.BASE_TO_WORLD @ gripper_to_base @ ControlUtil.CAMERA_TO_GRIPPER
     
     @staticmethod
-    def solve_display_table_rot_and_cam_to_world(cam_to_world: np.ndarray) -> tuple:
-        gripper_to_base = ControlUtil.solve_gripper_to_base(cam_to_world)
-        gripper_to_base_axis_angle = ControlUtil.get_gripper_to_base_axis_angle(gripper_to_base)
+    def check_limit(new_cam_to_world):
+        if new_cam_to_world[0,3] > 0 or new_cam_to_world[1,3] > 0:
+            return False
+        x = abs(new_cam_to_world[0,3])
+        y = abs(new_cam_to_world[1,3])
         
-        if ControlUtil.AXIS_THRESHOLD[0] <= gripper_to_base_axis_angle <= ControlUtil.AXIS_THRESHOLD[1]:
+        tan_y_x = y/x
+        if tan_y_x < np.sqrt(3)/3 or tan_y_x > np.sqrt(3):
+            return False
+         
+        return True
+    
+    @staticmethod
+    def solve_display_table_rot_and_cam_to_world(cam_to_world: np.ndarray) -> tuple:   
+        if ControlUtil.check_limit(cam_to_world):
             return 0, cam_to_world
         else:
-            for display_table_rot in np.linspace(0.1,180, 1800):
+            min_display_table_rot = 180
+            min_new_cam_to_world = None
+            for display_table_rot in np.linspace(0.1,360, 1800):
                 display_table_rot_z_pose = ControlUtil.get_z_axis_rot_mat(display_table_rot)
-                new_cam_to_world = display_table_rot_z_pose @ cam_to_world
-                if ControlUtil.AXIS_THRESHOLD[0] <= ControlUtil.get_gripper_to_base_axis_angle(new_cam_to_world) <= ControlUtil.AXIS_THRESHOLD[1]:
-                    return -display_table_rot, new_cam_to_world
-                
-                display_table_rot = -display_table_rot
-                display_table_rot_z_pose = ControlUtil.get_z_axis_rot_mat(display_table_rot)
-                new_cam_to_world = display_table_rot_z_pose @ cam_to_world
-                if ControlUtil.AXIS_THRESHOLD[0] <= ControlUtil.get_gripper_to_base_axis_angle(new_cam_to_world) <= ControlUtil.AXIS_THRESHOLD[1]:
-                    return -display_table_rot, new_cam_to_world
+                new_cam_to_world = np.linalg.inv(display_table_rot_z_pose) @ cam_to_world
+                if ControlUtil.check_limit(new_cam_to_world):
+                    if display_table_rot < min_display_table_rot:
+                        min_display_table_rot, min_new_cam_to_world = display_table_rot, new_cam_to_world
+                    if abs(display_table_rot - 360) < min_display_table_rot:
+                        min_display_table_rot, min_new_cam_to_world = display_table_rot - 360, new_cam_to_world
+        
+        if min_new_cam_to_world is None:
+            raise ValueError("No valid display table rotation found")
+        
+        return min_display_table_rot, min_new_cam_to_world
                 
     @staticmethod
     def get_z_axis_rot_mat(degree):
@@ -106,36 +148,80 @@ class ControlUtil:
     @staticmethod
     def move_to(pose: np.ndarray):
         rot_degree, cam_to_world = ControlUtil.solve_display_table_rot_and_cam_to_world(pose)
-        print("table rot degree:", rot_degree)
+        exec_time = abs(rot_degree)/9
+        start_time = time.time()
         ControlUtil.rotate_display_table(rot_degree)
         ControlUtil.set_pose(cam_to_world)
-        
-        
+        end_time = time.time()
+        print(f"Move to pose with rotation {rot_degree} degree, exec time: {end_time - start_time}|exec time: {exec_time}")
+        if end_time - start_time < exec_time:
+            time.sleep(exec_time - (end_time - start_time))
+            
 # ----------- Debug Test -------------
 
