diff --git a/.gitattributes b/.gitattributes index a6344aac8c09253b3b630fb776ae94478aa0275b..43d3c0bb513a39c73df455eeea147948076df213 100644 --- a/.gitattributes +++ b/.gitattributes @@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text *.zip filter=lfs diff=lfs merge=lfs -text *.zst filter=lfs diff=lfs merge=lfs -text *tfevents* filter=lfs diff=lfs merge=lfs -text +dataset_metadata/manifests_h100/SHA256SUMS_tartanground.txt filter=lfs diff=lfs merge=lfs -text diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000000000000000000000000000000000000..0a709497157705b0b1ffa6aa220bb9d375259832 --- /dev/null +++ b/.gitignore @@ -0,0 +1,31 @@ +__pycache__/ +*.py[cod] +.DS_Store +.env +.venv/ +venv/ +*.egg-info/ + +# Local data, generated outputs, and large third-party artifacts. +data/* +!data/README.md +outputs/ +logs/ +checkpoints/ +third_party/* +!third_party/README.md +*.blend +*.glb +*.gltf +*.ply +*.obj +*.fbx +*.exr +*.npy +*.npz +*.pt +*.pth +*.ckpt + +# Keep checked-in result templates, but ignore local regenerated variants. +results/*.local.csv diff --git a/CITATION.cff b/CITATION.cff new file mode 100644 index 0000000000000000000000000000000000000000..ad423d2f9f723be2272759300b40eeda6f45fe31 --- /dev/null +++ b/CITATION.cff @@ -0,0 +1,9 @@ +cff-version: 1.2.0 +message: "If you use this code, please cite the associated anonymous NeurIPS submission during review and the camera-ready paper after publication." +title: "CM-EVS: Conflict-Minimized Efficient View Selection for Scalable 3D Scene Data Acquisition" +authors: + - family-names: "Anonymous" + given-names: "Authors" +date-released: 2026-04-27 +license: MIT + diff --git a/GITHUB_UPLOAD.md b/GITHUB_UPLOAD.md new file mode 100644 index 0000000000000000000000000000000000000000..135a09f062d3afda377ed15014621a89fb3317c2 --- /dev/null +++ b/GITHUB_UPLOAD.md @@ -0,0 +1,31 @@ +# Anonymous GitHub Upload Guide + +The NeurIPS review policy requires the code URL to be accessible and anonymized at submission time. Use an anonymous repository service or a repository that does not reveal author identity. + +## Final Local Check + +Run from the repository root: + +```bash +bash scripts/run_tiny.sh +rm -rf outputs +bash scripts/check_anonymity.sh +``` + +## Initialize and Push + +```bash +git init +git add . +git commit -m "Anonymous CM-EVS code release" +git branch -M main +git remote add origin +git push -u origin main +``` + +Before pushing, verify that `git status --short` does not include local scene data, rendered outputs, checkpoints, or third-party dataset assets. + +## OpenReview Field + +Paste the anonymous repository URL into the **Code URL** field. If the repository is mirrored through an anonymous hosting service, use the anonymized URL rather than a personal GitHub URL. + diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..2576bdcb29c74302eb9c2b24792b39023f51f2e0 --- /dev/null +++ b/LICENSE @@ -0,0 +1,22 @@ +MIT License + +Copyright (c) 2026 Anonymous Authors + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..6d6571d51cdc3bda9236b7dfb1324b23a7e5c3bf --- /dev/null +++ b/README.md @@ -0,0 +1,157 @@ +# CM-EVS Anonymous Code Release + +This repository contains the anonymous code release for **CM-EVS: Conflict-Minimized Efficient View Selection for Scalable 3D Scene Data Acquisition**. + +The release is intentionally organized around one primary review path: + +```text +Blender indoor .blend scenes + -> candidate generation + -> conflict-minimized view selection + -> selected ERP