add get_real_cam_O_from_cam_L()

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)