 if __name__ == "__main__":
+    ControlUtil.connect_robot()
+    # ControlUtil.franka_reset()
+    def main_test():
+        print(ControlUtil.get_curr_gripper_to_base_pose())
+        ControlUtil.init()
+    
+    def rotate_back(rotation):
+        ControlUtil.rotate_display_table(-rotation)
+    
+    #main_test()
+    import sys; sys.path.append("/home/yan20/nbv_rec/project/franka_control")
+    from utils.communicate_util import CommunicateUtil
+    import ipdb
     ControlUtil.init()
-    import time
-    start = time.time()
-    rot_degree, cam_to_world = ControlUtil.solve_display_table_rot_and_cam_to_world(ControlUtil.INIT_POSE)
-    end = time.time()
-    print(f"Time: {end-start}")
-    print(rot_degree, cam_to_world)
-    # test_pose = np.asarray([
-    #      [1, 0, 0, 0.4],
-    #     [0, -1, 0, 0],
-    #     [0, 0, -1, 0.6],
-    #     [0, 0, 0, 1]
-    #      ])
-    # ControlUtil.set_pose(test_pose)
-    # print(ControlUtil.get_pose())
-    # ControlUtil.reset()
-    # print(ControlUtil.get_pose())
+    view_data_0 = CommunicateUtil.get_view_data(init=True)
+    depth_extrinsics_0 = view_data_0["depth_extrinsics"]
+    cam_to_world_0 = ControlUtil.get_pose()
+    print("cam_extrinsics_0")
+    print(depth_extrinsics_0)
+    print("cam_to_world_0")
+    print(cam_to_world_0)
     
-    angle = ControlUtil.get_gripper_to_base_axis_angle(ControlUtil.solve_gripper_to_base(cam_to_world))
-    threshold = ControlUtil.AXIS_THRESHOLD
+    ipdb.set_trace()
+    TEST_POSE:np.ndarray = np.asarray([
+        [ 0.46532393,  0.62171798,  0.63002284,  0.30230963],
+        [ 0.43205618, -0.78075723,  0.45136491, -0.29127173],
+        [ 0.77251656,  0.06217437, -0.63193429,  0.559957  ],
+        [ 0.        ,  0.        ,  0.        ,  1.        ],
+        ])
+    TEST_POSE_CAM_TO_WORLD = ControlUtil.BASE_TO_WORLD @ TEST_POSE @ ControlUtil.CAMERA_TO_GRIPPER
+    ControlUtil.move_to(TEST_POSE_CAM_TO_WORLD)
+    view_data_1 = CommunicateUtil.get_view_data()
+    depth_extrinsics_1 = view_data_1["depth_extrinsics"]
+    depth_extrinsics_1[:3,3] = depth_extrinsics_1[:3,3] / 1000
+    cam_to_world_1 = ControlUtil.get_pose()
+    print("cam_extrinsics_1")
+    print(depth_extrinsics_1)
+    print("cam_to_world_1")
+    print(TEST_POSE_CAM_TO_WORLD)
+    actual_cam_to_world_1 = cam_to_world_0 @ depth_extrinsics_1
+    print("actual_cam_to_world_1")
+    print(actual_cam_to_world_1)
+    ipdb.set_trace()
+    TEST_POSE_2:np.ndarray = np.asarray(
+        [[ 0.74398544, -0.61922696,  0.251049,    0.47000935],
+        [-0.47287207, -0.75338888, -0.45692666,  0.20843903],
+        [ 0.47207883 , 0.22123272, -0.85334192,  0.57863381],
+        [ 0. ,         0.   ,       0.  ,        1.  ,      ]]
+        )
+    TEST_POSE_CAM_TO_WORLD_2 = ControlUtil.BASE_TO_WORLD @ TEST_POSE_2 @ ControlUtil.CAMERA_TO_GRIPPER
     
-    angle_degree = np.degrees(angle)
-    threshold_degree = np.degrees(threshold[0]), np.degrees(threshold[1])
-    print(f"Angle: {angle_degree}, range: {threshold_degree}")
-    ControlUtil.set_pose(cam_to_world)
+    #ControlUtil.move_to(TEST_POSE_CAM_TO_WORLD_2)
+    ControlUtil.set_pose(TEST_POSE_CAM_TO_WORLD_2)
+    view_data_2 = CommunicateUtil.get_view_data()
+    depth_extrinsics_2 = view_data_2["depth_extrinsics"]
+    depth_extrinsics_2[:3,3] = depth_extrinsics_2[:3,3] / 1000
+    cam_to_world_2 = ControlUtil.get_pose()
+    print("cam_extrinsics_2")
+    print(depth_extrinsics_2)
+    print("cam_to_world_2")
+    print(TEST_POSE_CAM_TO_WORLD_2)
+    actual_cam_to_world_2 = cam_to_world_0 @ depth_extrinsics_2
+    print("actual_cam_to_world_2")
+    print(actual_cam_to_world_2)
+    ipdb.set_trace()

