def __init__(self,
models_cad_files,
vertex_tmp_store_folder,
vertex_scale,
width,
height,
K,
augmenters,
vocdevkit_path,
min_num_objects_per_scene,
max_num_objects_per_scene,
near_plane=10,
far_plane=2000,
min_n_views=1000,
radius=650,
obj_ids=None,
model_type='reconst'):
self._models_cad_files = models_cad_files
self._width = width
self._height = height
self._radius = radius
self._K = K
self._augmenters = augmenters
self._min_num_objects_per_scene = min_num_objects_per_scene
self._max_num_objects_per_scene = max_num_objects_per_scene
self._near_plane = near_plane
self._far_plane = far_plane
self.obj_ids = np.array(obj_ids)
# pascal_imgs_path = os.path.join(vocdevkit_path, 'VOC2012/JPEGImages')
self._voc_imgs = glob.glob(os.path.join(
vocdevkit_path, '*.jpg')) + glob.glob(
os.path.join(vocdevkit_path, '*.png'))
print len(self._voc_imgs)
if model_type == 'reconst':
self._renderer = mr_phong.Renderer(
self._models_cad_files,
1,
vertex_tmp_store_folder=vertex_tmp_store_folder,
vertex_scale=vertex_scale)
elif model_type == 'cad':
self._renderer = mr.Renderer(
self._models_cad_files,
1,
vertex_tmp_store_folder=vertex_tmp_store_folder,
vertex_scale=vertex_scale)
else:
print 'unknown model_type, ', model_type
exit()
azimuth_range = (0, 2 * math.pi)
elev_range = (-0.5 * math.pi, 0.5 * math.pi)
self.all_views, _ = view_sampler.sample_views(min_n_views, radius,
azimuth_range,
elev_range)
# test pysixd sampler
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
import pysixd.view_sampler as vSampler
import numpy as np
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
# pts, pts_level = vSampler.hinter_sampling(60)
# pts = vSampler.fibonacci_sampling(49)
# use views to transform pt 1, 0, 0
views, levels = vSampler.sample_views(50)
pts = np.zeros(shape=(len(views), 3))
for i in range(len(views)):
view = views[i]
R = view['R']
t = view['t']
testPt = np.matrix([1.0, 0, 0]).T
temp = R.dot(testPt) + t
pts[i, :] = temp.reshape(3,)
print(pts.shape)
ax.scatter(xs=pts[:,0], ys=pts[:, 1], zs=pts[:, 2])
plt.show()
print("end of line for break points")
program['u_texture'] = np.zeros((1, 1, 4), np.float32)
# OpenGL setup
renderer.gl.glEnable(renderer.gl.GL_DEPTH_TEST)
renderer.gl.glViewport(0, 0, shape[1], shape[0])
renderer.gl.glDisable(renderer.gl.GL_CULL_FACE)
