def init(self, InputArgs=None):
self.Parser = argparse.ArgumentParser(description='NOCSMapModule to visualize NOCS maps and camera poses.', fromfile_prefix_chars='@')
ArgGroup = self.Parser.add_argument_group()
ArgGroup.add_argument('--models', nargs='+', help='Specify input OBJ model paths. * globbing is supported.', required=True)
ArgGroup.add_argument('--normalize', help='Choose to normalize models to lie within NOCS.', action='store_true')
self.Parser.set_defaults(normalize=False)
self.Args, _ = self.Parser.parse_known_args(InputArgs)
if len(sys.argv) <= 1:
self.Parser.print_help()
exit()
self.Models = []
self.OBJLoaders = []
for m in self.Args.models:
self.Models.append(datastructures.PointSet3D())
if self.Args.normalize == True:
print('[ INFO ]: Normalizing models to lie within NOCS.')
self.OBJLoaders.append(obj_loader.Loader(m, isNormalize=True))
else:
self.OBJLoaders.append(obj_loader.Loader(m, isNormalize=False))
if len(self.OBJLoaders[-1].vertices) > 0:
self.Models[-1].Points = np.array(self.OBJLoaders[-1].vertices)
if len(self.OBJLoaders[-1].vertcolors) > 0:
print('[ INFO ]: Found vertex colors. Will be used for rendering.')
self.Models[-1].Colors = np.asarray(self.OBJLoaders[-1].vertcolors)
else:
self.Models[-1].Colors = self.Models[-1].Points
self.Models[-1].update()
self.isDrawNOCSCube = True
self.isDrawPoints = False
self.isDrawMesh = True
self.isDrawBB = False
# self.RotateAngle = -90
# self.RotateAxis = np.array([1, 0, 0])
self.RotateAngle = 0
self.RotateAxis = np.array([1, 0, 0])
self.PointSize = 10.0
self.nModels = len(self.Args.models)
self.activeModelIdx = self.nModels # nModels will show all
def init(self, argv=None):
# print('Using arguments: ', argv)
self.argv = argv
if (len(argv) is not 1 + 1):
print('[ USAGE ]:', argv[0], '<ModelFileOBJ>')
exit()
self.ModelPoints = datastructures.PointSet3D()
self.OBJLoader = obj_loader.Loader(argv[1], isNormalize=True)
if len(self.OBJLoader.vertices) > 0:
self.vertices = self.OBJLoader.vertices
self.ModelPoints.Points = np.array(self.vertices)
self.ModelPoints.Colors = self.ModelPoints.Points
self.ModelPoints.update()
self.isDrawNOCSCube = True
self.isDrawPoints = False
self.isDrawMesh = True
self.RotateAngle = 0
self.PointSize = 10.0
def init(self, InputArgs=None):
self.Parser = argparse.ArgumentParser(description='NOCSMapModule to visualize NOCS maps and camera poses.', fromfile_prefix_chars='@')
ArgGroup = self.Parser.add_argument_group()
ArgGroup.add_argument('--models', nargs='+', help='Specify input OBJ model paths. * globbing is supported.', required=True)
ArgGroup.add_argument('--normalize', help='Choose to normalize models to lie within NOCS.', action='store_true')
self.Parser.set_defaults(normalize=False)
ArgGroup.add_argument('--color-order', help='Choose to color models with point color order.', action='store_true')
self.Parser.set_defaults(color_order=False)
ArgGroup.add_argument('--half-offset', help='Offset all points by +0.5.', action='store_true')
self.Parser.set_defaults(half_offset=False)
ArgGroup.add_argument('--color-file', help='Choose a color from file. Should match number of points in model.', required=False)
self.Args, _ = self.Parser.parse_known_args(InputArgs)
if len(sys.argv) <= 1:
self.Parser.print_help()
exit()
self.Models = []
self.OBJLoaders = []
for m in self.Args.models:
self.Models.append(datastructures.PointSet3D())
if self.Args.normalize == True:
print('[ INFO ]: Normalizing models to lie within NOCS.')
self.OBJLoaders.append(obj_loader.Loader(m, isNormalize=True))
else:
self.OBJLoaders.append(obj_loader.Loader(m, isNormalize=False))
if len(self.OBJLoaders[-1].vertices) > 0:
self.Models[-1].Points = np.array(self.OBJLoaders[-1].vertices)
if len(self.OBJLoaders[-1].vertcolors) > 0:
print('[ INFO ]: Found vertex colors. Will be used for rendering.')
self.Models[-1].Colors = np.asarray(self.OBJLoaders[-1].vertcolors)
else:
self.Models[-1].Colors = self.Models[-1].Points
if self.Args.color_file is not None:
print('[ INFO ]: Coloring models with file.')
