Fixed some minor bugs

.gitignore

@@ -0,0 +1,12 @@
+fsc_data/data/images_1
+fsc_data/data/images_3
+fsc_data/inf_result
+fsc_data/video
+
+data_info_pre_test/*
+
+gps_logger
+ckpts/occformer_nusc_r50.pth
+Visual/*
+prediction/*
+single_view_test_nus/*

.vscode/launch.json

@@ -0,0 +1,110 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Python Debugger: Current File with Arguments",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "${file}",
+            "console": "integratedTerminal",
+            "args": [
+                "${command:pickArgs}"
+            ]
+        },
+        {
+            "name": "Debug test.pys",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "${workspaceFolder}/tools/test.py", // 请确保路径正确
+            "console": "integratedTerminal",
+            "args": [
+                "./projects/configs/occformer_nusc/occformer_nusc_r50_256x704.py",
+                "./ckpts/occformer_nusc_r50.pth",
+                "--eval=bbox",
+                "--pred-save=/home2/wzc/OccFormer/fsc_data/inf_result/prediction",
+                "--cfg-options", "data.test.ann_file=/home2/wzc/OccFormer/fsc_data/data/infos/data_info_0_40.pkl"
+            ],
+            "env": {
+                "PYTHONPATH": "${workspaceFolder}" // 可选，设置 Python 路径
+            },
+            "justMyCode": false // 允许调试库代码
+        },
+        {
+            "name": "Debug prepare_video_infos.py",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "${workspaceFolder}/projects/mmdet3d_plugin/tools/prepare_video_infos.py",
+            "console": "integratedTerminal",
+            "args": [
+                "--src-path", "/home2/wzc/UniAD/data/occformer_infos/nuscenes_infos_temporal_val.pkl",
+                "--dst-path", "/home2/wzc/UniAD/data/occformer_infos/nuscenes_infos_temporal_val_visualize.pkl",
+                "--data-path", "/home2/wzc/UniAD/data/nuscenes"
+            ],
+            "env": {
+                "PYTHONPATH": "${workspaceFolder}"
+            },
+            "justMyCode": false
+        },
+        {
+            "name": "Debug visualize_nusc_video.py",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "${workspaceFolder}/projects/mmdet3d_plugin/visualize/visualize_nusc_video.py",
+            "console": "integratedTerminal",
+            "args": [
+                "/home2/wzc/OccFormer/single_view_test_nus/prediction",
+                "/home2/wzc/OccFormer/single_view_test_nus/visual",
+                "--scene-name", "scene-0012"
+            ],
+            "env": {
+                "PYTHONPATH": "${workspaceFolder}"
+            },
+            "justMyCode": false,
+            // "preLaunchTask": "Run with xvfb",
+        },
+        {
+            "name": "Debug create_data.py",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "${workspaceFolder}/tools/create_data.py",
+            "console": "integratedTerminal",
+            "args": [
+                "nuscenes",
+                "--root-path", "/home2/wzc/UniAD/data/nuscenes",
+                "--out-dir", "/home2/wzc/OccFormer/data_info_pre_test",
+                "--extra-tag", "nuscenes",
+                "--version", "v1.0",
+                "--canbus", "/home2/wzc/UniAD/data/nuscenes"
+            ],
+            "env": {
+                "PYTHONPATH": "${workspaceFolder}"
+            },
+            "justMyCode": false
+        }, 
+        {
+            "name": "Debug dist_test.sh",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "${workspaceFolder}/tools/test.py", // 请确保路径正确
+            "console": "integratedTerminal",
+            "args": [
+                "--nproc_per_node=1", // 设置 GPU 数量，这里设为1进行调试
+                "--master_port=29503", // 保持与 dist_test.sh 中的默认端口一致
+                "projects/configs/occformer_nusc/occformer_nusc_r50_256x704.py",
+                "/home2/wzc/OccFormer/ckpts/occformer_nusc_r50.pth",
+                "--launcher", "pytorch",
+                "--deterministic",
+                "--eval", "bbox",
+                "--pred-save", "/home2/wzc/OccFormer/fsc_data/inf_result/prediction",
+                "--cfg-options", "data.test.ann_file=/home2/wzc/OccFormer/fsc_data/data/infos/data_info_1.pkl"
+            ],
+            "env": {
+                "PYTHONPATH": "${workspaceFolder}" // 可选，设置 Python 路径
+            },
+            "justMyCode": false // 允许调试库代码
+        },                                   
+    ]
+}

