minor

demo.py

@@ -23,35 +23,35 @@ def visualize(sceneID, add_objects=True, add_layout=True):
  visible=True)
  vis.get_render_option().mesh_show_back_face = True
 
+ sceneMesh = o3d.io.read_triangle_mesh(join(SCANS_DIR, sceneID, '%s_vh_clean_2.ply' % (sceneID)))
+ sceneMesh = alignPclMesh(sceneID, sceneMesh)
+ sceneMeshVert = np.array(sceneMesh.vertices)
+ trans = np.zeros((3,)) * 1.0
+ trans[0] = np.max(sceneMeshVert[:, 0]) - np.min(sceneMeshVert[:, 0])
+
+ finalMesh = deepcopy(sceneMesh)
+ layoutObjMeshList = []
  if add_objects:
  mctsObjs = MCTSObjs(sceneID, FLAGS.shapenet_dir)
+ if len(mctsObjs.mctsObjList) == 0:
+ print("WARNING: Objects missing for scene %s" % sceneID)
 
  # Create mesh with Bounding Boxes
  lineGeometryList = []
  geometryList = []
- for obj in mctsObjs.mctsObjList[0:]:
+ for obj in mctsObjs.mctsObjList:
  geometryList.append(obj.transMesh)
  col = [0, 0, 1]
  lineSets = drawOpen3dCylLines([obj.orientedBB], col)
  lineGeometryList.append(lineSets)
- finalMesh = deepcopy(mctsObjs.sceneMesh)
+
  for i in range(0, len(geometryList)):
  finalMesh += lineGeometryList[i]
  finalMesh += mctsObjs.mctsObjList[i].transMesh
 
- objMesh = deepcopy(geometryList[0])
- for i in range(1, len(geometryList)):
- objMesh += geometryList[i]
-
+ layoutObjMeshList = geometryList
 
 
- sceneMeshVert = np.array(mctsObjs.sceneMesh.vertices)
- trans = np.zeros((3,)) * 1.0
- trans[0] = np.max(sceneMeshVert[:, 0]) - np.min(sceneMeshVert[:, 0])
- vis.add_geometry(mctsObjs.sceneMesh)
- vis.add_geometry(objMesh.translate(trans * 1.1))
- vis.add_geometry(finalMesh.translate(trans * 1.1 * 2))
-
  if add_layout:
  sceneLayoutPath = os.path.join("outputs/scans/", sceneID, 'monte_carlo/FinalLayout.pickle')
  if not os.path.isfile(sceneLayoutPath):
@@ -61,8 +61,17 @@ def visualize(sceneID, add_objects=True, add_layout=True):
  layout_struct = pickle.load(f) # type: LayoutStruct
 
  wireframe = LayoutStructVis().get_layout_wireframe(layout_struct.comp_list)
+ layoutObjMeshList.append(wireframe)
+ finalMesh += wireframe
+
 
- vis.add_geometry(wireframe)
+ vis.add_geometry(sceneMesh)
+ if len(layoutObjMeshList) > 0:
+ layoutObjMesh = deepcopy(layoutObjMeshList[0])
+ for i in range(1, len(layoutObjMeshList)):
+ layoutObjMesh += layoutObjMeshList[i]
+ vis.add_geometry(layoutObjMesh.translate(trans * 1.1))
+ vis.add_geometry(finalMesh.translate(trans * 1.1 * 2))
 
  vis.run()
 

mcss_outputs/scans/scene0011_00/scene0011_00.txt

@@ -0,0 +1,18 @@
+axisAlignment = -0.996195 0.087156 0.000000 3.881280 -0.087156 -0.996195 0.000000 4.119080 0.000000 0.000000 1.000000 -0.071016 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999973 0.006791 0.002776 -0.037886 -0.006767 0.999942 -0.008366 -0.003410 -0.002833 0.008347 0.999961 -0.021924 -0.000000 0.000000 -0.000000 1.000000
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 571.623718
+fy_color = 1170.187988
+fy_depth = 571.623718
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 2374
+numDepthFrames = 2374
+numIMUmeasurements = 5023
+sceneType = Kitchen

