update

utils/data_load.py

@@ -210,6 +210,17 @@ class DataLoadUtil:
         else:
             pts = np.load(npy_path)
         return pts
+    
+    @staticmethod
+    def load_from_preprocessed_nrm(path, file_type="npy"):
+        npy_path = os.path.join(
+            os.path.dirname(path), "nrm", os.path.basename(path) + "." + file_type
+        )
+        if file_type == "txt":
+            nrm = np.loadtxt(npy_path)
+        else:
+            nrm = np.load(npy_path)
+        return nrm
 
     @staticmethod
     def cam_pose_transformation(cam_pose_before):

utils/vis.py

@@ -158,18 +158,23 @@ class visualizeUtil:
         np.savetxt(os.path.join(output_dir, "target_normal.txt"), sampled_visualized_normal)
 
     @staticmethod
-    def save_pts_nrm(pts_nrm, output_dir):
-        pts = pts_nrm[:, :3]
-        nrm = pts_nrm[:, 3:]
+    def save_pts_nrm(root, scene, frame_idx, output_dir, binocular=False):
+        path = DataLoadUtil.get_path(root, scene, frame_idx)
+        pts_world = DataLoadUtil.load_from_preprocessed_pts(path, "npy")
+        nrm_camera = DataLoadUtil.load_from_preprocessed_nrm(path, "npy")
+        cam_info = DataLoadUtil.load_cam_info(path, binocular=binocular)
+        cam_to_world = cam_info["cam_to_world"]
+        nrm_world = nrm_camera @ cam_to_world[:3, :3].T
         visualized_nrm = []
         num_samples = 10
-        for i in range(len(pts)):
-            visualized_nrm.append(pts[i] + 0.02*t * nrm[i] for t in range(num_samples))
-        visualized_nrm = np.array(visualized_nrm).reshape(-1, 3)
+        for i in range(len(pts_world)):
+            for t in range(num_samples):
+                visualized_nrm.append(pts_world[i] - 0.02 * t * nrm_world[i])
+        
+        visualized_nrm = np.array(visualized_nrm)
         np.savetxt(os.path.join(output_dir, "nrm.txt"), visualized_nrm)
-        np.savetxt(os.path.join(output_dir, "pts.txt"), pts)
-
-
+        np.savetxt(os.path.join(output_dir, "pts.txt"), pts_world)
+        
 # ------ Debug ------
 
 if __name__ == "__main__":
@@ -184,6 +189,4 @@ if __name__ == "__main__":
     # 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)
-    pts_nrm = np.loadtxt(r"C:\Document\Local Project\nbv_rec\nbv_reconstruction\pts_nrm_target.txt")
-    visualizeUtil.save_pts_nrm(pts_nrm, output_dir)
-
+    visualizeUtil.save_pts_nrm(root, scene, "116", output_dir, binocular=True)