def _read_transform_write(file_in, file_out, random_rotation):
mesh = trimesh.load(file_in)
bounds = mesh.extents
if bounds.min() == 0.0:
return
# translate to origin
translation = (mesh.bounds[0] + mesh.bounds[1]) * 0.5
translation = trimesh.transformations.translation_matrix(
direction=-translation)
mesh.apply_transform(translation)
# scale to unit cube
scale = 1.0 / bounds.max() # TODO: max(abs())?
scale_trafo = trimesh.transformations.scale_matrix(factor=scale)
mesh.apply_transform(scale_trafo)
# apply random rotation
if random_rotation:
rnd = np.random.RandomState(file_utils.filename_to_hash(file_in))
rand_rot = trimesh.transformations.random_rotation_matrix(rnd.rand(3))
mesh.apply_transform(rand_rot)
# TODO: translate to origin, rotate, scale
mesh.export(file_out)
def _get_and_save_query_pts(file_in_mesh: str,
file_out_query_pts: str,
file_out_query_dist: str,
file_out_query_vis: str,
num_query_pts: int,
patch_radius: float,
far_query_pts_ratio=0.1,
signed_distance_batch_size=1000,
debug=False):
import trimesh
# random state for file name
rng = np.random.RandomState(file_utils.filename_to_hash(file_in_mesh))
in_mesh = trimesh.load(file_in_mesh)
# get query pts
query_pts_ms = sdf.get_query_pts_for_mesh(in_mesh, num_query_pts,
patch_radius,
far_query_pts_ratio, rng)
np.save(file_out_query_pts, query_pts_ms.astype(np.float32))
# get signed distance
query_dist_ms = sdf.get_signed_distance(in_mesh, query_pts_ms,
signed_distance_batch_size)
# fix NaNs, Infs and truncate
nan_ids = np.isnan(query_dist_ms)
inf_ids = np.isinf(query_dist_ms)
query_dist_ms[nan_ids] = 0.0
query_dist_ms[inf_ids] = 1.0
query_dist_ms[query_dist_ms < -1.0] = -1.0
query_dist_ms[query_dist_ms > 1.0] = 1.0
np.save(file_out_query_dist, query_dist_ms.astype(np.float32))
if debug and file_out_query_vis is not None:
# save visualization
sdf.visualize_query_points(query_pts_ms, query_dist_ms,
file_out_query_vis)
def sample_blensor(base_dir,
dataset_dir,
blensor_bin,
dir_in,
dir_out,
dir_out_vis,
dir_out_pcd,
dir_blensor_scripts,
num_scans_per_mesh_min,
num_scans_per_mesh_max,
num_processes,
min_pts_size=0,
scanner_noise_sigma_min=0.0,
scanner_noise_sigma_max=0.05):
"""
Call Blender to use a Blensor script to sample a point cloud from a mesh
:param base_dir:
:param dataset_dir:
:param dir_in:
:param dir_out:
:param dir_blensor_scripts:
:param num_scans_per_mesh_min: default: 5
:param num_scans_per_mesh_max: default: 100
:param scanner_noise_sigma_min: default: 0.0004, rather a lot: 0.01
:param scanner_noise_sigma_max: default: 0.0004, rather a lot: 0.01
:return:
"""
# test blensor scripts with: .\blender -P 00990000_6216c8dabde0a997e09b0f42_trimesh_000.py
blender_path = os.path.join(base_dir, blensor_bin)
dir_abs_in = os.path.join(base_dir, dataset_dir, dir_in)
dir_abs_out = os.path.join(base_dir, dataset_dir, dir_out)
dir_abs_out_vis = os.path.join(base_dir, dataset_dir, dir_out_vis)
dir_abs_blensor = os.path.join(base_dir, dataset_dir, dir_blensor_scripts)
dir_abs_pcd = os.path.join(base_dir, dataset_dir, dir_out_pcd)
os.makedirs(dir_abs_out, exist_ok=True)
os.makedirs(dir_abs_out_vis, exist_ok=True)
os.makedirs(dir_abs_blensor, exist_ok=True)
os.makedirs(dir_abs_pcd, exist_ok=True)
with open('blensor_script_template.py', 'r') as file:
blensor_script_template = file.read()
blender_blensor_calls = []
pcd_base_files = []
pcd_noisy_files = []
obj_locations = []
obj_rotations = []
obj_files = [
f for f in os.listdir(dir_abs_in)
if os.path.isfile(os.path.join(dir_abs_in, f)) and f[-4:] == '.ply'
]
for fi, file in enumerate(obj_files):
