Cpt.Captain/connecting_the_dots
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Modify syn data creation to use separate projector calibration data

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Cpt.Captain 2022-03-01 11:17:42 +01:00
parent 291cda7391
commit 52c9547d34
1 changed files with 17 additions and 12 deletions
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29
data/create_syn_data.py
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@ -90,7 +90,7 @@ def get_mesh(rng, min_z=0):
return verts, faces, colors, normals return verts, faces, colors, normals
def create_data(out_root, idx, n_samples, imsize, patterns, K, baseline, blend_im, noise, track_length=4): def create_data(out_root, idx, n_samples, imsize, patterns, K_cam, K_proj, baseline, blend_im, noise, track_length=4):
tic = time.time() tic = time.time()
rng = np.random.RandomState() rng = np.random.RandomState()
@ -139,17 +139,21 @@ def create_data(out_root, idx, n_samples, imsize, patterns, K, baseline, blend_i
# render the scene at multiple scales # render the scene at multiple scales
scales = [1, 0.5, 0.25, 0.125] scales = [1, 0.5, 0.25, 0.125]
for scale in scales: for scale in scales:
fx = K[0, 0] * scale fx_cam = K_cam[0, 0] * scale
fy = K[1, 1] * scale fy_cam = K_cam[1, 1] * scale
px = K[0, 2] * scale px_cam = K_cam[0, 2] * scale
py = K[1, 2] * scale py_cam = K_cam[1, 2] * scale
fx_proj = K_proj[0, 0] * scale
fy_proj = K_proj[1, 1] * scale
px_proj = K_proj[0, 2] * scale
py_proj = K_proj[1, 2] * scale
im_height = imsize[0] * scale // 1 im_height = imsize[0] * scale // 1
im_width = imsize[1] * scale // 1 im_width = imsize[1] * scale // 1
cams.append(renderer.PyCamera(fx, fy, px, py, Rcam, tcam, im_width, im_height)) cams.append(renderer.PyCamera(fx_cam, fy_cam, px_cam, py_cam, Rcam, tcam, im_width, im_height))
projs.append(renderer.PyCamera(fx, fy, px, py, Rproj, tproj, im_width, im_height)) projs.append(renderer.PyCamera(fx_proj, fy_proj, px_proj, py_proj, Rproj, tproj, im_width, im_height))
for s, cam, proj, pattern in zip(itertools.count(), cams, projs, patterns): for s, cam, proj, pattern in zip(itertools.count(), cams, projs, patterns):
fl = K[0, 0] / (2 ** s) fl = K_cam[0, 0] / (2 ** s)
shader = renderer.PyShader(0.5, 1.5, 0.0, 10) shader = renderer.PyShader(0.5, 1.5, 0.0, 10)
pyrenderer = renderer.PyRenderer(cam, shader, engine='gpu') pyrenderer = renderer.PyRenderer(cam, shader, engine='gpu')
@ -208,8 +212,9 @@ def load_camera_parameters():
# weird casting cause the values are str(float) (eg. '123.'), but we want int # weird casting cause the values are str(float) (eg. '123.'), but we want int
imsize = [int(float(x)) for x in cam_mat['opencv_storage']['img_shape']['data'].split()] imsize = [int(float(x)) for x in cam_mat['opencv_storage']['img_shape']['data'].split()]
K_shape = int(cam_mat['opencv_storage']['cam_int']['rows']), int(cam_mat['opencv_storage']['cam_int']['cols']) K_shape = int(cam_mat['opencv_storage']['cam_int']['rows']), int(cam_mat['opencv_storage']['cam_int']['cols'])
K = np.array(cam_mat['opencv_storage']['cam_int']['data'].split(), dtype=float).reshape(K_shape).T K_cam = np.array(cam_mat['opencv_storage']['cam_int']['data'].split(), dtype=float).reshape(K_shape).T
return imsize, K K_proj = np.array(cam_mat['opencv_storage']['proj_int']['data'].split(), dtype=float).reshape(K_shape).T
return imsize, K_cam, K_proj
if __name__ == '__main__': if __name__ == '__main__':
@ -242,7 +247,7 @@ if __name__ == '__main__':
objs = get_objs(shapenet_root, obj_classes) objs = get_objs(shapenet_root, obj_classes)
# camera parameters # camera parameters
imsize, K = load_camera_parameters() imsize, K_cam, K_proj = load_camera_parameters()
# remember what was set in the settings # remember what was set in the settings
imsize = settings_imsize imsize = settings_imsize
@ -278,5 +283,5 @@ if __name__ == '__main__':
# start the job # start the job
n_samples = 2 ** 10 + 2 ** 13 n_samples = 2 ** 10 + 2 ** 13
for idx in range(start, n_samples): for idx in range(start, n_samples):
args = (out_root, idx, n_samples, imsize, patterns, K, baseline, blend_im, noise, track_length) args = (out_root, idx, n_samples, imsize, patterns, K_cam, K_proj, baseline, blend_im, noise, track_length)
create_data(*args) create_data(*args)