utils/preprocess_util.py

@@ -4,10 +4,11 @@ import time
 import sys
 np.random.seed(0)
 sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
-
+from concurrent.futures import ThreadPoolExecutor, as_completed
 from utils.reconstruction_util import ReconstructionUtil
 from utils.data_load import DataLoadUtil
 from utils.pts_util import PtsUtil
+from PytorchBoot.utils.log_util import Log
 
 def save_np_pts(path, pts: np.ndarray, file_type="txt"):
     if file_type == "txt":
@@ -22,6 +23,7 @@ def save_target_points(root, scene, frame_idx, target_points: np.ndarray, file_t
     save_np_pts(pts_path, target_points, file_type)
     
 def save_scan_points_indices(root, scene, frame_idx, scan_points_indices: np.ndarray, file_type="txt"):
+    file_type="npy"
     indices_path = os.path.join(root,scene, "scan_points_indices", f"{frame_idx}.{file_type}")
     if not os.path.exists(os.path.join(root,scene, "scan_points_indices")):
         os.makedirs(os.path.join(root,scene, "scan_points_indices"))
@@ -31,14 +33,17 @@ def save_scan_points(root, scene, scan_points: np.ndarray):
     scan_points_path = os.path.join(root,scene, "scan_points.txt")
     save_np_pts(scan_points_path, scan_points)
 
-def get_world_points(depth, mask, cam_intrinsic, cam_extrinsic):
+def get_world_points(depth, mask, cam_intrinsic, cam_extrinsic, random_downsample_N):
     z = depth[mask]
     i, j = np.nonzero(mask)
     x = (j - cam_intrinsic[0, 2]) * z / cam_intrinsic[0, 0]
     y = (i - cam_intrinsic[1, 2]) * z / cam_intrinsic[1, 1]
 
     points_camera = np.stack((x, y, z), axis=-1).reshape(-1, 3)
-    points_camera_aug = np.concatenate((points_camera, np.ones((points_camera.shape[0], 1))), axis=-1)
+    sampled_target_points = PtsUtil.random_downsample_point_cloud(
+                points_camera, random_downsample_N
+            )
+    points_camera_aug = np.concatenate((sampled_target_points, np.ones((sampled_target_points.shape[0], 1))), axis=-1)
     points_camera_world = np.dot(cam_extrinsic, points_camera_aug.T).T[:, :3]
     
     return points_camera_world
@@ -56,9 +61,8 @@ def get_scan_points_indices(scan_points, mask, display_table_mask_label, cam_int
     selected_points_indices = np.where((mask_colors == display_table_mask_label).all(axis=-1))[0]
     selected_points_indices = np.where(valid_indices)[0][selected_points_indices]
     return selected_points_indices
-    
 
-def save_scene_data(root, scene, scene_idx=0, scene_total=1,file_type="txt"):
+def save_scene_data(root, scene, file_type="txt"):
     
     ''' configuration '''
     target_mask_label = (0, 255, 0, 255)
@@ -66,16 +70,19 @@ def save_scene_data(root, scene, scene_idx=0, scene_total=1,file_type="txt"):
     random_downsample_N = 32768
     voxel_size=0.002
     filter_degree = 75
-    min_z = 0.2
+    min_z = 0.25
     max_z = 0.5
     
     ''' scan points '''
-    scan_points = np.asarray(ReconstructionUtil.generate_scan_points(display_table_top=0,display_table_radius=0.25))
+    display_table_info = DataLoadUtil.get_display_table_info(root, scene)
+    radius = display_table_info["radius"]
+    
+    scan_points = np.asarray(ReconstructionUtil.generate_scan_points(display_table_top=0,display_table_radius=radius))
     
     ''' read frame data(depth|mask|normal) '''
     frame_num = DataLoadUtil.get_scene_seq_length(root, scene)
     for frame_id in range(frame_num):
-        print(f"[scene({scene_idx}/{scene_total})|frame({frame_id}/{frame_num})]Processing {scene} frame {frame_id}")
+        Log.info(f"frame({frame_id}/{frame_num})]Processing {scene} frame {frame_id}")
         path = DataLoadUtil.get_path(root, scene, frame_id)
         cam_info = DataLoadUtil.load_cam_info(path, binocular=True)
         depth_L, depth_R = DataLoadUtil.load_depth(
@@ -93,15 +100,9 @@ def save_scene_data(root, scene, scene_idx=0, scene_total=1,file_type="txt"):
         target_mask_img_R = (mask_R == target_mask_label).all(axis=-1)
 
