def run_seq(cfg, scene, seq):
print(" Start {}".format(seq))
seq_folder = osp.join(cfg.dataset_root, scene, seq)
color_names = uio.list_files(seq_folder, '*.color.png')
color_paths = [osp.join(seq_folder, cf) for cf in color_names]
depth_names = uio.list_files(seq_folder, '*.depth.png')
depth_paths = [osp.join(seq_folder, df) for df in depth_names]
# depth_paths = [osp.join(seq_folder, cf[:-10] + '.depth.png') for cf in depth_names]
# n_frames = len(color_paths)
n_frames = len(depth_paths)
n_frags = int(math.ceil(float(n_frames) / cfg.frames_per_frag))
out_folder = osp.join(cfg.out_root, scene, seq)
uio.may_create_folder(out_folder)
intrinsic_path = osp.join(cfg.dataset_root, scene, 'camera-intrinsics.txt')
if cfg.threads > 1:
from joblib import Parallel, delayed
import multiprocessing
Parallel(n_jobs=cfg.threads)(delayed(process_single_fragment)
(cfg, color_paths, depth_paths, frag_id,
n_frags, intrinsic_path, out_folder)
for frag_id in range(n_frags))
else:
for frag_id in range(n_frags):
process_single_fragment(cfg, color_paths, depth_paths, frag_id,
n_frags, intrinsic_path, out_folder)
print(" Finished {}".format(seq))
def main2(args):
print "Running..."
# get extracted wikipedia file pathnames
subdirs = io.list_directories(config.WIKIPEDIA_EXTRACTED_DIR)
if args.letters:
subdirs = [p for p in subdirs if p[-2] in config.WIKIPEDIA_SUB_DIR_PREFIXES]
pathnames = []
for sb in subdirs:
pathnames.extend(io.list_files(sb))
pathnames.sort()
# create thread-safe queue
queue = parallel.create_queue(pathnames)
# create workers
workers = []
for i in xrange(args.threads):
logger = log.create_logger('LOGGER %d' % i, 'log_%d.log' % i)
sent_tokenizer = parser.get_sentence_tokenizer()
if args.verbose:
logger.setLevel(logging.DEBUG)
worker = SentenceIndexWorker(queue, sent_tokenizer, logger)
workers.append(worker)
# begin
for worker in workers:
worker.start()
# block until all files have been processed
queue.join()
print "Done!"
def run_seq(cfg, scene, seq):
print(' Start {}'.format(seq))
out_folder = osp.join(cfg.out_root, scene, seq)
if osp.exists(out_folder):
print(' Skip...')
return
uio.make_clean_folder(out_folder)
temp_folder = osp.join(cfg.temp_root, scene, seq)
uio.make_clean_folder(temp_folder)
print(' Start downsampling and computing FPFH')
pcd_names = uio.list_files(osp.join(cfg.dataset_root, scene, seq),
'cloud_bin_*.ply',
alphanum_sort=True)
if cfg.threads > 1:
from joblib import Parallel, delayed
import multiprocessing
Parallel(n_jobs=cfg.threads)(
delayed(downsample_and_compute_fpfh)(cfg, scene, seq, pcd_name)
for pcd_name in pcd_names)
else:
for pcd_name in pcd_names:
downsample_and_compute_fpfh(cfg, scene, seq, pcd_name)
print(' Start matching FPFH')
overlaps = uio.list_files(osp.join(cfg.overlap_root, scene, seq),
'cloud_bin_*.npy',
alphanum_sort=True)
overlap_pcds = [npy_file[:-4].split('-') for npy_file in overlaps]
if cfg.threads > 1:
from joblib import Parallel, delayed
import multiprocessing
Parallel(n_jobs=cfg.threads)(
delayed(match_fpfh)(cfg, scene, seq, pcd_pair[0], pcd_pair[1])
for pcd_pair in overlap_pcds)
else:
for pcd_pair in overlap_pcds:
match_fpfh(cfg, scene, seq, pcd_pair[0], pcd_pair[1])
print(' Start collating kpts')
collate_kpts(cfg, scene, seq)
print(" Finished {}".format(seq))
def run_seq(cfg, scene, seq):
print(" Start {}".format(seq))
pcd_names = uio.list_files(osp.join(cfg.dataset_root, scene, seq),