.vscode/tasks.json

@@ -0,0 +1,20 @@
+{
+    // See https://go.microsoft.com/fwlink/?LinkId=733558
+    // for the documentation about the tasks.json format
+    "version": "2.0.0",
+    "tasks": [
+        // {
+        //     "label": "Run with xvfb",
+        //     "type": "shell",
+        //     "command": "xvfb-run",
+        //     "args": [
+        //         "python",
+        //         "${workspaceFolder}/projects/mmdet3d_plugin/visualize/visualize_nusc_video.py",
+        //         "/home2/wzc/OccFormer/single_view_test/prediction",
+        //         "/home2/wzc/OccFormer/single_view_test/visual",
+        //         "--scene-name", "scene-0012"
+        //     ],
+        //     "problemMatcher": []
+        // }
+    ]
+}

blender_code/vocel_to_3D_final.py

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+#如下代码的运行结果只是赋予不同物体不同的颜色，材质名称是依次命名为了"Material_{i}"
+
+import bpy
+import pickle
+from mathutils import Vector
+
+# 读取 .pkl 文件
+file_path = '/Users/wangzhicheng/Desktop/FSD/Blender_3D/prediction/scene-0003/1533201470448696.pkl'
+with open(file_path, 'rb') as file:
+    data = pickle.load(file)
+
+# 体素参数
+voxel_data = data['pred_voxels']  # (256, 256, 32)
+voxel_size = (0.4, 0.4, 0.25) # 每个体素的实际大小 (x, y, z)
+origin = (-51.2, -51.2, -5) # 场景的原点 (对应 voxel 的 (0, 0, 0))
+
+# # 创建材质
+# materials = []
+# for i in range(17):
+#     mat = bpy.data.materials.new(name=f"Material_{i}")
+#     mat.diffuse_color = (i / 17, (17 - i) / 17, i / 34, 1)
+#     materials.append(mat)
+
+# 物体类别和它们对应的颜色 (RGBA)
+class_colors = [
+    [255, 120,  50, 255],       # barrier              orange
+    [255, 192, 203, 255],       # bicycle              pink
+    [255, 255,   0, 255],       # bus                  yellow
+    [  0, 150, 245, 255],       # car                  blue
+    [  0, 255, 255, 255],       # construction_vehicle cyan
+    [255, 127,   0, 255],       # motorcycle           dark orange
+    [255,   0,   0, 255],       # pedestrian           red
+    [255, 240, 150, 255],       # traffic_cone         light yellow
+    [135,  60,   0, 255],       # trailer              brown
+    [160,  32, 240, 255],       # truck                purple                
+    [255,   0, 255, 255],       # driveable_surface    dark pink
+    [139, 137, 137, 255],       # other_flat           dark red
+    [ 75,   0,  75, 255],       # sidewalk             dark purple
+    [150, 240,  80, 255],       # terrain              light green          
+    [230, 230, 250, 255],       # manmade              white
+    [  0, 175,   0, 255],       # vegetation           green
+]
+
+# 创建材质并设置颜色
+materials = []
+for i, color in enumerate(class_colors):
+    mat = bpy.data.materials.new(name=f"Material_{i}")
+    mat.diffuse_color = (color[0] / 255, color[1] / 255, color[2] / 255, color[3] / 255)
+    materials.append(mat)
+
+
+#-----------------------------------方法1:直接生成一个网格对象，而不是单独添加立方体-------------------------
+# 优化：批量创建体素网格
+verts = []
+faces = []
+face_materials = []  # 存储每个面的材质
+cube_count = 0
+
+for x in range(len(voxel_data)):
+    for y in range(len(voxel_data[0])):
+        for z in range(len(voxel_data[0][0])):
+            value = voxel_data[x][y][z]
+            if value != 0 and 0 <= value-1 < len(materials):   # 忽略值为 0 的体素