         
-        target_points_L = get_world_points(depth_L, target_mask_img_L, cam_info["cam_intrinsic"], cam_info["cam_to_world"])
-        target_points_R = get_world_points(depth_R, target_mask_img_R, cam_info["cam_intrinsic"], cam_info["cam_to_world_R"])
+        sampled_target_points_L = get_world_points(depth_L, target_mask_img_L, cam_info["cam_intrinsic"], cam_info["cam_to_world"], random_downsample_N)
+        sampled_target_points_R = get_world_points(depth_R, target_mask_img_R, cam_info["cam_intrinsic"], cam_info["cam_to_world_R"], random_downsample_N)
 
-        sampled_target_points_L = PtsUtil.random_downsample_point_cloud(
-                target_points_L, random_downsample_N
-            )
-        sampled_target_points_R = PtsUtil.random_downsample_point_cloud(
-                target_points_R, random_downsample_N
-            )
 
         has_points = sampled_target_points_L.shape[0] > 0 and sampled_target_points_R.shape[0] > 0
         if has_points:
@@ -132,6 +133,69 @@ def save_scene_data(root, scene, scene_idx=0, scene_total=1,file_type="txt"):
     
     save_scan_points(root, scene, scan_points) # The "done" flag of scene preprocess
 
+def process_frame(frame_id, root, scene, scan_points, file_type, target_mask_label, display_table_mask_label, random_downsample_N, voxel_size, filter_degree, min_z, max_z):
+    Log.info(f"[frame({frame_id})]Processing {scene} frame {frame_id}")
+    path = DataLoadUtil.get_path(root, scene, frame_id)
+    cam_info = DataLoadUtil.load_cam_info(path, binocular=True)
+    depth_L, depth_R = DataLoadUtil.load_depth(
+            path, cam_info["near_plane"], 
+            cam_info["far_plane"], 
+            binocular=True
+        )
+    mask_L, mask_R = DataLoadUtil.load_seg(path, binocular=True)
+
+    target_mask_img_L = (mask_L == target_mask_label).all(axis=-1)
+    target_mask_img_R = (mask_R == target_mask_label).all(axis=-1)
+
+    sampled_target_points_L = get_world_points(depth_L, target_mask_img_L, cam_info["cam_intrinsic"], cam_info["cam_to_world"], random_downsample_N)
+    sampled_target_points_R = get_world_points(depth_R, target_mask_img_R, cam_info["cam_intrinsic"], cam_info["cam_to_world_R"], random_downsample_N)
+
+    has_points = sampled_target_points_L.shape[0] > 0 and sampled_target_points_R.shape[0] > 0
+    target_points = np.zeros((0, 3))
+
+    if has_points:
+        target_points = PtsUtil.get_overlapping_points(sampled_target_points_L, sampled_target_points_R, voxel_size)
+
+    if has_points and target_points.shape[0] > 0:
+        points_normals = DataLoadUtil.load_points_normals(root, scene, display_table_as_world_space_origin=True)
+        target_points = PtsUtil.filter_points(
+            target_points, points_normals, cam_info["cam_to_world"], voxel_size=0.002, theta=filter_degree, z_range=(min_z, max_z)
+        )
+
+    scan_points_indices_L = get_scan_points_indices(scan_points, mask_L, display_table_mask_label, cam_info["cam_intrinsic"], cam_info["cam_to_world"]) 
+    scan_points_indices_R = get_scan_points_indices(scan_points, mask_R, display_table_mask_label, cam_info["cam_intrinsic"], cam_info["cam_to_world_R"])
+    scan_points_indices = np.intersect1d(scan_points_indices_L, scan_points_indices_R)
+
+    save_target_points(root, scene, frame_id, target_points, file_type=file_type)
+    save_scan_points_indices(root, scene, frame_id, scan_points_indices, file_type=file_type)
+
+def save_scene_data_multithread(root, scene, file_type="txt"):
+    target_mask_label = (0, 255, 0, 255)
+    display_table_mask_label = (0, 0, 255, 255)
+    random_downsample_N = 32768
+    voxel_size = 0.002
+    filter_degree = 75
+    min_z = 0.2
+    max_z = 0.5
+
+    display_table_info = DataLoadUtil.get_display_table_info(root, scene)
+    radius = display_table_info["radius"]
+    scan_points = np.asarray(ReconstructionUtil.generate_scan_points(display_table_top=0, display_table_radius=radius))
+    frame_num = DataLoadUtil.get_scene_seq_length(root, scene)
+
+    with ThreadPoolExecutor() as executor:
+        futures = {executor.submit(process_frame, frame_id, root, scene, scan_points, file_type, target_mask_label, display_table_mask_label, random_downsample_N, voxel_size, filter_degree, min_z, max_z): frame_id for frame_id in range(frame_num)}
+        
+        for future in as_completed(futures):
+            frame_id = futures[future]
+            try:
+                future.result()
+            except Exception as e:
+                Log.error(f"Error processing frame {frame_id}: {e}")
+
+    save_scan_points(root, scene, scan_points)  # The "done" flag of scene preprocess
+
+
 
