for obj_id in dp_model['obj_ids']:
models[obj_id] = inout.load_ply(
dp_model['model_tpath'].format(obj_id=obj_id))
# Load models info.
models_info = None
if p['error_type'] in ['ad', 'add', 'adi', 'vsd', 'mssd', 'mspd', 'cus']:
models_info = inout.load_json(dp_model['models_info_path'],
keys_to_int=True)
# Get sets of symmetry transformations for the object models.
models_sym = None
if p['error_type'] in ['mssd', 'mspd']:
models_sym = {}
for obj_id in dp_model['obj_ids']:
models_sym[obj_id] = misc.get_symmetry_transformations(
models_info[obj_id], p['max_sym_disc_step'])
# Initialize a renderer.
ren = None
if p['error_type'] in ['vsd', 'cus']:
misc.log('Initializing renderer...')
width, height = dp_split['im_size']
ren = renderer.create_renderer(width,
height,
p['renderer_type'],
mode='depth')
for obj_id in dp_model['obj_ids']:
ren.add_object(obj_id,
dp_model['model_tpath'].format(obj_id=obj_id))
# Load the estimation targets.
def init(target):
"""
Initialize scene for given [target] object to evaluate pose-error functions. Prepare rendering and evaluation.
"""
renderer = RendererPython(640, 480, bg_color=(1.0, 1.0, 1.0, 1.0), shading='flat')
# base scene (static support)
ground_volume = resource.get(f"{DATA_PATH}/cube.ply").convert('VolumeGrid')
renderer.add_object(0, f"{DATA_PATH}/cube.ply")
env = [ground_volume]
env_meshes = [trimesh.load(f"{DATA_PATH}/cube.ply")]
env_ids = [0]
env_Ts = [np.eye(4)]
# initialize remaining scene objects based on target object
Tgt = np.eye(4)
if target == 'bowl':
# bowl
obj_id = 13
cloud, ply, mesh = get_tgt_model(obj_id, renderer)
Tgt[:3, 3] = np.array([0, 0, -models_info[obj_id]['min_z'] - obj_toff[obj_id - 1][2]])
t_obj_offset = [-125, 0, 0]
elif target == 'marker':
# marker
obj_id = 18
cloud, ply, mesh = get_tgt_model(obj_id, renderer)
Tgt[:3, :3] = Rotation.from_euler('xz', [21.5, 90.0], degrees=True).as_dcm()
Tgt[:3, 3] = [33.42, 0, 30.14]
t_obj_offset = [-300, 25, 50]
# banana
env_model, env_mesh = get_env_model(10, renderer)
T = np.eye(4)
T[:3, :3] = Rotation.from_euler('xyz', [0, 11.8, 0], degrees=True).as_dcm()
T[:3, 3] = [0, 0, 16]
env_mesh.apply_transform(T)
env.append(env_model)
env_meshes.append(env_mesh)
env_ids.append(-10)
env_Ts.append(T.copy())
elif target == 'clamp':
# clamp
obj_id = 19
cloud, ply, mesh = get_tgt_model(obj_id, renderer)
Tgt[:3, :3] = Rotation.from_euler('xyz', [-6, -1.4, -90], degrees=True).as_dcm()
Tgt[:3, 3] = [9.59, 0, 91.74]
t_obj_offset = [-150, 0, 65]
# pudding
env_model, env_mesh = get_env_model(7, renderer)
T = np.eye(4)
T[:3, :3] = Rotation.from_euler('xyz', [-88.4, 0.4, 90], degrees=True).as_dcm()
T[:3, 3] = [-61.66, 1.24, 44.27]
env_mesh.apply_transform(T)
env.append(env_model)
env_meshes.append(env_mesh)
env_ids.append(-7)
env_Ts.append(T.copy())
# jello
env_model, env_mesh = get_env_model(8, renderer)
T = np.eye(4)
T[:3, :3] = Rotation.from_euler('xyz', [-90, 90, 180], degrees=True).as_dcm()
T[:3, 3] = [74.90, -1.09, 36.37]
env_mesh.apply_transform(T)
env.append(env_model)
env_meshes.append(env_mesh)
env_ids.append(-8)
env_Ts.append(T.copy())
else:
raise ValueError("'target' must be one of 'bowl', 'marker' or 'clamp'.")
Tsyms = misc.get_symmetry_transformations(models_info[obj_id], 0.01) # symmetry
# prepare renderer: intrinsics and extrinsics
K = np.array([1066.778, 0.0, 312.9869, 0.0, 1067.487, 241.3109, 0.0, 0.0, 1.0]).reshape(3, 3)
Rview = Rotation.from_euler('zx', [-90 if target == 'bowl' else 0, 90 if target == 'bowl' else 110],
degrees=True).as_dcm()
tview = np.array([-t_obj_offset[1], t_obj_offset[2], 850+t_obj_offset[0]])
return env_meshes, env, env_ids, env_Ts, mesh, cloud, ply, Tgt, Tsyms, renderer, K, Rview, tview