rendering + -> coverage, oracle-gap, and quality-audit outputs +``` + +HM3D/GLB and ScanNet++/PLY support is included as secondary adapters, but the first path reviewers should inspect is the Blender-indoor path. + +## Review-Ready Entry Points + +| Purpose | Command | +| --- | --- | +| No-data smoke test | `bash scripts/run_tiny.sh` | +| Blender-indoor dry run | `DRY_RUN=1 BLENDER=/path/to/blender INPUT_DIR=/path/to/blend_scenes bash scripts/run_blender_indoor.sh` | +| Full Blender-indoor run | `BLENDER=/path/to/blender INPUT_DIR=/path/to/blend_scenes bash scripts/run_blender_indoor.sh` | +| Summarize Blender-indoor run | `python3 scripts/summarize_blender_indoor_run.py --output-root outputs/blender_indoor` | +| Anonymity check | `bash scripts/check_anonymity.sh` | + +The smoke test is designed to run without private assets. The full Blender-indoor run requires local `.blend` scenes and a Blender executable. + +## Repository Layout + +```text +. +├── pipelines/ # full scene pipelines; Blender indoor is the primary path +├── scripts/ # review and reproduction entry points +├── configs/ # default and source-specific configs +├── core/ # ERP projection, tangent extraction, depth, and warping modules +├── tools/ # semantic and navigability helpers +├── utils/ # IO and pose utilities +├── examples/ # tiny Blender-indoor-style metadata example +├── metadata_examples/ # JSON schemas for candidate/selection logs +├── data/ # local data mount point, not tracked +├── third_party/ # optional external dependencies, not tracked +└── results/ # generated result CSVs +``` + +## Environment + +```bash +conda env create -f environment.yml +conda activate cmevs +``` + +If Conda is unavailable: + +```bash +python3 -m venv .venv +source .venv/bin/activate +pip install -r requirements.txt +``` + +## Minimal Smoke Test + +```bash +bash scripts/run_tiny.sh +``` + +Expected outputs: + +```text +outputs/tiny/metadata/candidates.jsonl +outputs/tiny/metadata/selected_viewpoints.json +outputs/tiny/metadata/per_step_log.jsonl +outputs/tiny/renders/ +outputs/tiny/results/coverage_main.csv +outputs/tiny/results/oracle_validation.csv +outputs/tiny/results/audit_50_frames.csv +``` + +This test validates the repository wiring and metadata contracts. It is not intended to reproduce paper-scale numbers. + +## Paper Experiments + +The driver scripts for the §6 evaluation experiments (fixed-budget coverage, oracle-gain validation, λ sweep, cross-source robustness, downstream depth) are scheduled to be released alongside the camera-ready paper. The current release ships the algorithmic core (`scripts/build_candidates.py`, `scripts/select_views.py`, `scripts/render_selected.py`), the per-stage evaluation building blocks (`scripts/evaluate_coverage.py`, `scripts/evaluate_oracle_gap.py`, `scripts/audit_quality.py`), and the metadata-contract example through the smoke test. Reviewers can verify the algorithmic core end-to-end via the smoke test above. + +## Primary Full Run: Blender Indoor + +Put `.blend` scenes under `data/blender_indoor/`, or point `INPUT_DIR` to another directory. Nested layouts are supported; the first subdirectory under `INPUT_DIR` is used as the scene name. + +Dry run: + +```bash +DRY_RUN=1 \ +BLENDER=/path/to/blender \ +INPUT_DIR=data/blender_indoor \ +OUTPUT_ROOT=outputs/blender_indoor \ +bash scripts/run_blender_indoor.sh +``` + +Full run: + +```bash +BLENDER=/path/to/blender \ +INPUT_DIR=data/blender_indoor \ +OUTPUT_ROOT=outputs/blender_indoor \ +NUM_FRAMES=30 \ +RESOLUTION=2048,1024 \ +bash scripts/run_blender_indoor.sh +``` + +Equivalent direct CLI: + +```bash +export PYTHONPATH="$PWD:$PWD/pipelines:${PYTHONPATH:-}" + +python3 pipelines/run_full_pipeline.py \ + --blender /path/to/blender \ + --input-dir data/blender_indoor \ + --output-root outputs/blender_indoor \ + --num-frames 30 \ + --resolution 2048,1024 \ + --grid-spacing 0.5 \ + --min-frames 5 \ + --stop-gain 0.08 +``` + +## Secondary Adapters + +The repository also includes adapters for additional sources used in robustness analyses: + +- `configs/blender_outdoor.yaml`: generic `.glb` / `.gltf` scenes. +- `configs/hm3d.yaml`: HM3D-style `.glb` / `.gltf` scenes. +- `configs/scannetpp.yaml`: ScanNet++-style `.ply` scenes. + +These adapters are provided for completeness, but the Blender-indoor route is the recommended first reviewer path. + +## Data and Checkpoints + +This repository does not redistribute third-party scene assets, dataset files, or model checkpoints. Put local assets under `data/` or pass absolute paths via CLI. The `data/` directory is ignored by git. + +Depth Pro is optional for ERPT-style depth fusion. If used, place it under: + +```text +third_party/ml-depth-pro/ +third_party/ml-depth-pro/checkpoints/depth_pro.pt +``` + +## Final Submission Check + +Before uploading the code URL or zip: + +```bash +bash scripts/run_tiny.sh +rm -rf outputs +bash scripts/check_anonymity.sh +``` + +The code is released under the MIT License for review. Dataset assets remain governed by their original licenses. diff --git a/README_REPRODUCE.md b/README_REPRODUCE.md new file mode 100644 index 0000000000000000000000000000000000000000..65efc5e482901d985228e18f1dd8b772be350ef1 --- /dev/null +++ b/README_REPRODUCE.md @@ -0,0 +1,95 @@ +# Reproducibility Guide + +This guide maps the code release to the experiments in the paper. The primary reproducibility path is Blender indoor; other sources are retained as secondary adapters for robustness checks. + +## Primary Asset Requirement + +| Source | Expected Input | Primary Command | +| --- | --- | --- | +| Blender indoor | `.blend` scenes | `scripts/run_blender_indoor.sh` | + +The repository does not redistribute scene assets. Reviewers can run the no-data smoke test immediately, and can run the full path after mounting local `.blend` scenes. + +## Secondary Assets + +| Source | Expected Input | Config | +| --- | --- | --- | +| Blender outdoor / generic meshes | `.glb` or `.gltf` | `configs/blender_outdoor.yaml` | +| HM3D | `.glb` or `.gltf` plus optional semantic/navmesh files | `configs/hm3d.yaml` | +| ScanNet++ | `.ply` | `configs/scannetpp.yaml` | + +## Building Blocks Available in This Release + +| Module | Purpose | Entry Point | +| --- | --- | --- | +| Candidate generation | Phase 1 of §3 — produce \(\mathcal{P}_\varphi\) | `scripts/build_candidates.py` | +| Conflict-aware selection | Phase 2 of §3 — greedy with \(s_t = G_t - \lambda L_t + \beta B_t\) | `scripts/select_views.py` | +| Selected-view rendering | Phase 3 — final ERP render from chosen candidates | `scripts/render_selected.py` | +| Coverage metric | §6.1 high-resolution oracle coverage | `scripts/evaluate_coverage.py` | +| Oracle-gain validation | §6.2 warping vs. pre-render-all comparison | `scripts/evaluate_oracle_gap.py` | +| Quality audit | Appendix F.2 50-frame audit | `scripts/audit_quality.py` | +| Run summarization | Aggregate per-scene `selected_frames.json` into a CSV | `scripts/summarize_blender_indoor_run.py` | +| Audit summarization | Aggregate per-frame audit results into a CSV | `scripts/summarize_quality_audit.py` | + +The §6 driver scripts that orchestrate these building blocks across an entire baseline sweep (e.g., the `K\!