 if __name__ == "__main__":
     #root = "/media/hofee/repository/new_data_with_normal"

utils/pts_util.py

@@ -3,6 +3,7 @@ import open3d as o3d
 import torch
 import trimesh
 from scipy.spatial import cKDTree
+from utils.pose_util import PoseUtil
 
 
 class PtsUtil:
@@ -92,7 +93,7 @@ class PtsUtil:
         cam_pose,
         voxel_size=0.002,
         theta=45,
-        z_range=(0.2, 0.45),
+        z_range=(0.25, 0.5),
     ):
         """filter with z range"""
         points_cam = PtsUtil.transform_point_cloud(points, np.linalg.inv(cam_pose))
@@ -116,6 +117,98 @@ class PtsUtil:
         filtered_sampled_points = sampled_points[idx]
         return filtered_sampled_points[:, :3]
 
+    @staticmethod
+    def multi_scale_icp(
+        source, target, voxel_size_range, init_transformation=None, steps=20
+    ):
+        pipreg = o3d.pipelines.registration
+
+        if init_transformation is not None:
+            current_transformation = init_transformation
+        else:
+            current_transformation = np.identity(4)
+        cnt = 0
+        best_score = 1e10
+        best_reg = None
+        voxel_sizes = []
+        for i in range(steps):
+            voxel_sizes.append(
+                voxel_size_range[0]
+                + i * (voxel_size_range[1] - voxel_size_range[0]) / steps
+            )
+
+        for voxel_size in voxel_sizes:
+            radius_normal = voxel_size * 2
+            source_downsampled = source.voxel_down_sample(voxel_size)
+            source_downsampled.estimate_normals(
+                search_param=o3d.geometry.KDTreeSearchParamHybrid(
+                    radius=radius_normal, max_nn=30
+                )
+            )
+            target_downsampled = target.voxel_down_sample(voxel_size)
+            target_downsampled.estimate_normals(
+                search_param=o3d.geometry.KDTreeSearchParamHybrid(
+                    radius=radius_normal, max_nn=30
+                )
+            )
+
+            reg_icp = pipreg.registration_icp(
+                source_downsampled,
+                target_downsampled,
+                voxel_size * 2,
+                current_transformation,
+                pipreg.TransformationEstimationPointToPlane(),
+                pipreg.ICPConvergenceCriteria(max_iteration=500),
+            )
+            cnt += 1
+            if reg_icp.fitness == 0:
+                score = 1e10
+            else:
+                score = reg_icp.inlier_rmse / reg_icp.fitness
+            
+            if score < best_score:
+                best_score = score
+                best_reg = reg_icp
+
+        return best_reg, best_score
+
+    @staticmethod
+    def multi_scale_ransac(source_downsampled, target_downsampled, source_fpfh, model_fpfh, voxel_size_range, steps=20):
+        pipreg = o3d.pipelines.registration
+        cnt = 0
+        best_score = 1e10
+        best_reg = None
+        voxel_sizes = []
+        for i in range(steps):
+            voxel_sizes.append(
+                voxel_size_range[0]
+                + i * (voxel_size_range[1] - voxel_size_range[0]) / steps
+            )
+
+        for voxel_size in voxel_sizes:
+            reg_ransac = pipreg.registration_ransac_based_on_feature_matching(
+                source_downsampled,
+                target_downsampled,
+                source_fpfh,
+                model_fpfh,
+                mutual_filter=True,
+                max_correspondence_distance=voxel_size*2,
+                estimation_method=pipreg.TransformationEstimationPointToPoint(False),
+                ransac_n=4,
+                checkers=[pipreg.CorrespondenceCheckerBasedOnEdgeLength(0.9)],
+                criteria=pipreg.RANSACConvergenceCriteria(8000000, 500),
+            )
+            cnt += 1
+            if reg_ransac.fitness == 0:
+                score = 1e10
+            else:
+                score = reg_ransac.inlier_rmse / reg_ransac.fitness
+            if score < best_score:
+                best_score = score
+                best_reg = reg_ransac
+
+        return best_reg, best_score
+
     @staticmethod
     def register(pcl: np.ndarray, model: trimesh.Trimesh, voxel_size=0.01):
         radius_normal = voxel_size * 2
@@ -146,30 +239,23 @@ class PtsUtil:
             o3d.geometry.KDTreeSearchParamHybrid(radius=radius_normal, max_nn=100),
         )
 
