update normal strategy

This commit is contained in:
hofee
2024-10-23 02:58:58 -05:00
parent 7e68259f6d
commit 64891ef189
8 changed files with 185 additions and 57 deletions

View File

@@ -47,6 +47,42 @@ class visualizeUtil:
all_combined_pts = np.vstack(all_combined_pts)
downsampled_all_pts = PtsUtil.voxel_downsample_point_cloud(all_combined_pts, 0.001)
np.savetxt(os.path.join(output_dir, "all_combined_pts.txt"), downsampled_all_pts)
@staticmethod
def save_seq_cam_pos_and_cam_axis(root, scene, frame_idx_list, output_dir):
all_cam_pos = []
all_cam_axis = []
for i in frame_idx_list:
path = DataLoadUtil.get_path(root, scene, i)
cam_info = DataLoadUtil.load_cam_info(path, binocular=True)
cam_pose = cam_info["cam_to_world"]
cam_pos = cam_pose[:3, 3]
cam_axis = cam_pose[:3, 2]
num_samples = 10
sample_points = [cam_pos + 0.02*t * cam_axis for t in range(num_samples)]
sample_points = np.array(sample_points)
all_cam_pos.append(cam_pos)
all_cam_axis.append(sample_points)
all_cam_pos = np.array(all_cam_pos)
all_cam_axis = np.array(all_cam_axis).reshape(-1, 3)
np.savetxt(os.path.join(output_dir, "seq_cam_pos.txt"), all_cam_pos)
np.savetxt(os.path.join(output_dir, "seq_cam_axis.txt"), all_cam_axis)
@staticmethod
def save_seq_combined_pts(root, scene, frame_idx_list, output_dir):
all_combined_pts = []
for i in frame_idx_list:
path = DataLoadUtil.get_path(root, scene, i)
pts = DataLoadUtil.load_from_preprocessed_pts(path,"npy")
if pts.shape[0] == 0:
continue
all_combined_pts.append(pts)
all_combined_pts = np.vstack(all_combined_pts)
downsampled_all_pts = PtsUtil.voxel_downsample_point_cloud(all_combined_pts, 0.001)
np.savetxt(os.path.join(output_dir, "seq_combined_pts.txt"), downsampled_all_pts)
@staticmethod
def save_target_mesh_at_world_space(
@@ -126,12 +162,14 @@ class visualizeUtil:
# ------ Debug ------
if __name__ == "__main__":
root = r"/home/yan20/nbv_rec/project/franka_control/temp"
root = r"C:\Document\Local Project\nbv_rec\nbv_reconstruction\temp"
model_dir = r"H:\\AI\\Datasets\\scaled_object_box_meshes"
scene = "box"
output_dir = r"C:\Document\Local Project\nbv_rec\nbv_reconstruction\test"
#visualizeUtil.save_all_cam_pos_and_cam_axis(root, scene, output_dir)
visualizeUtil.save_all_combined_pts(root, scene, output_dir)
visualizeUtil.save_seq_combined_pts(root, scene, [0, 121, 286, 175, 111,366,45,230,232,225,255,17,199,78,60], output_dir)
visualizeUtil.save_seq_cam_pos_and_cam_axis(root, scene, [0, 121, 286, 175, 111,366,45,230,232,225,255,17,199,78,60], output_dir)
visualizeUtil.save_target_mesh_at_world_space(root, model_dir, scene)
#visualizeUtil.save_points_and_normals(root, scene,"10", output_dir, binocular=True)
#visualizeUtil.save_points_and_normals(root, scene,"10", output_dir, binocular=True)