def save_scene(scene_id):
"""
Saves the specified scene.
"""
global scene_info
global scene_gt
# Collect poses expressed in the world coordinate system
ref_obj_poses = []
for obj in bpy.data.objects:
if is_obj(obj.name):
obj_id = obj.name.split('obj_')[1].split('.')[0] # Get object ID
e, t = get_pose(obj.name)
R = transform.euler_matrix(e[0], e[1], e[2], axes='sxyz')[:3, :3]
ref_obj_poses.append({
'obj_id': int(obj_id),
'cam_R_m2w': R,
'cam_t_m2w': np.array(t).reshape((3, 1))
})
# Load models of objects present in the scene
obj_ids = set([p['obj_id'] for p in ref_obj_poses])
models = {}
for obj_id in obj_ids:
models[obj_id] = inout.load_ply(par.model_mpath.format(obj_id))
# Transform the poses to the camera coordinate systems using the known
# camera-to-world transformations
for im_id in scene_gt.keys():
scene_gt[im_id] = []
K = scene_info[im_id]['cam_K']
R_w2c = scene_info[im_id]['cam_R_w2c']
t_w2c = scene_info[im_id]['cam_t_w2c']
for pose in ref_obj_poses:
R_m2c_new = R_w2c.dot(pose['cam_R_m2w'])
t_m2c_new = R_w2c.dot(pose['cam_t_m2w']) + t_w2c
# Get 2D bounding box of the projection of the object model at
# the refined ground truth pose
pts_im = misc.project_pts(models[int(obj_id)]['pts'], K,
R_m2c_new, t_m2c_new)
pts_im = np.round(pts_im).astype(np.int)
ys, xs = pts_im[:, 1], pts_im[:, 0]
obj_bb = misc.calc_2d_bbox(xs, ys, par.test_im_size)
scene_gt[im_id].append({
'obj_id': int(obj_id),
'obj_bb': obj_bb,
'cam_R_m2c': R_m2c_new,
'cam_t_m2c': t_m2c_new
})
# Save the updated ground truth poses
scene_gt_path = par.scene_gt_mpath.format(scene_id)
print('Saving GT poses: ' + scene_gt_path)
inout.save_gt(scene_gt_path, scene_gt)
scene_info = {}
scene_gt = {}
# Prepare folders
misc.ensure_dir(os.path.dirname(rgb_out_mpath.format(scene_id, 0)))
misc.ensure_dir(os.path.dirname(depth_out_mpath.format(scene_id, 0)))
# Get list of image IDs - consider only images for which the fixed GT
# is available
poses_fpaths = glob.glob(os.path.join(
os.path.dirname(pose_mpath.format(scene_id, 0)), '*'))
im_ids = sorted([int(e.split('poses')[1].split('.txt')[0]) for e in poses_fpaths])
# Load object model
obj_id = scene_id # The object id is the same as scene id for this dataset
model = inout.load_ply(model_mpath.format(obj_id))
# Transformation which was applied to the object models (its inverse will
# be applied to the GT poses):
# 1) Translate the bounding box center to the origin
t_model = bbox_cens[obj_id - 1, :].reshape((3, 1))
im_id_out = 0
for im_id in im_ids:
# if im_id % 10 == 0:
print('scene,view: ' + str(scene_id) + ',' + str(im_id))
# Load the RGB and depth image
rgb = inout.read_im(rgb_in_mpath.format(scene_id, im_id))
depth = inout.read_depth(depth_in_mpath.format(scene_id, im_id))
import os
import sys
import yaml
sys.path.append(os.path.abspath('..'))
from pysixdb import inout
model_mpath = '/local/datasets/tlod/imperial/tejani/models/obj_{:02d}.ply'
bbox_cens_path = '../output/tejani_bbox_cens.yml' # File to save bbox centers
bbox_cens = []
obj_ids = range(1, 7)
for obj_id in obj_ids:
print('Processing obj: ' + str(obj_id))
model_path = model_mpath.format(obj_id)
model = inout.load_ply(model_path)
# Scale
model['pts'] *= 1000.0 # Convert to [mm]
# Translate the bounding box center to the origin
bb_cen = 0.5 * (model['pts'].min(axis=0) + model['pts'].max(axis=0))
model['pts'] -= bb_cen
bbox_cens.append(bb_cen.flatten().tolist())
# Save the transformed model
inout.save_ply(model_path, model['pts'], model['colors'], model['normals'],
model['faces'])
with open(bbox_cens_path, 'w') as f:
yaml.dump(bbox_cens, f, width=10000)
vis_depth_mpath = '../output/vis_gt_poses/{:02d}_{:04d}_depth_diff.jpg'
misc.ensure_dir(os.path.dirname(vis_rgb_mpath))
scene_ids_curr = range(1, par.scene_count + 1)
if scene_ids:
scene_ids_curr = set(scene_ids_curr).intersection(scene_ids)
for scene_id in scene_ids_curr:
# Load scene info and gt poses
scene_info = inout.load_info(par.scene_info_mpath.format(scene_id))
scene_gt = inout.load_gt(par.scene_gt_mpath.format(scene_id))
# Load models of objects that appear in the current scene
obj_ids = set([gt['obj_id'] for gts in scene_gt.values() for gt in gts])
models = {}
for obj_id in obj_ids:
models[obj_id] = inout.load_ply(par.model_mpath.format(obj_id))
# Visualize GT poses in the selected images
im_ids_curr = sorted(scene_info.keys())
if im_ids:
im_ids_curr = set(im_ids_curr).intersection(im_ids)
for im_id in im_ids_curr:
print('scene: {}, im: {}'.format(scene_id, im_id))
# Load the images
rgb = inout.read_im(par.test_rgb_mpath.format(scene_id, im_id))
depth = inout.read_depth(par.test_depth_mpath.format(scene_id, im_id))
depth = depth.astype(np.float) # [mm]
depth *= par.cam['depth_scale'] # to [mm]
# Render the objects at the ground truth poses