# gather all file names involved in the blensor scanning
obj_file = os.path.join(dir_abs_in, file)
blensor_script_file = os.path.join(dir_abs_blensor, file[:-4] + '.py')
new_pcd_base_files = []
new_pcd_noisy_files = []
new_obj_locations = []
new_obj_rotations = []
rnd = np.random.RandomState(file_utils.filename_to_hash(obj_file))
num_scans = rnd.randint(num_scans_per_mesh_min,
num_scans_per_mesh_max + 1)
noise_sigma = rnd.rand() * (
scanner_noise_sigma_max -
scanner_noise_sigma_min) + scanner_noise_sigma_min
for num_scan in range(num_scans):
pcd_base_file = os.path.join(
dir_abs_pcd, file[:-4] +
'_{num}.numpy.gz'.format(num=str(num_scan).zfill(5)))
pcd_noisy_file = pcd_base_file[:-9] + '00000.numpy.gz'
obj_location = (rnd.rand(3) * 2.0 - 1.0)
obj_location_rand_factors = np.array([0.1, 1.0, 0.1])
obj_location *= obj_location_rand_factors
obj_location[1] += 4.0 # offset in cam view dir
obj_rotation = trafo.random_quaternion(rnd.rand(3))
# extend lists of pcd output files
new_pcd_base_files.append(pcd_base_file)
new_pcd_noisy_files.append(pcd_noisy_file)
new_obj_locations.append(obj_location.tolist())
new_obj_rotations.append(obj_rotation.tolist())
new_scan_sigmas = [noise_sigma] * num_scans
pcd_base_files.append(new_pcd_base_files)
pcd_noisy_files.append(new_pcd_noisy_files)
obj_locations.append(new_obj_locations)
obj_rotations.append(new_obj_rotations)
# prepare blensor calls if necessary
output_files = [
os.path.join(dir_abs_pcd, os.path.basename(f))
for f in new_pcd_noisy_files
]
output_files += [blensor_script_file]
if file_utils.call_necessary(obj_file, output_files):
blensor_script = blensor_script_template.format(
file_loc=obj_file,
obj_locations=str(new_obj_locations),
obj_rotations=str(new_obj_rotations),
evd_files=str(new_pcd_base_files),
scan_sigmas=str(new_scan_sigmas),
)
blensor_script = blensor_script.replace(
'\\', '/') # '\' would require escape sequence
with open(blensor_script_file, "w") as text_file:
text_file.write(blensor_script)
# start blender with python script (-P) and close without prompt (-b)
blender_blensor_call = '{} -P {} -b'.format(
blender_path, blensor_script_file)
blender_blensor_calls.append((blender_blensor_call, ))
utils_mp.start_process_pool(utils_mp.mp_worker, blender_blensor_calls,
num_processes)
def get_pcd_origin_file(pcd_file):
origin_file = os.path.basename(pcd_file)[:-9] + '.xyz'
origin_file = origin_file.replace('00000.xyz', '.xyz')
origin_file = origin_file.replace('_noisy.xyz', '.xyz')
origin_file = origin_file.replace('_00000.xyz', '.xyz')
return origin_file
print('### convert pcd to pts')
call_params = []
for fi, files in enumerate(pcd_noisy_files):
pcd_files_abs = [
os.path.join(dir_abs_pcd, os.path.basename(f)) for f in files
]
pcd_origin = get_pcd_origin_file(files[0])
xyz_file = os.path.join(dir_abs_out_vis, pcd_origin)
xyz_npy_file = os.path.join(dir_abs_out, pcd_origin + '.npy')
if file_utils.call_necessary(pcd_files_abs, [xyz_npy_file, xyz_file]):
call_params += [
(pcd_files_abs, xyz_npy_file, xyz_file, obj_locations[fi],
obj_rotations[fi], min_pts_size)
]
utils_mp.start_process_pool(_pcd_files_to_pts, call_params, num_processes)
def sample_blensor(base_dir,
dataset_dir,
blensor_bin,
dir_in,
dir_out,
dir_out_vis,
dir_out_pcd,
dir_blensor_scripts,
num_scans_per_mesh_min,
num_scans_per_mesh_max,
num_processes,
min_pts_size=0,
scanner_noise_sigma_min=0.0,
scanner_noise_sigma_max=0.05):
"""
Call Blender to use a Blensor script to sample a point cloud from a mesh
:param base_dir:
:param dataset_dir:
:param dir_in:
:param dir_out:
:param dir_blensor_scripts:
