def atlas_packed(self) -> torch.Tensor:
if self.isempty():
return torch.zeros(
(self._N, 0, 0, 3), dtype=torch.float32, device=self.device
)
atlas_list = self.atlas_list()
return list_to_packed(atlas_list)[0]
def test_list_to_packed(self):
device = torch.device("cuda:0")
N = 5
K = 20
x, x_dims = [], []
dim2 = torch.randint(K, size=(1, )).item()
for _ in range(N):
dim1 = torch.randint(K, size=(1, )).item()
x_dims.append(dim1)
x.append(torch.rand([dim1, dim2], device=device))
out = struct_utils.list_to_packed(x)
x_packed = out[0]
num_items = out[1]
item_packed_first_idx = out[2]
item_packed_to_list_idx = out[3]
cur = 0
for i in range(N):
self.assertTrue(num_items[i] == x_dims[i])
self.assertTrue(item_packed_first_idx[i] == cur)
self.assertTrue(item_packed_to_list_idx[cur:cur +
x_dims[i]].eq(i).all())
self.assertClose(x_packed[cur:cur + x_dims[i]], x[i])
cur += x_dims[i]
def faces_uvs_packed(self) -> torch.Tensor:
if self.isempty():
return torch.zeros((self._N, 3),
dtype=torch.float32,
device=self.device)
faces_uvs_list = self.faces_uvs_list()
return list_to_packed(faces_uvs_list)[0]
def verts_uvs_packed(self) -> torch.Tensor:
if self.isempty():
return torch.zeros((self._N, 2),
dtype=torch.float32,
device=self.device)
verts_uvs_list = self.verts_uvs_list()
return list_to_packed(verts_uvs_list)[0]
def transform_verts_list(verts_list, camera_info):
"""
input:
@meshes: verts_list in local frame
@camera_info: plane params from camera info, type = dict, must contain 'position' and 'rotation' as keys
output:
verts_list in global frame.
"""
tran = camera_info["position"]
rot = camera_info["rotation"]
verts_list_to_packed = struct_utils.list_to_packed(verts_list)
verts_packed = verts_list_to_packed[0]
num_verts_per_mesh = verts_list_to_packed[1]
verts_packed = verts_packed * torch.tensor(
[1.0, -1.0, -1.0], dtype=torch.float32) # suncg2habitat
rot_matrix = torch.tensor(quaternion.as_rotation_matrix(rot),
dtype=torch.float32)
verts_packed = torch.mm(rot_matrix, verts_packed.T).T + torch.tensor(
tran, dtype=torch.float32)
verts_list = list(verts_packed.split(num_verts_per_mesh.tolist(), dim=0))
return verts_list