'*.ply',
alphanum_sort=True)
if cfg.threads > 1:
from joblib import Parallel, delayed
import multiprocessing
Parallel(n_jobs=cfg.threads)(
delayed(compute_radius)(cfg, scene, seq, pcd_name)
for pcd_name in pcd_names)
else:
for pcd_name in pcd_names:
compute_radius(cfg, scene, seq, pcd_name)
print(" Finished {}".format(seq))
def list_pcd_pairs(root_dir, excluded_scenes=None):
res = list()
for scene in uio.list_folders(root_dir, alphanum_sort=False):
if excluded_scenes is not None and scene in excluded_scenes:
continue
for seq in uio.list_folders(osp.join(root_dir, scene),
alphanum_sort=True):
seq_folder = osp.join(root_dir, scene, seq)
for npy_file in uio.list_files(seq_folder,
'cloud_bin_*.npy',
alphanum_sort=True):
cloud_name_i, cloud_name_j = npy_file[:-4].split('-')
res.append(
OverlapMeta(scene=scene,
seq=seq,
cloud_name_i=cloud_name_i,
cloud_name_j=cloud_name_j,
full_path=osp.join(seq_folder, npy_file)))
return res
def list_pcds(root_dir, excluded_scenes=None):
res = list()
for scene in uio.list_folders(root_dir, alphanum_sort=False):
if excluded_scenes is not None and scene in excluded_scenes:
continue
for seq in uio.list_folders(osp.join(root_dir, scene),
alphanum_sort=True):
seq_folder = osp.join(root_dir, scene, seq)
pcloud_names = uio.list_files(seq_folder,
'*.ply',
alphanum_sort=True)
metas = [
PCloudMeta(
scene=scene,
seq=seq,
name=pn[:-4],
full_path=osp.join(seq_folder, pn),
) for pn in pcloud_names
]
res.extend(metas)
return res
def downsample_pcds(in_root, out_root, max_points):
import open3d as o3d
o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Error)
uio.may_create_folder(out_root)
pcd_names = uio.list_files(in_root, 'cloud_bin_*.ply', alphanum_sort=True)
pcd_stems = list()
for pname in pcd_names:
pstem = pname[:-4]
pcd_path = osp.join(in_root, pname)
pose_path = osp.join(in_root, pstem + '.pose.npy')
pcd = o3d.io.read_point_cloud(pcd_path)
pose = np.load(pose_path)
pcd.transform(pose)
down_pcd = Cloud.downsample_from(pcd, max_points)
down_pcd.save(osp.join(out_root, pstem + '.npz'))
pcd_stems.append(pstem)
return pcd_stems
def run_scene_matching(scene_name,
seq_name,
desc_type,
pcloud_root,
desc_root,
out_root,
inlier_thresh=0.1,
n_threads=1):
out_folder = osp.join(out_root, desc_type)
uio.may_create_folder(out_folder)
out_filename = '{}-{}-{:.2f}'.format(scene_name, seq_name, inlier_thresh)
if Path(osp.join(out_folder, out_filename + '.pkl')).is_file():
print('[*] {} already exists. Skip computation.'.format(out_filename))
return osp.join(out_folder, out_filename)
fragment_names = uio.list_files(osp.join(pcloud_root, scene_name,
seq_name),
'*.ply',
alphanum_sort=True)
fragment_names = [fn[:-4] for fn in fragment_names]
n_fragments = len(fragment_names)
register_results = [
RegisterResult(
frag1_name=fragment_names[i],
frag2_name=fragment_names[j],
num_inliers=None,
inlier_ratio=None,
gt_flag=None,
) for i in range(n_fragments) for j in range(i + 1, n_fragments)
]
poses = read_log(osp.join(pcloud_root, scene_name, seq_name, 'gt.log'))
if n_threads > 1:
from joblib import Parallel, delayed
import multiprocessing
results = Parallel(n_jobs=n_threads)(delayed(register_fragment_pair)(
scene_name, seq_name, k.frag1_name, k.frag2_name, desc_type, poses,
pcloud_root, desc_root, inlier_thresh) for k in register_results)
for k, res in enumerate(results):
register_results[k].num_inliers = res[0]