-        reg_ransac = pipreg.registration_ransac_based_on_feature_matching(
+        reg_ransac, ransac_best_score = PtsUtil.multi_scale_ransac(
             source_downsampled,
             model_downsampled,
             source_fpfh,
             model_fpfh,
-            mutual_filter=True,
-            max_correspondence_distance=voxel_size * 1.5,
-            estimation_method=pipreg.TransformationEstimationPointToPoint(False),
-            ransac_n=4,
-            checkers=[pipreg.CorrespondenceCheckerBasedOnEdgeLength(0.9)],
-            criteria=pipreg.RANSACConvergenceCriteria(4000000, 500),
+            voxel_size_range=(0.03, 0.005),
+            steps=3,
         )
-        
-        reg_icp = pipreg.registration_icp(
+        reg_icp, icp_best_score = PtsUtil.multi_scale_icp(
             source_downsampled,
             model_downsampled,
-            voxel_size * 2,
-            reg_ransac.transformation,
-            pipreg.TransformationEstimationPointToPlane(),
-            pipreg.ICPConvergenceCriteria(max_iteration=200),
+            voxel_size_range=(0.02, 0.001),
+            init_transformation=reg_ransac.transformation,
+            steps=50,
         )
-        
         return reg_icp.transformation
-
+    
     @staticmethod
     def get_pts_from_depth(depth, cam_intrinsic, cam_extrinsic):
         h, w = depth.shape

utils/reconstruction_util.py

@@ -8,20 +8,19 @@ class ReconstructionUtil:
     def compute_coverage_rate(target_point_cloud, combined_point_cloud, threshold=0.01):
         kdtree = cKDTree(combined_point_cloud)
         distances, _ = kdtree.query(target_point_cloud)
-        covered_points_num = np.sum(distances < threshold)
+        covered_points_num = np.sum(distances < threshold*2)
         coverage_rate = covered_points_num / target_point_cloud.shape[0]
         return coverage_rate, covered_points_num
     
     @staticmethod
-    def compute_overlap_rate(new_point_cloud, combined_point_cloud, threshold=0.01):
+    def check_overlap(new_point_cloud, combined_point_cloud, overlap_area_threshold=25, voxel_size=0.01):
         kdtree = cKDTree(combined_point_cloud)
         distances, _ = kdtree.query(new_point_cloud)
-        overlapping_points = np.sum(distances < threshold)
-        if new_point_cloud.shape[0] == 0:
-            overlap_rate = 0
-        else:
-            overlap_rate = overlapping_points / new_point_cloud.shape[0]
-        return overlap_rate
+        overlapping_points = np.sum(distances < voxel_size*2)
+        cm = 0.01
+        voxel_size_cm = voxel_size / cm
+        overlap_area = overlapping_points * voxel_size_cm * voxel_size_cm
+        return overlap_area > overlap_area_threshold
 
 
     @staticmethod
@@ -121,7 +120,37 @@ class ReconstructionUtil:
             sm.set_progress(app_name, runner_name, "processed view", len(point_cloud_list), len(point_cloud_list))
         return view_sequence, remaining_views, combined_point_cloud
 
