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Merge branch 'ab_global_only' of https://git.hofee.top/hofee/nbv_reconstruction into ab_global_only

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hofee 2024-12-26 08:36:59 +00:00
commit 445e9dc00b
9 changed files with 28 additions and 19 deletions
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6
configs/local/inference_config.yaml
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@ -15,7 +15,7 @@ runner:
- OmniObject3d_test
blender_script_path: "/media/hofee/data/project/python/nbv_reconstruction/blender/data_renderer.py"
output_dir: "/media/hofee/data/data/new_inference_test_output"
output_dir: "/media/hofee/data/results/nbv_rec_inference/global_only_ycb_241204"
pipeline: nbv_reconstruction_pipeline
voxel_size: 0.003
min_new_area: 1.0
@ -34,8 +34,8 @@ dataset:
# load_from_preprocess: True
OmniObject3d_test:
root_dir: "/media/hofee/data/data/new_testset_output"
model_dir: "/media/hofee/data/data/scaled_object_meshes"
root_dir: "/media/hofee/data/results/ycb_preprocessed_dataset"
model_dir: "/media/hofee/data/data/ycb_obj"
source: seq_reconstruction_dataset_preprocessed
# split_file: "C:\\Document\\Datasets\\data_list\\OmniObject3d_test.txt"
type: test

6
configs/local/strategy_generate_config.yaml
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@ -22,6 +22,6 @@ runner:
datasets:
OmniObject3d:
root_dir: /data/hofee/nbv_rec_part2_preprocessed
from: 155
to: 165 # ..-1 means end
root_dir: /media/hofee/data/results/ycb_view_data
from: 0
to: -1 # ..-1 means end

6
configs/local/view_generate_config.yaml
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@ -10,9 +10,9 @@ runner:
port: 5002
from: 1
to: 50 # -1 means all
object_dir: C:\\Document\\Datasets\\scaled_object_meshes
table_model_path: C:\\Document\\Datasets\\table.obj
output_dir: C:\\Document\\Datasets\\debug_generate_view
object_dir: /media/hofee/data/data/ycb_obj
table_model_path: /media/hofee/data/data/others/table.obj
output_dir: /media/hofee/data/results/ycb_view_data
binocular_vision: true
plane_size: 10
max_views: 512

6
core/seq_dataset.py
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@ -180,9 +180,9 @@ if __name__ == "__main__":
np.random.seed(seed)
config = {
"root_dir": "/media/hofee/data/data/new_testset",
"root_dir": "/media/hofee/data/results/ycb_view_data",
"source": "seq_reconstruction_dataset",
"split_file": "/media/hofee/data/data/OmniObject3d_test.txt",
"split_file": "/media/hofee/data/results/ycb_test.txt",
"load_from_preprocess": True,
"filter_degree": 75,
"num_workers": 0,
@ -190,7 +190,7 @@ if __name__ == "__main__":
"type": namespace.Mode.TEST,
}
output_dir = "/media/hofee/data/data/new_testset_output"
output_dir = "/media/hofee/data/results/ycb_preprocessed_dataset"
os.makedirs(output_dir, exist_ok=True)
ds = SeqReconstructionDataset(config)

2
core/seq_dataset_preprocessed.py
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@ -21,7 +21,7 @@ class SeqReconstructionDatasetPreprocessed(BaseDataset):
super(SeqReconstructionDatasetPreprocessed, self).__init__(config)
self.config = config
self.root_dir = config["root_dir"]
self.real_root_dir = r"/media/hofee/data/data/new_testset"
self.real_root_dir = r"/media/hofee/data/results/ycb_view_data"
self.item_list = os.listdir(self.root_dir)
def __getitem__(self, index):

4
preprocess/preprocessor.py
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@ -164,10 +164,10 @@ def save_scene_data(root, scene, scene_idx=0, scene_total=1,file_type="txt"):
if __name__ == "__main__":
#root = "/media/hofee/repository/new_data_with_normal"
root = r"H:\AI\Datasets\nbv_rec_part2"
root = r"/media/hofee/data/results/ycb_view_data"
scene_list = os.listdir(root)
from_idx = 0 # 1000
to_idx = 600 # 1500
to_idx = len(scene_list) # 1500
cnt = 0

11
runners/inferencer.py
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@ -138,6 +138,8 @@ class Inferencer(Runner):
import time
while len(pred_cr_seq) < max_iter and retry < max_retry and success < max_success:
Log.green(f"iter: {len(pred_cr_seq)}, retry: {retry}/{max_retry}, success: {success}/{max_success}")
combined_scanned_pts = np.vstack(scanned_view_pts)
voxel_downsampled_combined_scanned_pts_np, inverse = self.voxel_downsample_with_mapping(combined_scanned_pts, voxel_threshold)
output = self.pipeline(input_data)
pred_pose_9d = output["pred_pose_9d"]
pred_pose = torch.eye(4, device=pred_pose_9d.device)
@ -154,7 +156,7 @@ class Inferencer(Runner):
curr_overlap_area_threshold = overlap_area_threshold * 0.5
downsampled_new_target_pts = PtsUtil.voxel_downsample_point_cloud(new_target_pts, voxel_threshold)
overlap, _ = ReconstructionUtil.check_overlap(downsampled_new_target_pts, down_sampled_model_pts, overlap_area_threshold = curr_overlap_area_threshold, voxel_size=voxel_threshold, require_new_added_pts_num = True)
overlap, _ = ReconstructionUtil.check_overlap(downsampled_new_target_pts, voxel_downsampled_combined_scanned_pts_np, overlap_area_threshold = curr_overlap_area_threshold, voxel_size=voxel_threshold, require_new_added_pts_num = True)
if not overlap:
Log.yellow("no overlap!")
retry += 1
@ -241,6 +243,13 @@ class Inferencer(Runner):
down_sampled_combined_point_cloud = PtsUtil.voxel_downsample_point_cloud(combined_point_cloud,threshold)
return ReconstructionUtil.compute_coverage_rate(model_pts, down_sampled_combined_point_cloud, threshold)
def voxel_downsample_with_mapping(self, point_cloud, voxel_size=0.003):
voxel_indices = np.floor(point_cloud / voxel_size).astype(np.int32)
unique_voxels, inverse, counts = np.unique(voxel_indices, axis=0, return_inverse=True, return_counts=True)
idx_sort = np.argsort(inverse)
idx_unique = idx_sort[np.cumsum(counts)-counts]
downsampled_points = point_cloud[idx_unique]
return downsampled_points, inverse
def save_inference_result(self, dataset_name, scene_name, output):
dataset_dir = os.path.join(self.output_dir, dataset_name)

2
runners/view_generator.py
View File

@ -9,7 +9,7 @@ class ViewGenerator(Runner):
self.config_path = config_path
def run(self):
result = subprocess.run(['blender', '-b', '-P', '../blender/run_blender.py', '--', self.config_path])
result = subprocess.run(['/home/hofee/blender-4.0.2-linux-x64/blender', '-b', '-P', '../blender/run_blender.py', '--', self.config_path])
print()
def create_experiment(self, backup_name=None):