Colors = np.load(self.Args.color_file)
# print(self.Models[-1].Colors.shape)
# print(Colors[:, :3].shape)
self.Models[-1].Colors = np.asarray(Colors[:, :3]) + 0.5
if self.Args.color_order == True:
print('[ INFO ]: Coloring models with point order color.')
Steps = np.linspace(0.0, 1.0, num=len(self.Models[-1]))
Colors = ColorPalette.mpl_colormap(Steps)
# print(self.Models[-1].Colors.shape)
# print(Colors[:, :3].shape)
self.Models[-1].Colors = np.asarray(Colors[:, :3])
# # TEMP
# np.save('colors', self.Models[-1].Points)
if self.Args.half_offset == True:
self.Models[-1].Points += 0.5
self.Models[-1].update()
self.isDrawNOCSCube = True
self.isDrawPoints = False
self.isDrawMesh = True
self.isDrawBB = False
self.isColorByOrder = False
# self.RotateAngle = -90
# self.RotateAxis = np.array([1, 0, 0])
self.RotateAngle = 0
self.RotateAxis = np.array([1, 0, 0])
self.PointSize = 10.0
self.nModels = len(self.Args.models)
self.activeModelIdx = self.nModels # nModels will show all
def loadData(self):
Palette = ColorBlind_10
NMFiles = self.getFileNames(self.Args.nocs_maps)
ColorFiles = [None] * len(NMFiles)
PoseFiles = [None] * len(NMFiles)
if self.Args.colors is not None:
ColorFiles = self.getFileNames(self.Args.colors)
if self.Args.poses is not None:
PoseFiles = self.getFileNames(self.Args.poses)
for (NMF, CF, PF) in zip(NMFiles, ColorFiles, PoseFiles):
NOCSMap = cv2.imread(NMF, -1)
NOCSMap = NOCSMap[:, :, :3] # Ignore alpha if present
NOCSMap = cv2.cvtColor(NOCSMap, cv2.COLOR_BGR2RGB) # IMPORTANT: OpenCV loads as BGR, so convert to RGB
if self.Intrinsics is None:
self.ImageSize = (NOCSMap.shape[1], NOCSMap.shape[0])
else:
NOCSMap = self.resizeAndPad(NOCSMap)
CFIm = None
if CF is not None:
CFIm = cv2.imread(CF)
CFIm = cv2.cvtColor(CFIm, cv2.COLOR_BGR2RGB) # IMPORTANT: OpenCV loads as BGR, so convert to RGB
if CFIm.shape != NOCSMap.shape: # Re-size only if not the same size as NOCSMap
CFIm = cv2.resize(CFIm, (NOCSMap.shape[1], NOCSMap.shape[0]), interpolation=cv2.INTER_CUBIC) # Ok to use cubic interpolation for RGB
NOCS = ds.NOCSMap(NOCSMap, RGB=CFIm)
self.NOCSMaps.append(NOCSMap)
self.NOCS.append(NOCS)
if self.Args.est_pose == True:
_, K, R, C, Flip = self.estimateCameraPoseFromNM(NOCSMap, NOCS, N=self.Args.num_points, Intrinsics=self.Intrinsics) # The rotation and translation are about the NOCS origin
self.CamIntrinsics.append(K)
self.CamRots.append(R)
self.CamPos.append(C)
self.CamFlip.append(Flip)
self.Cameras.append(ds.Camera(ds.CameraExtrinsics(self.CamRots[-1], self.CamPos[-1]), ds.CameraIntrinsics(self.CamIntrinsics[-1])))
if PF is not None:
with open(PF) as f:
data = json.load(f)
# Loading convention: Flip sign of x postiion, flip signs of quaternion z, w
P = np.array([data['position']['x'], data['position']['y'], data['position']['z']]) / self.Args.pose_scale
Quat = np.array([data['rotation']['w'], data['rotation']['x'], data['rotation']['y'], data['rotation']['z']]) # NOTE: order is w, x, y, z
# Cajole transforms to work
P[0] *= -1
P += 0.5
Quat = np.array([Quat[0], Quat[1], -Quat[2], -Quat[3]])
self.PosesPos.append(P)
R = quaternions.quat2mat(Quat).T
self.PosesRots.append(R)
else:
self.PosesPos.append(None)
self.PosesRots.append(None)
self.nNM = len(NMFiles)
self.activeNMIdx = self.nNM # len(NMFiles) will show all
# Load OBJ models
ModelFiles = self.getFileNames(self.Args.models)
for MF in ModelFiles:
self.OBJModels.append(obj_loader.Loader(MF, isNormalize=True))