######################################################
# in our test, for complex objects fast-train performs badly...
fast_train = False # just scale templates
if fast_train:
# Sample views
# with camera tilt
views, views_level = view_sampler.sample_views(min_n_views, dep_anchors[0],
azimuth_range, elev_range,
tilt_range=(-math.pi, math.pi),
tilt_step=math.pi / 8)
print('Sampled views: ' + str(len(views)))
templateInfo_radius = dict()
for dep in dep_anchors:
templateInfo_radius[dep] = dict()
# Render the object model from all the views
for view_id, view in enumerate(views):
if view_id % 10 == 0:
print('obj,radius,view: ' + str(obj_id) +
',' + str(dep_anchors[0]) + ',' + str(view_id) + ', view_id: ', view_id)
model_path = par['model_mpath'].format(obj_id)
model = inout.load_ply(model_path)
# Load model texture
if par['model_texture_mpath']:
model_texture_path = par['model_texture_mpath'].format(obj_id)
model_texture = inout.load_im(model_texture_path)
else:
model_texture = None
obj_info = {}
obj_gt = {}
im_id = 0
for radius in radii:
# Sample views
views, views_level = view_sampler.sample_views(min_n_views, radius,
azimuth_range, elev_range)
print('Sampled views: ' + str(len(views)))
view_sampler.save_vis(out_views_vis_mpath.format(str(radius)),
views, views_level)
# Render the object model from all the views
for view_id, view in enumerate(views):
if view_id % 10 == 0:
print('obj,radius,view: ' + str(obj_id) +
',' + str(radius) + ',' + str(view_id))
# Render depth image
depth = renderer.render(model, par['cam']['im_size'], par['cam']['K'],
view['R'], view['t'],
clip_near, clip_far, mode='depth')
# Author: Tomas Hodan ([email protected]) # Center for Machine Perception, Czech Technical University in Prague # Example of sampling views from a view sphere. import os import sys sys.path.append(os.path.abspath('..')) from pysixd import view_sampler, misc min_n_views = 642 radius = 1 hemisphere = False out_views_vis_path = '../output/view_sphere.ply' misc.ensure_dir(os.path.dirname(out_views_vis_path)) # Sample views views, views_level = view_sampler.sample_views(min_n_views, radius, hemisphere) print('Sampled views: ' + str(len(views))) view_sampler.save_vis(out_views_vis_path, views)
# Load model
model_path = dp['model_mpath'].format(obj_id)
model = inout.load_ply(model_path)
# Load model texture
if dp['model_texture_mpath']:
model_texture_path = dp['model_texture_mpath'].format(obj_id)
model_texture = inout.load_im(model_texture_path)
else:
model_texture = None
for radius in radii:
# Sample views
views, views_level = view_sampler.sample_views(min_n_views, radius,
azimuth_range, elev_range,
tilt_range=(-math.pi/2, math.pi/2), tilt_step=0.2*math.pi)
print('Sampled views: ' + str(len(views)))
# Render the object model from all the views
for view_id, view in enumerate(views):
if view_id % 10 == 0:
print('obj,radius,view: ' + str(obj_id) +
',' + str(radius) + ',' + str(view_id))
# Render depth image
depth = render(model, dp['cam']['im_size'], dp['cam']['K'],
view['R'], view['t'],
clip_near, clip_far, mode='depth')
# Convert depth so it is in the same units as the real test images
# Load model
model_path = dp['model_mpath'].format(obj_id)
model = inout.load_ply(model_path)
# Load model texture
if dp['model_texture_mpath']:
model_texture_path = dp['model_texture_mpath'].format(obj_id)
model_texture = inout.load_im(model_texture_path)
else:
model_texture = None
im_id = 0
for radius in radii:
# Sample views
views, views_level = view_sampler.sample_views(min_n_views, radius,
azimuth_range, elev_range,
tilt_range=(0, 2*math.pi), tilt_step=0.1*math.pi)
print('Sampled views: ' + str(len(views)))
# Render the object model from all the views
for view_id, view in enumerate(views):
if view_id % 10 == 0:
print('obj,radius,view: ' + str(obj_id) +
',' + str(radius) + ',' + str(view_id))
# Render depth image
depth = render(model, dp['cam']['im_size'], dp['cam']['K'],
view['R'], view['t'],
clip_near, clip_far, mode='depth')
# Convert depth so it is in the same units as the real test images
model_path = p['model_mpath'].format(obj_id)
model = inout.load_ply(model_path)
# Load model texture
if p['model_texture_mpath']:
model_texture_path = p['model_texture_mpath'].format(obj_id)
model_texture = inout.load_im(model_texture_path)
else:
model_texture = None
obj_info = {}
obj_gt = {}
im_id = 0
for radius in radii:
# Sample views
views, views_level = view_sampler.sample_views(min_n_views, radius,
azimuth_range, elev_range)
print('Sampled views: ' + str(len(views)))
# view_sampler.save_vis(out_views_vis_mpath.format(str(radius)),
# views, views_level)
# Render the object model from all the views
for view_id, view in enumerate(views):
if view_id % 10 == 0:
print('obj,radius,view: ' + str(obj_id) +
',' + str(radius) + ',' + str(view_id))
# Render depth image
depth = renderer.render(model, p['cam']['im_size'], p['cam']['K'],
view['R'], view['t'],
clip_near, clip_far, mode='depth')
