add display_table_height in renderUtil

utils/render.py

@@ -3,13 +3,14 @@ import os
 import json
 import subprocess
 import tempfile
+import shutil
 from utils.data_load import DataLoadUtil
 from utils.reconstruction import ReconstructionUtil
 from utils.pts import PtsUtil
 class RenderUtil:
 
     @staticmethod
-    def render_pts(cam_pose, scene_path,script_path, model_points_normals, voxel_threshold=0.005, filter_degree=75, nO_to_nL_pose=None, require_full_scene=False):
+    def render_pts(cam_pose, scene_path, script_path, model_points_normals, voxel_threshold=0.005, filter_degree=75, nO_to_nL_pose=None, require_full_scene=False):
         
         nO_to_world_pose = DataLoadUtil.get_real_cam_O_from_cam_L(cam_pose, nO_to_nL_pose, scene_path=scene_path)
 
@@ -19,6 +20,8 @@ class RenderUtil:
                 "cam_pose": nO_to_world_pose.tolist(),
                 "scene_path": scene_path
             }
+            scene_info_path = os.path.join(scene_path, "scene_info.json")
+            shutil.copy(scene_info_path, os.path.join(temp_dir, "scene_info.json"))
             params_data_path = os.path.join(temp_dir, "params.json")
             with open(params_data_path, 'w') as f:
                 json.dump(params, f)
@@ -30,6 +33,9 @@ class RenderUtil:
                 print(result.stderr)
                 return None
             path = os.path.join(temp_dir, "tmp")
+            # ------  Debug Start ------
+            import ipdb;ipdb.set_trace()
+            # ------  Debug End ------
             point_cloud = DataLoadUtil.get_target_point_cloud_world_from_path(path, binocular=True)
             cam_params = DataLoadUtil.load_cam_info(path, binocular=True)
             filtered_point_cloud = ReconstructionUtil.filter_points(point_cloud, model_points_normals, cam_pose=cam_params["cam_to_world"], voxel_size=voxel_threshold, theta=filter_degree)