| ''' | |
| 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 | |