-    
+    @staticmethod
+    def compute_next_best_view_with_overlap(scanned_pts, point_cloud_list, history_indices, scan_points_indices_list, threshold=0.01, overlap_area_threshold=25, scan_points_threshold=5):
+        max_rec_pts = np.vstack(point_cloud_list)
+        downsampled_max_rec_pts = PtsUtil.voxel_downsample_point_cloud(max_rec_pts, threshold)
+        best_view = None
+        best_coverage = -1
+        best_covered_num = 0
+        for view in range(len(point_cloud_list)):
+            if point_cloud_list[view].shape[0] == 0:
+                continue
+            new_scan_points_indices = scan_points_indices_list[view]
+            
+            if not ReconstructionUtil.check_scan_points_overlap(history_indices, new_scan_points_indices, scan_points_threshold):
+                curr_overlap_area_threshold = overlap_area_threshold
+            else:
+                curr_overlap_area_threshold = overlap_area_threshold * 0.5
+                
+            if not ReconstructionUtil.check_overlap(point_cloud_list[view], scanned_pts, overlap_area_threshold = curr_overlap_area_threshold, voxel_size=threshold):
+                continue
+            
+            
+            new_combined_point_cloud = np.vstack([scanned_pts ,point_cloud_list[view]])
+            new_downsampled_combined_point_cloud = PtsUtil.voxel_downsample_point_cloud(new_combined_point_cloud,threshold)
+            new_coverage, new_covered_num = ReconstructionUtil.compute_coverage_rate(downsampled_max_rec_pts, new_downsampled_combined_point_cloud, threshold)
+            if new_coverage > best_coverage:
+                best_coverage = new_coverage
+                best_covered_num = new_covered_num
+                best_view = view
+                
+        return best_view, best_coverage, best_covered_num
+        
     @staticmethod
     def generate_scan_points(display_table_top, display_table_radius, min_distance=0.03, max_points_num = 500, max_attempts = 1000):
         points = []

utils/view_util.py

@@ -0,0 +1,127 @@
+import numpy as np
+from scipy.spatial.transform import Rotation as R
+from dataclasses import dataclass
+
+
+@dataclass
+class CameraIntrinsics:
+    width: int
+    height: int
+    fx: float
+    fy: float
+    cx: float
+    cy: float
+
+    @property
+    def intrinsic_matrix(self):
+        return np.array([[self.fx, 0, self.cx], [0, self.fy, self.cy], [0, 0, 1]])
+
+
+@dataclass
+class CameraExtrinsics:
+    def __init__(self, rotation: np.ndarray, translation: np.ndarray, rot_type: str):
+        """
+        rotation: 3x3 rotation matrix or 1x3 euler angles or 1x4 quaternion
+        translation: 1x3 or 3x1 translation vector
+        rot_type: "mat", "euler_xyz", "quat_xyzw"
+        """
+        assert rot_type in ["mat", "euler_xyz", "quat_xyzw"]
+        if rot_type == "mat":
+            self._rot = R.from_matrix(rotation)
+        elif rot_type == "euler_xyz":
+            self._rot = R.from_euler('xyz', rotation, degrees=True)
+        elif rot_type == "quat_xyzw":
+            self._rot = R.from_quat(rotation)
+        self._translation = translation
+
+    @property
+    def extrinsic_matrix(self):
+        return np.vstack([np.hstack([self._rot.as_matrix(), self._translation.reshape(3, 1)]), [0, 0, 0, 1]])
+    
+    @property
+    def rotation_euler_xyz(self):
+        return self._rot.as_euler('xyz', degrees=True)
+    
+    @property
+    def rotation_quat_xyzw(self):
+        return self._rot.as_quat()
+    
+    @property
+    def rotation_matrix(self):
+        return self._rot.as_matrix()
+    
+    @property
+    def translation(self):
+        return self._translation
+    
+
+@dataclass
+class CameraData:
+    def __init__(self, depth_image: np.ndarray, image_id: int, intrinsics: CameraIntrinsics, extrinsics: CameraExtrinsics):
+        self._depth_image = depth_image
+        self._image_id = image_id
+        self._intrinsics = intrinsics
+        self._extrinsics = extrinsics
+
+    @property
+    def depth_image(self):
+        return self._depth_image
+    
+    @property
+    def image_id(self):
+        return self._image_id
+    
+    @property
+    def intrinsics(self):
+        return self._intrinsics.intrinsic_matrix
+    
+    @property
+    def extrinsics(self):
+        return self._extrinsics.extrinsic_matrix
+    
+    @property
+    def projection_matrix(self):
+        return self.intrinsics @ self.extrinsics[:3, :4]
+    
+    @property
+    def pts_camera(self):
+        height, width = self.depth_image.shape
+        v, u = np.indices((height, width))
+        points = np.vstack([u.flatten(), v.flatten(), np.ones_like(u.flatten())]) # 3xN
+        points = np.linalg.inv(self.intrinsics) @ points                          # 3xN
+        points = points.T                                                         # Nx3
+        points = points * self.depth_image.flatten()[:, np.newaxis]               # Nx3
+        points = points[points[:, 2] > 0]                                         # Nx3
+        return points
+    
+    @property
+    def pts_world(self):
+        homogeneous_pts = np.hstack([self.pts_camera, np.ones((self.pts_camera.shape[0], 1))]) # Nx4
+        pts_world = self.extrinsics @ homogeneous_pts.T # 4xN
+        return pts_world[:3, :].T
+    
+class ViewUtil:
+    def get_pts(view_data):
+        image_id = view_data["image_id"]
+        depth_intrinsics = view_data["depth_intrinsics"]
+        depth_extrinsics = view_data["depth_extrinsics"]
+        depth_image = np.array(view_data["depth_image"], dtype=np.uint16)
+        if image_id is None:
+            return None
+        else:
+            camera_intrinsics = CameraIntrinsics(
+                depth_intrinsics['width'],
+                depth_intrinsics['height'],
+                depth_intrinsics['fx'], 
+                depth_intrinsics['fy'], 
+                depth_intrinsics['cx'], 
+                depth_intrinsics['cy']
+            )
+            camera_extrinsics = CameraExtrinsics(
+                depth_extrinsics[:3, :3], 
+                depth_extrinsics[:3, 3],
+                rot_type="mat"
+            )
+            camera_data = CameraData(depth_image, image_id, camera_intrinsics, camera_extrinsics)
+            pts = camera_data.pts_world
+        return pts/1000

