add ref lm_full

ref/__init__.py

-from . import lmo_full, ycbv, hb, hb_bop19, tudl, tless, icbin, itodd
+from . import lmo_full, ycbv, hb, hb_bop19, tudl, tless, icbin, itodd, lm_full

ref/lm_full.py

+# encoding: utf-8
+"""This file includes necessary params, info."""
+import os
+import mmcv
+import os.path as osp
+
+import numpy as np
+
+# ---------------------------------------------------------------- #
+# ROOT PATH INFO
+# ---------------------------------------------------------------- #
+cur_dir = osp.abspath(osp.dirname(__file__))
+root_dir = osp.normpath(osp.join(cur_dir, ".."))
+# directory storing experiment data (result, model checkpoints, etc).
+output_dir = osp.join(root_dir, "output")
+
+data_root = osp.join(root_dir, "datasets")
+bop_root = osp.join(data_root, "BOP_DATASETS/")
+
+# ---------------------------------------------------------------- #
+# LINEMOD DATASET
+# ---------------------------------------------------------------- #
+dataset_root = osp.join(bop_root, "lm")
+train_dir = osp.join(dataset_root, "train")
+test_dir = osp.join(dataset_root, "test")
+model_dir = osp.join(dataset_root, "models")
+vertex_scale = 0.001
+model_eval_dir = osp.join(dataset_root, "models_eval")
+# scaled models (.obj)
+model_scaled_dir = osp.join(dataset_root, "models_scaled")
+model_scaled_simple_dir = osp.join(dataset_root, "models_scaled_f5k")
+
+train_synt_blender_dir = osp.join(dataset_root, "lm_blender/")
+
+# object info
+objects = [
+    "ape",
+    "benchvise",
+    "bowl",
+    "camera",
+    "can",
+    "cat",
+    "cup",
+    "driller",
+    "duck",
+    "eggbox",
+    "glue",
+    "holepuncher",
+    "iron",
+    "lamp",
+    "phone",
+]
+id2obj = {
+    1: "ape",
+    2: "benchvise",
+    3: "bowl",
+    4: "camera",
+    5: "can",
+    6: "cat",
+    7: "cup",
+    8: "driller",
+    9: "duck",
+    10: "eggbox",
+    11: "glue",
+    12: "holepuncher",
+    13: "iron",
+    14: "lamp",
+    15: "phone",
+}
+obj_num = len(id2obj)
+obj2id = {_name: _id for _id, _name in id2obj.items()}
+
+model_paths = [osp.join(model_dir, "obj_{:06d}.ply").format(_id) for _id in id2obj]
+texture_paths = None
+model_colors = [((i + 1) * 10, (i + 1) * 10, (i + 1) * 10) for i in range(obj_num)]  # for renderer
+
+diameters = (
+    np.array(
+        [
+            102.099,
+            247.506,
+            167.355,
+            172.492,
+            201.404,
+            154.546,
+            124.264,
+            261.472,
+            108.999,
+            164.628,
+            175.889,
+            145.543,
+            278.078,
+            282.601,
+            212.358,
+        ]
+    )
+    / 1000.0
+)
+
+# Camera info
+width = 640
+height = 480
+zNear = 0.25
+zFar = 6.0
+center = (height / 2, width / 2)
+camera_matrix = np.array([[572.4114, 0, 325.2611], [0, 573.57043, 242.04899], [0, 0, 1]])
+
+
+def get_models_info():
+    """key is str(obj_id)"""
+    models_info_path = osp.join(model_dir, "models_info.json")
+    assert osp.exists(models_info_path), models_info_path
+    models_info = mmcv.load(models_info_path)  # key is str(obj_id)
+    return models_info
+
+
+def get_fps_points():
+    """key is str(obj_id) generated by
+    core/gdrn_modeling/tools/lm/lm_1_compute_fps.py."""
+    fps_points_path = osp.join(model_dir, "fps_points.pkl")
+    assert osp.exists(fps_points_path), fps_points_path
+    fps_dict = mmcv.load(fps_points_path)
+    return fps_dict
+
+
+def get_keypoints_3d():
+    """key is str(obj_id) generated by
+    core/roi_pvnet/tools/lm/lm_1_compute_keypoints_3d.py."""
+    keypoints_3d_path = osp.join(model_dir, "keypoints_3d.pkl")
+    assert osp.exists(keypoints_3d_path), keypoints_3d_path
+    kpts_dict = mmcv.load(keypoints_3d_path)
+    return kpts_dict