0.0.0

Author: kshitijgoel007

.gitattributes

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+test_data/benchmarking/copyroom_000010.pcd filter=lfs diff=lfs merge=lfs -text
+test_data/benchmarking/lounge_000641.pcd filter=lfs diff=lfs merge=lfs -text
+test_data/benchmarking/stonewall_000381.pcd filter=lfs diff=lfs merge=lfs -text
+test_data/benchmarking/lounge_model_000641.pkl filter=lfs diff=lfs merge=lfs -text
+test_data/benchmarking/stonewall_model_000381.pkl filter=lfs diff=lfs merge=lfs -text
+test_data/benchmarking/copyroom_model_000010.pkl filter=lfs diff=lfs merge=lfs -text
+test_data/FitSmallDim2/resp_ref.csv filter=lfs diff=lfs merge=lfs -text
+test_data/FitSmallDim2/weights.csv filter=lfs diff=lfs merge=lfs -text
+test_data/FitSmallDim2/covariances.csv filter=lfs diff=lfs merge=lfs -text
+test_data/FitSmallDim2/data.csv filter=lfs diff=lfs merge=lfs -text
+test_data/FitSmallDim2/means.csv filter=lfs diff=lfs merge=lfs -text
+test_data/FitSmallDim2/precisions_cholesky.csv filter=lfs diff=lfs merge=lfs -text
+test_data/kinit/center_id.txt filter=lfs diff=lfs merge=lfs -text
+test_data/kinit/rand_vals.txt filter=lfs diff=lfs merge=lfs -text

.gitignore

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+__pycache__/
+*.pyc
+*.pkl
+*.tex
+*.png
+.DS_Store
+*.ot
+html/
+*.pcd

LICENSE

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+BSD 3-Clause License
+
+Copyright (c) 2023, Kshitij Goel, Wennie Tabib
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

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+# Python Wrapper for SOGMM
+
+Please see the meta-package https://github.com/gira3d/gira3d-reconstruction for detailed documentation.

benchmarking_scripts/README.md

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+Scripts used for benchmarking SOGMM against existing methods.

benchmarking_scripts/bandwidth_var.py

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+import os
+import pathlib
+import argparse
+import glob
+import numpy as np
+from termcolor import cprint
+import open3d as o3d
+
+from sogmm_py.sogmm import SOGMM
+from sogmm_py.utils import ImageUtils, read_log_trajectory, np_to_o3d
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="mean shift approach py")
+    parser.add_argument('--datasetname', type=str)
+    parser.add_argument('--datasetroot', type=str)
+    parser.add_argument('--resultsroot', type=str)
+    parser.add_argument('--decimate', type=int)
+    parser.add_argument('--frames', nargs='+', type=int)
+    parser.add_argument('--tikz', type=bool)
+
+    args = parser.parse_args()
+
+    decimate_factor = args.decimate
+    datasets_root = args.datasetroot
+    dataset_name = args.datasetname
+    results_root = args.resultsroot
+
+    bandwidths = np.linspace(0.01, 0.05, 10)
+    cprint(bandwidths, 'red')
+
+    K = np.eye(3)
+    K[0, 0] = 525.0/decimate_factor
+    K[1, 1] = 525.0/decimate_factor
+    K[0, 2] = 319.5/decimate_factor
+    K[1, 2] = 239.5/decimate_factor
+
+    W = (int)(640/decimate_factor)
+    H = (int)(480/decimate_factor)
+
+    iu = ImageUtils(K)
+
+    rgb_glob_string = os.path.join(
+        datasets_root, dataset_name + '-color/*.jpg')
+    cprint('rgb glob string %s' % (rgb_glob_string), 'green')
+    depth_glob_string = os.path.join(
+        datasets_root, dataset_name + '-depth/*.png')
+    cprint('depth glob string %s' % (depth_glob_string), 'green')
+    traj_string = os.path.join(datasets_root, dataset_name + '-traj.log')
+    cprint('traj path %s' % (traj_string), 'green')
+
+    rgb_paths = sorted(glob.glob(rgb_glob_string))
+    depth_paths = sorted(glob.glob(depth_glob_string))
+    traj = read_log_trajectory(traj_string)
+
+    for i, fr in enumerate(args.frames):
+        cprint('processing frame %s in dataset %s' % (fr, args.datasetname), 'grey')
+
+        for b in bandwidths:
+            results_path = os.path.join(results_root, dataset_name + '_sogmm/' + dataset_name + '_' + str(b))
+
+            local_pcd_path = os.path.join(results_path, 'local_pcd_' + str(fr) + '.pcd')
+            pcld_gt, _ = iu.generate_pcld_wf(traj[fr].pose, rgb_path=rgb_paths[fr],
+                                        depth_path=depth_paths[fr],
+                                        size=(W, H))
+            pathlib.Path(results_path).mkdir(parents=True, exist_ok=True)
+
+            sg = SOGMM(b)
+            local_model_path = os.path.join(results_path, 'local_model_' + str(fr) + '.pkl')
+            local_model = sg.fit(pcld_gt)
+            sg.pickle_local_model(local_model, local_model_path)
+            o3d.io.write_point_cloud(local_pcd_path, np_to_o3d(pcld_gt))