register_results[k].inlier_ratio = res[1]
register_results[k].gt_flag = res[2]
else:
for k in range(len(register_results)):
num_inliers, inlier_ratio, gt_flag = register_fragment_pair(
scene_name, seq_name, register_results[k].frag1_name,
register_results[k].frag2_name, desc_type, poses, pcloud_root,
desc_root, inlier_thresh)
register_results[k].num_inliers = num_inliers
register_results[k].inlier_ratio = inlier_ratio
register_results[k].gt_flag = gt_flag
with open(osp.join(out_folder, out_filename + '.pkl'), 'wb') as fh:
to_save = {
'register_results': register_results,
'scene_name': scene_name,
'seq_name': seq_name,
'desc_type': desc_type,
'inlier_thresh': inlier_thresh,
'n_threads': n_threads,
}
pickle.dump(to_save, fh, protocol=pickle.HIGHEST_PROTOCOL)
with open(osp.join(out_folder, out_filename + '.txt'), 'w') as fh:
for k in register_results:
fh.write('{} {} {} {:.8f} {}\n'.format(k.frag1_name, k.frag2_name,
k.num_inliers,
k.inlier_ratio, k.gt_flag))
return osp.join(out_folder, out_filename)
def collate_kpts(cfg, scene, seq):
import open3d as o3d
o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Error)
kpt_pair_folder = osp.join(cfg.out_root, scene, seq)
pcd_kpt_indices = defaultdict(list)
for npy_file in uio.list_files(kpt_pair_folder, '*.npy', True):
pcd_stem_i, pcd_stem_j = npy_file[:-4].split('-')
kpt_pairs = np.load(osp.join(kpt_pair_folder, npy_file))
pcd_kpt_indices[pcd_stem_i].extend(kpt_pairs[:, 0].tolist())
pcd_kpt_indices[pcd_stem_j].extend(kpt_pairs[:, 1].tolist())
if len(pcd_kpt_indices) < 1:
return
scene_points = list()
scene_normals = list()
labels = list()
for pcd_stem, kpt_indices in pcd_kpt_indices.items():
pcd = o3d.io.read_point_cloud(osp.join(cfg.dataset_root, scene, seq, pcd_stem + '.ply'))
pose = np.load(osp.join(cfg.dataset_root, scene, seq, pcd_stem + '.pose.npy'))
pcd.transform(pose)
pcd.normalize_normals()
uni_kpt_indices = list(set(kpt_indices))
scene_points.append(np.asarray(pcd.points)[uni_kpt_indices, :])
scene_normals.append(np.asarray(pcd.normals)[uni_kpt_indices, :])
labels.extend(list(zip([pcd_stem] * len(uni_kpt_indices), uni_kpt_indices)))
scene_points = np.concatenate(scene_points, axis=0)
scene_normals = np.concatenate(scene_normals, axis=0)
print(' {} scene points/normals'.format(len(scene_points)))
kdtree = o3d.geometry.KDTreeFlann(scene_points.T)
num_points = len(scene_points)
flags = [False] * num_points
identities = list()
for i in range(num_points):
if flags[i]: continue
[_, nn_indices,
nn_dists2] = kdtree.search_radius_vector_3d(scene_points[i, :], cfg.dist_thresh)
nn_indices = [j for j in nn_indices if not flags[j]]
nn_normal = [scene_normals[j] for j in nn_indices]
if len(nn_normal) < 2: continue
nn_normal = np.mean(np.asarray(nn_normal), axis=0)
nn_normal /= np.linalg.norm(nn_normal)
nn_pcd_indices = defaultdict(list)
for j in nn_indices:
if np.arccos(np.clip(np.dot(scene_normals[j], nn_normal), -1,
1)) > cfg.angle_thresh:
continue
nn_pcd_indices[labels[j][0]].append(labels[j][1])
if len(nn_pcd_indices) < 2: continue
identities.append({k: random.choice(v) for k, v in nn_pcd_indices.items()})
for j in nn_indices:
flags[j] = True
flags[i] = True
with open(osp.join(cfg.out_root, scene, '{}.kpts.pkl'.format(seq)), 'wb') as fh:
to_save = {'identities': identities}
pickle.dump(to_save, fh, protocol=pickle.HIGHEST_PROTOCOL)
print(' {} identities'.format(len(identities)))