:param num_scans_per_mesh_min: default: 5
:param num_scans_per_mesh_max: default: 100
:param scanner_noise_sigma_min: default: 0.0004, rather a lot: 0.01
:param scanner_noise_sigma_max: default: 0.0004, rather a lot: 0.01
:return:
"""
# test blensor scripts with: .\blender -P 00990000_6216c8dabde0a997e09b0f42_trimesh_000.py
blender_path = os.path.join(base_dir, blensor_bin)
dir_abs_in = os.path.join(base_dir, dataset_dir, dir_in)
dir_abs_out = os.path.join(base_dir, dataset_dir, dir_out)
dir_abs_out_vis = os.path.join(base_dir, dataset_dir, dir_out_vis)
dir_abs_blensor = os.path.join(base_dir, dataset_dir, dir_blensor_scripts)
dir_abs_pcd = os.path.join(base_dir, dataset_dir, dir_out_pcd)
os.makedirs(dir_abs_out, exist_ok=True)
os.makedirs(dir_abs_out_vis, exist_ok=True)
os.makedirs(dir_abs_blensor, exist_ok=True)
os.makedirs(dir_abs_pcd, exist_ok=True)
blensor_script_template = \
'''
import bpy
from bpy import data as D
from bpy import context as C
from mathutils import *
from math import *
import blensor
evd_files = {evd_files}
obj_locations = {obj_locations}
obj_rotations = {obj_rotations}
scan_sigmas = {scan_sigmas}
# delete default mesh
bpy.ops.object.select_all(action="DESELECT")
bpy.data.objects["Cube"].select = True
bpy.ops.object.delete()
# load our mesh
file_loc = '{file_loc}'
imported_object = bpy.ops.import_mesh.ply(filepath=file_loc)
obj_object = bpy.context.selected_objects[0]
obj_object.rotation_mode = 'QUATERNION'
"""If the scanner is the default camera it can be accessed
for example by bpy.data.objects["Camera"]"""
scanner = bpy.data.objects["Camera"]
scanner.rotation_mode = 'QUATERNION'
scanner.local_coordinates = False
scanner.location = Vector([0.0, 0.0, 0.0])
# Kinect settings
# https://github.com/mgschwan/blensor/blob/master/release/scripts/addons/blensor/kinect.py
# scanner.kinect_max_dist=6.0
# scanner.kinect_min_dist=0.7
# scanner.kinect_noise_mu=0.0 # default 0.0
# scanner.kinect_noise_sigma=0.0 # default 0.0
# scanner.kinect_xres=640
# scanner.kinect_yres=480
# scanner.kinect_flength=0.73
# scanner.kinect_enable_window=False # experimental
# scanner.kinect_ref_dist=0.0
# scanner.kinect_ref_limit=0.01
# scanner.kinect_ref_slope=0.16
# scanner.kinect_noise_scale=0.25 # default 0.25
# scanner.kinect_noise_smooth=1.5 # default 1.5
# scanner.kinect_inlier_distance=0.05
for i in range(len(evd_files)):
def do_scan(scanner, pcd_file_out):
"""Scan the scene with the Velodyne scanner and save it
to the file "/tmp/scan.pcd"
Note: The data will actually be saved to /tmp/scan00000.pcd
and /tmp/scan_noisy00000.pcd
"""
# blensor.blendodyne.scan_advanced(
# scanner,
# rotation_speed=10.0,
# simulation_fps=24,
# angle_resolution=0.1728,
# max_distance=120,
# evd_file=pcd_file_out,
# noise_mu=0.0,
# noise_sigma=0.03,
# start_angle=0.0,
# end_angle=360.0,
# evd_last_scan=True,
# add_blender_mesh=False,
# add_noisy_blender_mesh=False)
# blensor.kinect.scan_advanced(
# scanner,
# evd_file=pcd_file_out,
# evd_last_scan=True
# )
# TOF settings
# https://github.com/mgschwan/blensor/blob/master/release/scripts/addons/blensor/tof.py
# Blensor 1.0.18 RC 10 Windows has a bug in evd.py: https://github.com/mgschwan/blensor/issues/30
blensor.tof.scan_advanced(
scanner,
evd_file=pcd_file_out,
evd_last_scan=True,
max_distance=10.0,
add_blender_mesh = False,
add_noisy_blender_mesh = False,
tof_res_x=176,
tof_res_y=144,
lens_angle_w=43.6,
lens_angle_h=34.6,
flength=10.0,
noise_mu=0.0,
# noise_sigma=scanner_noise_sigma, # default 0.0004
noise_sigma=scan_sigmas[i], # default 0.0004
backfolding=False,
)
evd_file = evd_files[i]
