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