154 lines
8.0 KiB
Python
154 lines
8.0 KiB
Python
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import os
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import json
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import numpy as np
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from PytorchBoot.runners.runner import Runner
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from PytorchBoot.config import ConfigManager
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from PytorchBoot.utils import Log
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import PytorchBoot.stereotype as stereotype
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from PytorchBoot.status import status_manager
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from utils.data_load import DataLoadUtil
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from utils.reconstruction import ReconstructionUtil
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from utils.pts import PtsUtil
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@stereotype.runner("strategy_generator")
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class StrategyGenerator(Runner):
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def __init__(self, config):
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super().__init__(config)
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self.load_experiment("generate_strategy")
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self.status_info = {
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"status_manager": status_manager,
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"app_name": "generate_strategy",
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"runner_name": "strategy_generator"
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}
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self.overwrite = ConfigManager.get("runner", "generate", "overwrite")
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self.seq_num = ConfigManager.get("runner","generate","seq_num")
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self.overlap_area_threshold = ConfigManager.get("runner","generate","overlap_area_threshold")
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self.compute_with_normal = ConfigManager.get("runner","generate","compute_with_normal")
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self.scan_points_threshold = ConfigManager.get("runner","generate","scan_points_threshold")
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def run(self):
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dataset_name_list = ConfigManager.get("runner", "generate", "dataset_list")
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voxel_threshold = ConfigManager.get("runner","generate","voxel_threshold")
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for dataset_idx in range(len(dataset_name_list)):
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dataset_name = dataset_name_list[dataset_idx]
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status_manager.set_progress("generate_strategy", "strategy_generator", "dataset", dataset_idx, len(dataset_name_list))
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root_dir = ConfigManager.get("datasets", dataset_name, "root_dir")
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from_idx = ConfigManager.get("datasets",dataset_name,"from")
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to_idx = ConfigManager.get("datasets",dataset_name,"to")
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scene_name_list = os.listdir(root_dir)
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if to_idx == -1:
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to_idx = len(scene_name_list)
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cnt = 0
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total = len(scene_name_list[from_idx:to_idx])
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Log.info(f"Processing Dataset: {dataset_name}, From: {from_idx}, To: {to_idx}")
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for scene_name in scene_name_list[from_idx:to_idx]:
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Log.info(f"({dataset_name})Processing [{cnt}/{total}]: {scene_name}")
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status_manager.set_progress("generate_strategy", "strategy_generator", "scene", cnt, total)
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output_label_path = DataLoadUtil.get_label_path(root_dir, scene_name,0)
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if os.path.exists(output_label_path) and not self.overwrite:
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Log.info(f"Scene <{scene_name}> Already Exists, Skip")
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cnt += 1
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continue
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self.generate_sequence(root_dir, scene_name,voxel_threshold)
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cnt += 1
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status_manager.set_progress("generate_strategy", "strategy_generator", "scene", total, total)
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status_manager.set_progress("generate_strategy", "strategy_generator", "dataset", len(dataset_name_list), len(dataset_name_list))
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def create_experiment(self, backup_name=None):
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super().create_experiment(backup_name)
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output_dir = os.path.join(str(self.experiment_path), "output")
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os.makedirs(output_dir)
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def load_experiment(self, backup_name=None):
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super().load_experiment(backup_name)
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def generate_sequence(self, root, scene_name, voxel_threshold):
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status_manager.set_status("generate_strategy", "strategy_generator", "scene", scene_name)
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frame_num = DataLoadUtil.get_scene_seq_length(root, scene_name)
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model_points_normals = DataLoadUtil.load_points_normals(root, scene_name)
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model_pts = model_points_normals[:,:3]
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down_sampled_model_pts, idx = PtsUtil.voxel_downsample_point_cloud(model_pts, voxel_threshold, require_idx=True)
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down_sampled_model_nrm = model_points_normals[idx, 3:]
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pts_list = []
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nrm_list = []
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scan_points_indices_list = []
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non_zero_cnt = 0
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for frame_idx in range(frame_num):
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status_manager.set_progress("generate_strategy", "strategy_generator", "loading frame", frame_idx, frame_num)
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pts_path = os.path.join(root,scene_name, "pts", f"{frame_idx}.npy")
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nrm_path = os.path.join(root,scene_name, "nrm", f"{frame_idx}.npy")
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idx_path = os.path.join(root,scene_name, "scan_points_indices", f"{frame_idx}.npy")
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pts = np.load(pts_path)
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if self.compute_with_normal:
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if pts.shape[0] == 0:
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nrm = np.zeros((0,3))
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else:
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nrm = np.load(nrm_path)
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nrm_list.append(nrm)
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pts_list.append(pts)
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indices = np.load(idx_path)
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scan_points_indices_list.append(indices)
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if pts.shape[0] > 0:
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non_zero_cnt += 1
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status_manager.set_progress("generate_strategy", "strategy_generator", "loading frame", frame_num, frame_num)
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seq_num = min(self.seq_num, non_zero_cnt)
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init_view_list = []
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idx = 0
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while len(init_view_list) < seq_num and idx < len(pts_list):
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if pts_list[idx].shape[0] > 50:
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init_view_list.append(idx)
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idx += 1
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seq_idx = 0
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import time
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for init_view in init_view_list:
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status_manager.set_progress("generate_strategy", "strategy_generator", "computing sequence", seq_idx, len(init_view_list))
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start = time.time()
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if not self.compute_with_normal:
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limited_useful_view, _, _ = ReconstructionUtil.compute_next_best_view_sequence(down_sampled_model_pts, pts_list, scan_points_indices_list = scan_points_indices_list,init_view=init_view,
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threshold=voxel_threshold, scan_points_threshold=self.scan_points_threshold, overlap_area_threshold=self.overlap_area_threshold, status_info=self.status_info)
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else:
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limited_useful_view, _, _ = ReconstructionUtil.compute_next_best_view_sequence_with_normal(down_sampled_model_pts, down_sampled_model_nrm, pts_list, nrm_list, scan_points_indices_list = scan_points_indices_list,init_view=init_view,
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threshold=voxel_threshold, scan_points_threshold=self.scan_points_threshold, overlap_area_threshold=self.overlap_area_threshold, status_info=self.status_info)
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end = time.time()
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print(f"Time: {end-start}")
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data_pairs = self.generate_data_pairs(limited_useful_view)
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seq_save_data = {
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"data_pairs": data_pairs,
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"best_sequence": limited_useful_view,
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"max_coverage_rate": limited_useful_view[-1][1]
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}
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status_manager.set_status("generate_strategy", "strategy_generator", "max_coverage_rate", limited_useful_view[-1][1])
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Log.success(f"Scene <{scene_name}> Finished, Max Coverage Rate: {limited_useful_view[-1][1]}, Best Sequence length: {len(limited_useful_view)}")
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output_label_path = DataLoadUtil.get_label_path(root, scene_name, seq_idx)
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with open(output_label_path, 'w') as f:
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json.dump(seq_save_data, f)
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seq_idx += 1
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status_manager.set_progress("generate_strategy", "strategy_generator", "computing sequence", len(init_view_list), len(init_view_list))
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def generate_data_pairs(self, useful_view):
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data_pairs = []
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for next_view_idx in range(1, len(useful_view)):
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scanned_views = useful_view[:next_view_idx]
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next_view = useful_view[next_view_idx]
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data_pairs.append((scanned_views, next_view))
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return data_pairs
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