def models(self):
"""Load models into a list."""
cache_path = osp.join(self.cache_dir,
"models_{}.pkl".format("_".join(self.objs)))
if osp.exists(cache_path) and self.use_cache:
# dprint("{}: load cached object models from {}".format(self.name, cache_path))
return mmcv.load(cache_path)
models = []
for obj_name in self.objs:
model = inout.load_ply(
osp.join(self.models_root,
f"obj_{ref.lm_full.obj2id[obj_name]:06d}.ply"),
vertex_scale=self.scale_to_meter,
)
# NOTE: the bbox3d_and_center is not obtained from centered vertices
# for BOP models, not a big problem since they had been centered
model["bbox3d_and_center"] = misc.get_bbox3d_and_center(
model["pts"])
models.append(model)
logger.info("cache models to {}".format(cache_path))
mmcv.mkdir_or_exist(osp.dirname(cache_path))
mmcv.dump(models, cache_path, protocol=4)
return models
def __init__(self,
cfg,
dataset_name,
distributed,
output_dir,
train_objs=None):
self.cfg = cfg
self._distributed = distributed
self._output_dir = output_dir
mmcv.mkdir_or_exist(output_dir)
self._cpu_device = torch.device("cpu")
self._logger = logging.getLogger(__name__)
# if test objs are just a subset of train objs
self.train_objs = train_objs
self.dataset_name = dataset_name
self._metadata = MetadataCatalog.get(dataset_name)
self.data_ref = ref.__dict__[self._metadata.ref_key]
self.obj_names = self._metadata.objs
self.obj_ids = [
self.data_ref.obj2id[obj_name] for obj_name in self.obj_names
]
# with contextlib.redirect_stdout(io.StringIO()):
# self._coco_api = COCO(self._metadata.json_file)
self.model_paths = [
osp.join(self.data_ref.model_eval_dir,
"obj_{:06d}.ply".format(obj_id))
for obj_id in self.obj_ids
]
self.diameters = [
self.data_ref.diameters[self.data_ref.objects.index(obj_name)]
for obj_name in self.obj_names
]
self.models_3d = [
inout.load_ply(model_path, vertex_scale=self.data_ref.vertex_scale)
for model_path in self.model_paths
]
if cfg.DEBUG:
from lib.render_vispy.model3d import load_models
from lib.render_vispy.renderer import Renderer
self.get_gts()
self.kpts_3d = [
misc.get_bbox3d_and_center(m["pts"]) for m in self.models_3d
]
self.kpts_axis_3d = [
misc.get_axis3d_and_center(m["pts"], scale=0.5)
for m in self.models_3d
]
self.ren = Renderer(size=(self.data_ref.width,
self.data_ref.height),
cam=self.data_ref.camera_matrix)
self.ren_models = load_models(
model_paths=self.data_ref.model_paths,
scale_to_meter=0.001,
cache_dir=".cache",
texture_paths=self.data_ref.texture_paths,
center=False,
use_cache=True,
)
self.eval_precision = cfg.VAL.get("EVAL_PRECISION", False)
self._logger.info(f"eval precision: {self.eval_precision}")
# eval cached
self.use_cache = False
if cfg.VAL.EVAL_CACHED or cfg.VAL.EVAL_PRINT_ONLY:
self.use_cache = True
if self.eval_precision:
self._eval_predictions_precision()
else:
self._eval_predictions() # recall
exit(0)
