add get_real_cam_O_from_cam_L()

utils/data_load.py

@@ -189,6 +189,16 @@ class DataLoadUtil:
             cam_info["cam_to_world_R"] = cam_to_world_R
         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):
+        nO_to_display_table_pose = cam_L.cpu().numpy()  @ 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
+            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
+    
     @staticmethod
     def get_target_point_cloud(depth, cam_intrinsic, cam_extrinsic, mask, target_mask_label=(0,255,0,255)):
         h, w = depth.shape

utils/render.py

@@ -10,8 +10,8 @@ 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 = cam_pose.cpu().numpy()  @ nO_to_nL_pose
-        nO_to_world_pose = DataLoadUtil.cam_pose_transformation(nO_to_world_pose)
+        
+        nO_to_world_pose = DataLoadUtil.get_real_cam_O_from_cam_L(cam_pose, nO_to_nL_pose)
         
         
         with tempfile.TemporaryDirectory() as temp_dir:
@@ -30,14 +30,13 @@ 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)
-            
+            # ------  Debug Start ------
+            import ipdb;ipdb.set_trace()
+            # ------  Debug End ------
             full_scene_point_cloud = None
             if require_full_scene:
                 depth_L, depth_R = DataLoadUtil.load_depth(path, cam_params['near_plane'], cam_params['far_plane'], binocular=True)