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change world space origin

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hofee
2024-09-23 17:45:01 +08:00
parent 3c4077ec4f
commit b209ce050c
3 changed files with 32 additions and 11 deletions
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30
utils/data_load.py
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@@ -7,7 +7,20 @@ import torch
from utils.pts import PtsUtil
class DataLoadUtil:
DISPLAY_TABLE_POSITION = np.asarray([0,0,0.895])
TABLE_POSITION = np.asarray([0,0,0.8215])
@staticmethod
def get_display_table_info(root, scene_name):
scene_info = DataLoadUtil.load_scene_info(root, scene_name)
display_table_info = scene_info["display_table"]
return display_table_info
@staticmethod
def get_display_table_top(root, scene_name):
display_table_height = DataLoadUtil.get_display_table_info(root, scene_name)["height"]
display_table_top = DataLoadUtil.TABLE_POSITION + np.asarray([0,0,display_table_height])
return display_table_top
@staticmethod
def get_path(root, scene_name, frame_idx):
path = os.path.join(root, scene_name, f"{frame_idx}")
@@ -64,7 +77,7 @@ class DataLoadUtil:
target_name = scene_info["target_name"]
transformation = scene_info[target_name]
if display_table_as_world_space_origin:
location = transformation["location"] - DataLoadUtil.DISPLAY_TABLE_POSITION
location = transformation["location"] - DataLoadUtil.get_display_table_top(root, scene_name)
else:
location = transformation["location"]
rotation_euler = transformation["rotation_euler"]
@@ -168,13 +181,16 @@ class DataLoadUtil:
@staticmethod
def load_cam_info(path, binocular=False, display_table_as_world_space_origin=True):
scene_dir = os.path.dirname(path)
root_dir = os.path.dirname(scene_dir)
scene_name = os.path.basename(scene_dir)
camera_params_path = os.path.join(os.path.dirname(path), "camera_params", os.path.basename(path) + ".json")
with open(camera_params_path, 'r') as f:
label_data = json.load(f)
cam_to_world = np.asarray(label_data["extrinsic"])
cam_to_world = DataLoadUtil.cam_pose_transformation(cam_to_world)
world_to_display_table = np.eye(4)
world_to_display_table[:3, 3] = - DataLoadUtil.DISPLAY_TABLE_POSITION
world_to_display_table[:3, 3] = - DataLoadUtil.get_display_table_top(root_dir, scene_name)
if display_table_as_world_space_origin:
cam_to_world = np.dot(world_to_display_table, cam_to_world)
cam_intrinsic = np.asarray(label_data["intrinsic"])
@@ -197,13 +213,15 @@ class DataLoadUtil:
return cam_info
@staticmethod
def get_real_cam_O_from_cam_L(cam_L, cam_O_to_cam_L, display_table_as_world_space_origin=True):
def get_real_cam_O_from_cam_L(cam_L, cam_O_to_cam_L, scene_path, display_table_as_world_space_origin=True):
root_dir = os.path.dirname(scene_path)
scene_name = os.path.basename(scene_path)
if isinstance(cam_L, torch.Tensor):
cam_L = cam_L.cpu().numpy()
nO_to_display_table_pose = cam_L @ cam_O_to_cam_L
if display_table_as_world_space_origin:
display_table_to_world = np.eye(4)
display_table_to_world[:3, 3] = DataLoadUtil.DISPLAY_TABLE_POSITION
display_table_to_world[:3, 3] = DataLoadUtil.get_display_table_top(root_dir, scene_name)
nO_to_world_pose = np.dot(display_table_to_world, nO_to_display_table_pose)
nO_to_world_pose = DataLoadUtil.cam_pose_transformation(nO_to_world_pose)
return nO_to_world_pose
@@ -292,5 +310,5 @@ class DataLoadUtil:
points_path = os.path.join(root, scene_name, "points_and_normals.txt")
points_normals = np.loadtxt(points_path)
if display_table_as_world_space_origin:
points_normals[:,:3] = points_normals[:,:3] - DataLoadUtil.DISPLAY_TABLE_POSITION
points_normals[:,:3] = points_normals[:,:3] - DataLoadUtil.get_display_table_top(root, scene_name)
return points_normals

2
utils/render.py
View File

@@ -11,7 +11,7 @@ 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):
nO_to_world_pose = DataLoadUtil.get_real_cam_O_from_cam_L(cam_pose, nO_to_nL_pose)
nO_to_world_pose = DataLoadUtil.get_real_cam_O_from_cam_L(cam_pose, nO_to_nL_pose, scene_path=scene_path)
with tempfile.TemporaryDirectory() as temp_dir: