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'''
Modified from https://github.com/rasmushaugaard/surfemb/blob/master/surfemb/data/obj.py
'''
import os
import glob
import json
import numpy as np
import trimesh
from tqdm import tqdm
from data_utils import (
load_im,
)
class Obj:
def __init__(
self, obj_id,
mesh: trimesh.Trimesh,
model_points,
diameter: float,
symmetry_flag: int,
template_path: str,
n_template_view: int,
):
self.obj_id = obj_id
self.mesh = mesh
self.model_points = model_points
self.diameter = diameter
self.symmetry_flag = symmetry_flag
self._get_template(template_path, n_template_view)
def get_item(self, return_color=False, sample_num=2048):
if return_color:
model_points, _, model_colors = trimesh.sample.sample_surface(self.mesh, sample_num, sample_color=True)
model_points = model_points.astype(np.float32) / 1000.0
return (model_points, model_colors, self.symmetry_flag)
else:
return (self.model_points, self.symmetry_flag)
def _get_template(self, path, nView):
if nView > 0:
total_nView = len(glob.glob(os.path.join(path, 'rgb_*.png')))
self.template = []
self.template_mask = []
self.template_pts = []
for v in range(nView):
i = int(total_nView / nView * v)
rgb_path = os.path.join(path, 'rgb_'+str(i)+'.png')
xyz_path = os.path.join(path, 'xyz_'+str(i)+'.npy')
mask_path = os.path.join(path, 'mask_'+str(i)+'.png')
rgb = load_im(rgb_path).astype(np.uint8)
xyz = np.load(xyz_path).astype(np.float32) / 1000.0
mask = load_im(mask_path).astype(np.uint8) == 255
self.template.append(rgb)
self.template_mask.append(mask)
self.template_pts.append(xyz)
else:
self.template = None
self.template_choose = None
self.template_pts = None
def get_template(self, view_idx):
return self.template[view_idx], self.template_mask[view_idx], self.template_pts[view_idx]
def load_obj(
model_path, obj_id: int, sample_num: int,
template_path: str,
n_template_view: int,
):
models_info = json.load(open(os.path.join(model_path, 'models_info.json')))
mesh = trimesh.load_mesh(os.path.join(model_path, f'obj_{obj_id:06d}.ply'))
model_points = mesh.sample(sample_num).astype(np.float32) / 1000.0
diameter = models_info[str(obj_id)]['diameter'] / 1000.0
if 'symmetries_continuous' in models_info[str(obj_id)]:
symmetry_flag = 1
elif 'symmetries_discrete' in models_info[str(obj_id)]:
symmetry_flag = 1
else:
symmetry_flag = 0
return Obj(
obj_id, mesh, model_points, diameter, symmetry_flag,
template_path, n_template_view
)
def load_objs(
model_path='models',
template_path='render_imgs',
sample_num=512,
n_template_view=0,
show_progressbar=True
):
objs = []
obj_ids = sorted([int(p.split('/')[-1][4:10]) for p in glob.glob(os.path.join(model_path, '*.ply'))])
if n_template_view>0:
template_paths = sorted(glob.glob(os.path.join(template_path, '*')))
assert len(template_paths) == len(obj_ids), '{} template_paths, {} obj_ids'.format(len(template_paths), len(obj_ids))
else:
template_paths = [None for _ in range(len(obj_ids))]
cnt = 0
for obj_id in tqdm(obj_ids, 'loading objects') if show_progressbar else obj_ids:
objs.append(
load_obj(model_path, obj_id, sample_num,
template_paths[cnt], n_template_view)
)
cnt+=1
return objs, obj_ids
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