mcss_outputs/scans/scene0645_00/scene0645_00.txt

@@ -0,0 +1,18 @@
+axisAlignment = 0.662620 0.748956 0.000000 -6.217770 -0.748956 0.662620 0.000000 -0.025965 0.000000 0.000000 1.000000 -0.054875 0.000000 0.000000 0.000000 1.000000 
+colorHeight = 968
+colorToDepthExtrinsics = 0.999973 0.006791 0.002776 -0.037886 -0.006767 0.999942 -0.008366 -0.003410 -0.002833 0.008347 0.999961 -0.021924 -0.000000 0.000000 -0.000000 1.000000
+colorWidth = 1296
+depthHeight = 480
+depthWidth = 640
+fx_color = 1170.187988
+fx_depth = 571.623718
+fy_color = 1170.187988
+fy_depth = 571.623718
+mx_color = 647.750000
+mx_depth = 319.500000
+my_color = 483.750000
+my_depth = 239.500000
+numColorFrames = 4503
+numDepthFrames = 4503
+numIMUmeasurements = 9542
+sceneType = Bedroom / Hotel

monte_carlo_model_search/mc_utilsObjects.py

@@ -114,23 +114,26 @@ def __init__(self, sceneID, SHAPENETCOREV2_DIR):
  self.SHAPENETCOREV2_DIR = SHAPENETCOREV2_DIR
  mctsPickleFile = join(SCANS_DIR, sceneID, 'monte_carlo', 'FinalCandidates.pickle')
 
- with open(mctsPickleFile, 'rb') as f:
- self.candList = pickle.load(f)
+ if os.path.exists(mctsPickleFile):
+ with open(mctsPickleFile, 'rb') as f:
+ self.candList = pickle.load(f)
 
- self.sceneID = sceneID
- self.sceneMesh = o3d.io.read_triangle_mesh(join(SCANS_DIR, sceneID, '%s_vh_clean_2.ply' % (sceneID)))
- self.sceneMesh = alignPclMesh(sceneID, self.sceneMesh)
+  self.sceneID = sceneID
+  self.sceneMesh = o3d.io.read_triangle_mesh(join(SCANS_DIR, sceneID, '%s_vh_clean_2.ply' % (sceneID)))
+  self.sceneMesh = alignPclMesh(sceneID, self.sceneMesh)
 
- # self.segMeshMinkNyu = o3d.io.read_point_cloud(join(SEGMENTATIONS_DIR, sceneID, '%s_segmented.ply' % (sceneID)))
- # self.segMeshMinkNyu = alignPclMesh(sceneID, self.segMeshMinkNyu)
+  # self.segMeshMinkNyu = o3d.io.read_point_cloud(join(SEGMENTATIONS_DIR, sceneID, '%s_segmented.ply' % (sceneID)))
+  # self.segMeshMinkNyu = alignPclMesh(sceneID, self.segMeshMinkNyu)
 
- if self.sceneID == 'scene0169_00' and False:
- segmentPclCols = np.array(self.segMeshMinkNyu.colors)
- segmentPclCols[
- np.round(segmentPclCols[:, 0] * 255) == nyuName2ID['cabinet']] = nyuName2ID['table'] / 255.
- self.segMeshMinkNyu.colors = o3d.utility.Vector3dVector(segmentPclCols)
+  if self.sceneID == 'scene0169_00' and False:
+  segmentPclCols = np.array(self.segMeshMinkNyu.colors)
+  segmentPclCols[
+  np.round(segmentPclCols[:, 0] * 255) == nyuName2ID['cabinet']] = nyuName2ID['table'] / 255.
+  self.segMeshMinkNyu.colors = o3d.utility.Vector3dVector(segmentPclCols)
 
- self.mctsObjList = self.getMCTSObjs()
+ self.mctsObjList = self.getMCTSObjs()
+ else:
+ self.mctsObjList = []
 
  def getMCTSObjs(self):
  # all objects are in axis aligned coordinate system