obj_object.location = Vector(obj_locations[i])
obj_object.rotation_quaternion = Quaternion(obj_rotations[i])
do_scan(scanner, evd_file)
bpy.ops.wm.quit_blender()
'''
blender_blensor_calls = []
pcd_base_files = []
pcd_noisy_files = []
obj_locations = []
obj_rotations = []
obj_files = [
f for f in os.listdir(dir_abs_in)
if os.path.isfile(os.path.join(dir_abs_in, f)) and f[-4:] == '.ply'
]
for fi, file in enumerate(obj_files):
# gather all file names involved in the blensor scanning
obj_file = os.path.join(dir_abs_in, file)
blensor_script_file = os.path.join(dir_abs_blensor, file[:-4] + '.py')
new_pcd_base_files = []
new_pcd_noisy_files = []
new_obj_locations = []
new_obj_rotations = []
rnd = np.random.RandomState(file_utils.filename_to_hash(obj_file))
num_scans = rnd.randint(num_scans_per_mesh_min,
num_scans_per_mesh_max + 1)
noise_sigma = rnd.rand() * (
scanner_noise_sigma_max -
scanner_noise_sigma_min) + scanner_noise_sigma_min
for num_scan in range(num_scans):
pcd_base_file = os.path.join(
dir_abs_pcd, file[:-4] +
'_{num}.numpy.gz'.format(num=str(num_scan).zfill(5)))
pcd_noisy_file = pcd_base_file[:-9] + '00000.numpy.gz'
obj_location = (rnd.rand(3) * 2.0 - 1.0)
obj_location_rand_factors = np.array([0.1, 1.0, 0.1])
obj_location *= obj_location_rand_factors
obj_location[1] += 4.0 # offset in cam view dir
obj_rotation = trafo.random_quaternion(rnd.rand(3))
# extend lists of pcd output files
new_pcd_base_files.append(pcd_base_file)
new_pcd_noisy_files.append(pcd_noisy_file)
new_obj_locations.append(obj_location.tolist())
new_obj_rotations.append(obj_rotation.tolist())
new_scan_sigmas = [noise_sigma] * num_scans
pcd_base_files.append(new_pcd_base_files)
pcd_noisy_files.append(new_pcd_noisy_files)
obj_locations.append(new_obj_locations)
obj_rotations.append(new_obj_rotations)
# prepare blensor calls if necessary
output_files = [
os.path.join(dir_abs_pcd, os.path.basename(f))
for f in new_pcd_noisy_files
]
output_files += [blensor_script_file]
if file_utils.call_necessary(obj_file, output_files):
blensor_script = blensor_script_template.format(
file_loc=obj_file,
obj_locations=str(new_obj_locations),
obj_rotations=str(new_obj_rotations),
evd_files=str(new_pcd_base_files),
scan_sigmas=str(new_scan_sigmas),
)
blensor_script = blensor_script.replace(
'\\', '/') # '\' would require escape sequence
with open(blensor_script_file, "w") as text_file:
text_file.write(blensor_script)
# start blender with python script (-P) and close without prompt (-b)
blender_blensor_call = '{} -P {} -b'.format(
blender_path, blensor_script_file)
blender_blensor_calls.append((blender_blensor_call, ))
utils_mp.start_process_pool(utils_mp.mp_worker, blender_blensor_calls,
num_processes)
def get_pcd_origin_file(pcd_file):
origin_file = os.path.basename(pcd_file)[:-9] + '.xyz'
origin_file = origin_file.replace('00000.xyz', '.xyz')
origin_file = origin_file.replace('_noisy.xyz', '.xyz')
origin_file = origin_file.replace('_00000.xyz', '.xyz')
return origin_file
print('### convert pcd to pts')
call_params = []
for fi, files in enumerate(pcd_noisy_files):
pcd_files_abs = [
os.path.join(dir_abs_pcd, os.path.basename(f)) for f in files
]
pcd_origin = get_pcd_origin_file(files[0])
xyz_file = os.path.join(dir_abs_out_vis, pcd_origin)
xyz_npy_file = os.path.join(dir_abs_out, pcd_origin + '.npy')
if file_utils.call_necessary(pcd_files_abs, [xyz_npy_file, xyz_file]):
call_params += [
(pcd_files_abs, xyz_npy_file, xyz_file, obj_locations[fi],
obj_rotations[fi], min_pts_size)
]
utils_mp.start_process_pool(_pcd_files_to_pts, call_params, num_processes)