+                voxel_center = Vector((        # 计算体素中心的世界坐标
+                    origin[0] + x * voxel_size[0] + voxel_size[0] / 2,
+                    origin[1] + y * voxel_size[1] + voxel_size[1] / 2,
+                    origin[2] + z * voxel_size[2] + voxel_size[2] / 2,
+                ))
+
+                # 添加顶点 (立方体每个角点)
+                idx = len(verts)
+                size = Vector(voxel_size) / 2
+                verts.extend([                   #添加立方体的 8 个顶点到 verts 列表中
+                    voxel_center + Vector((-size.x, -size.y, -size.z)),
+                    voxel_center + Vector(( size.x, -size.y, -size.z)),
+                    voxel_center + Vector(( size.x,  size.y, -size.z)),
+                    voxel_center + Vector((-size.x,  size.y, -size.z)),
+                    voxel_center + Vector((-size.x, -size.y,  size.z)),
+                    voxel_center + Vector(( size.x, -size.y,  size.z)),
+                    voxel_center + Vector(( size.x,  size.y,  size.z)),
+                    voxel_center + Vector((-size.x,  size.y,  size.z)),
+                ])
+                # 添加面 (立方体的 6 个面)
+                faces.extend([                  #为每个立方体添加 6 个面到 faces 列表中
+                    (idx, idx+1, idx+2, idx+3),
+                    (idx+4, idx+5, idx+6, idx+7),
+                    (idx, idx+1, idx+5, idx+4),
+                    (idx+1, idx+2, idx+6, idx+5),
+                    (idx+2, idx+3, idx+7, idx+6),
+                    (idx+3, idx, idx+4, idx+7),
+                ])
+                # 为每个面分配材质
+                face_materials.extend([value-1] * 6)  # 每个面使用同样的材质
+
+                cube_count += 1
+
+# 创建网格对象
+mesh = bpy.data.meshes.new("VoxelMesh")          #创建一个新的网格对象（空网格）
+mesh.from_pydata(verts, [], faces)               #使用先前生成的顶点和面数据来填充网格对象
+obj = bpy.data.objects.new("VoxelObject", mesh)  #创建一个新的对象，将网格对象与新对象关联
+bpy.context.collection.objects.link(obj)         #将新对象链接到当前场景的集合中
+
+# 将所有的材质添加到对象的材质槽中。这里你逐个将materials列表中的材质添加到网格对象obj的data.materials属性中
+for i, mat in enumerate(materials):
+    obj.data.materials.append(mat)
+
+# 为每个面分配对应的材质
+for i, face in enumerate(mesh.polygons):
+    face.material_index = face_materials[i]
+
+print(f"Generated {cube_count} cubes.")
+
+
+#-----------------------------------方法2:单独添加立方体（软件会由于voxel过多直接卡死）-------------------------
+# # 遍历体素数据，生成立方体
+# for x in range(len(voxel_data)):
+#     for y in range(len(voxel_data[0])):
+#         for z in range(len(voxel_data[0][0])):
+#             value = voxel_data[x][y][z]
+#             if value != 0:  # 忽略值为 0 的体素
+#                 # 计算体素中心的世界坐标
+#                 voxel_center = (
+#                     origin[0] + x * voxel_size[0] + voxel_size[0] / 2,
+#                     origin[1] + y * voxel_size[1] + voxel_size[1] / 2,
+#                     origin[2] + z * voxel_size[2] + voxel_size[2] / 2,
+#                 )
+
+#                 # 添加立方体
+#                 bpy.ops.mesh.primitive_cube_add(
+#                     size=1,
+#                     location=voxel_center,
+#                 )
+
+#                 # 缩放立方体到正确的体素大小
+#                 bpy.context.object.scale = (voxel_size[0] / 2, voxel_size[1] / 2, voxel_size[2] / 2)
+
+#                 # 分配材质
+#                 bpy.context.object.data.materials.append(materials[value])