vis_pts_and_nrm.py

@@ -0,0 +1,54 @@
+# import numpy as np
+# import matplotlib.pyplot as plt
+# from mpl_toolkits.mplot3d import Axes3D
+
+# # 假设 points_and_normals 是你的 Nx6 矩阵
+# # 前三列是点坐标，后三列是法线
+# points_and_normals = np.loadtxt("/Users/hofee/Downloads/temp_output/cad_model_world/points_and_normals.txt")  # 这里用随机点代替你的数据
+# points = points_and_normals[:100, :3]
+# normals = points_and_normals[:100, 3:]
+
+# # 创建3D图形
+# fig = plt.figure()
+# ax = fig.add_subplot(111, projection='3d')
+
+# # 绘制点云
+# ax.scatter(points[:, 0], points[:, 1], points[:, 2], color='b', marker='o')
+
+# # 绘制法线 (从每个点出发的一小段箭头)
+# ax.quiver(points[:, 0], points[:, 1], points[:, 2],
+#           normals[:, 0], normals[:, 1], normals[:, 2], length=0.1, color='r')
+
+# plt.show()
+
+import numpy as np
+
+# 假设 points_and_normals 是你的 Nx6 矩阵
+# points_and_normals[:,:3] 是点的坐标
+# points_and_normals[:,3:] 是法线
+points_and_normals = np.loadtxt("/Users/hofee/Downloads/temp_output/cad_model_world/points_and_normals.txt")  # 这里用随机点代替你的数据
+print(points_and_normals.shape)
+points = points_and_normals[300:400, :3]
+normals = points_and_normals[300:400, 3:]
+
+# 设置你想在法线方向上采样的距离范围和点数
+num_samples_per_point = 20  # 每个法线方向采样的点数
+sampling_distances = np.linspace(0, 0.5, num_samples_per_point)  # 采样距离范围
+
+# 创建一个空列表来保存采样点
+sampled_points = []
+
+# 对每个点进行法线方向的采样
+for point, normal in zip(points, normals):
+    for dist in sampling_distances:
+        # 在法线方向上偏移点
+        sampled_point = point + dist * normal
+        sampled_points.append(sampled_point)
+
+# 转换为 numpy 数组
+sampled_points = np.array(sampled_points)
+
+# 保存为点云文件 (例如 .txt 或 .xyz 格式)
+np.savetxt('sampled_points.txt', sampled_points)
+
+print("采样点云已保存为 'sampled_points.xyz'")