From 86b6dd4bf65e52ad234209be430a7b08d601ed3d Mon Sep 17 00:00:00 2001
From: liuxingyu <lxy17@foxmail.com>
Date: Wed, 2 Nov 2022 13:27:15 +0800
Subject: [PATCH] add ref lm_full
---
ref/__init__.py | 2 +-
ref/lm_full.py | 132 ++++++++++++++++++++++++++++++++++++++++++++++++
2 files changed, 133 insertions(+), 1 deletion(-)
create mode 100644 ref/lm_full.py
diff --git a/ref/__init__.py b/ref/__init__.py
index 8adfaef..7072f6c 100644
--- a/ref/__init__.py
+++ b/ref/__init__.py
@@ -1 +1 @@
-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
diff --git a/ref/lm_full.py b/ref/lm_full.py
new file mode 100644
index 0000000..04218d3
--- /dev/null
+++ b/ref/lm_full.py
@@ -0,0 +1,132 @@
+# 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
--
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