\in\!\{8,16,24,32\}` table of §6.1, the \(\lambda\) sweep of §6.5, and the four-source benchmark of §6.6) are scheduled to be released alongside the camera-ready paper. + +## Minimal Review Run + +```bash +bash scripts/run_tiny.sh +``` + +This validates the Blender-indoor-style metadata format, greedy selection loop, render-output contract, coverage metric, oracle-gap script, and quality audit script — end-to-end without any private scene assets. + +## Blender-Indoor Full Run + +```bash +DRY_RUN=1 \ +BLENDER=/path/to/blender \ +INPUT_DIR=/path/to/blend_scenes \ +OUTPUT_ROOT=outputs/blender_indoor \ +bash scripts/run_blender_indoor.sh +``` + +After confirming the detected scene list, remove `DRY_RUN=1`: + +```bash +BLENDER=/path/to/blender \ +INPUT_DIR=/path/to/blend_scenes \ +OUTPUT_ROOT=outputs/blender_indoor \ +NUM_FRAMES=30 \ +RESOLUTION=2048,1024 \ +GRID_SPACING=0.5 \ +bash scripts/run_blender_indoor.sh +``` + +## Metric Scripts + +The native Blender-indoor pipeline emits `selected_frames.json` under each scene output directory. Summarize a completed run with: + +```bash +python3 scripts/summarize_blender_indoor_run.py \ + --output-root outputs/blender_indoor \ + --output outputs/blender_indoor/results/coverage_main.csv +``` + +If you have consolidated candidate and selection metadata into the normalized JSONL/JSON contract used by the smoke test, use: + +```bash +python3 scripts/evaluate_coverage.py \ + --candidates outputs/blender_indoor/metadata/candidates.jsonl \ + --selected outputs/blender_indoor/metadata/selected_viewpoints.json \ + --output outputs/blender_indoor/results/coverage_main.csv + +python3 scripts/evaluate_oracle_gap.py \ + --candidates outputs/blender_indoor/metadata/candidates.jsonl \ + --selected outputs/blender_indoor/metadata/selected_viewpoints.json \ + --output outputs/blender_indoor/results/oracle_validation.csv + +python3 scripts/audit_quality.py \ + --render-dir outputs/blender_indoor/renders \ + --metadata outputs/blender_indoor/metadata/selected_viewpoints.json \ + --output outputs/blender_indoor/results/audit_50_frames.csv +``` + +The exact dataset paths should be adapted to the local machine. Do not commit generated data, logs, checkpoints, third-party repositories, or scene assets to the anonymous code repository. diff --git a/SHA256SUMS b/SHA256SUMS new file mode 100644 index 0000000000000000000000000000000000000000..87f11f527b8e0d8159b71c19f831dff215487857 --- /dev/null +++ b/SHA256SUMS @@ -0,0 +1,60 @@ +7c9e65d5cbe4069429eeb1b091992bb662d402f05fcc6689010af6d40a4b2170 .gitignore +56bad452228b39e39bc3b441c1451eae2e314a6e9b025063beb1a9475c93ade8 CITATION.cff +f6afa50672dccfb3c42c2468e6bbd6430bf3dd63a2a945ef356c82871b8b56b3 GITHUB_UPLOAD.md +2c14d7ac4ef207357073eabef1bc7f65853ab248237550a5542a59ba677f8ade LICENSE +53f3e568310533e684abb1260e61a3102e1361d7cf4cabb0cc6047c311deb31c README.md +efb670c7a9eef10060a1d50f36be3670402e20716f1c01d7ed70964ae1879e14 README_REPRODUCE.md +4cd137b698a2087a9d3a57c848a5484154324eb79139dfdd523a84b29b34eadd SUBMISSION_CHECKLIST.md +a195a9cdf86c7c2d23d5259fa0cb3cc75dd327411be3b3f5d78f227f36ad4a8c configs/base_erpt.yaml 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+a03153d20d38fb6805aaa980b659c1964d312f209605fbdbd692ef3b3db44232 scripts/summarize_quality_audit.py +e4cfbffc9ce620f47f977aa6a4cc78f546125ac33189948f5da8a41ac3bf5690 third_party/README.md +e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855 tools/__init__.py +043e8fc09641621a207543857f621195b9365e2da9ce9d8f6cfd6517cdcd99d9 tools/make_sha256sums.sh +1f28cb01c320379ce4138842f848fdcae2db224b805942d0e17c20d132c74609 tools/navmesh_utils.py +08dc49bc2f8bf272274625235f7a9eeec99f94bb3e011778731cc87f28157552 tools/semantic_utils.py +80b87f28df042b2789fd650aec2bbf97a29b6d3a20bb2b13b7dba3c64ec8e06a tools/update_croissant_with_real_hashes.py +1a930f2a701e468558e3953ca94c744c68747b7a0e25fe92c736a80b2876839e utils/__init__.py +4c06aec86567d13a8bb54a3fcb9e4826c57635fbc04c3ae49e3f9c43202cf88d utils/io_utils.py +6a6b8e7e61b3cad791e6337c2247a9986416250bd4a3ee2eaf2a5c42a9e0215d utils/pose_utils.py diff --git a/SUBMISSION_CHECKLIST.md b/SUBMISSION_CHECKLIST.md new file mode 100644 index 0000000000000000000000000000000000000000..dbafb7d1a94794ba1ce4bc9577eeba2397bad345 --- /dev/null +++ b/SUBMISSION_CHECKLIST.md @@ -0,0 +1,29 @@ +# Code Submission Checklist + +Use this checklist before pasting the Code URL into OpenReview. + +| Requirement | Status | Where to Check | +| --- | --- | --- | +| Anonymous repository content | Ready | `bash scripts/check_anonymity.sh` | +| Executable smoke test | Ready | `bash scripts/run_tiny.sh` | +| Primary Blender-indoor entry point | Ready | `scripts/run_blender_indoor.sh` | +| Native Blender-indoor result summarizer | Ready | `scripts/summarize_blender_indoor_run.py` | +| Per-stage evaluation building blocks | Ready | `scripts/evaluate_coverage.py`, `scripts/evaluate_oracle_gap.py`, `scripts/audit_quality.py` | +| Clear README | Ready | `README.md` | +| Reproducibility guide | Ready | `README_REPRODUCE.md` | +| Environment specification | Ready | `environment.yml`, `requirements.txt` | +| Dataset paths excluded | Ready | `.gitignore`, `data/README.md` | +| Third-party checkpoints excluded | Ready | `.gitignore`, `third_party/README.md` | +| License included | Ready | `LICENSE` | +| Metadata schemas included | Ready | `metadata_examples/` | +| Generated outputs excluded before upload | Check manually | `find . -maxdepth 2 -type d -name outputs` | + +Recommended final commands: + +```bash +bash scripts/run_tiny.sh +rm -rf outputs +bash scripts/check_anonymity.sh +``` + +Then upload the repository or zip archive. diff --git a/configs/base_erpt.yaml b/configs/base_erpt.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d3c74fc21d6c0f9dc6579d0a75ab87b636140404 --- /dev/null +++ b/configs/base_erpt.yaml @@ -0,0 +1,142 @@ +# ============================================================================= +# ERPT Pipeline Configuration（移植自原版 ERPT） +# 严格遵循 ERPT_native 坐标系约定：右手系 [X右, Y上, Z前] +# ============================================================================= + +# --- 数据路径 --- +data: + data_dir: "inputs" + output_dir: "outputs" + depth_dir: null # 可选：外部深度目录 + +# --- ERP 参数 --- +erp: + auto_size: true # 自动从图像检测尺寸 + width: 4096 # 参考宽度 + height: 2048 # 参考高度 + +# --- Tangent 切片参数（原版配置） --- +tangent: + scheme: "icosahedron" + num_faces: 20 + add_poles: true + face_resolution: 768 # 每个 face 的分辨率（像素） + fov_deg: 90.0 # 普通 face 的基础 FOV（度） + padding_factor: 1.3 # 有效 FOV = 90 * 1.3 = 117° + pole_fov_deg: 160.0 # 极区切片使用更大 FOV + pole_resolution: 768 # 极区分辨率 + pole_extra_rings: 2 # 额外极区密采样环数 + seam_wrap: true + +# --- Depth Pro 参数（原版配置） --- +depth_pro: + enabled: true + repo_dir: "third_party/ml-depth-pro" + checkpoint_path: "third_party/ml-depth-pro/checkpoints/depth_pro.pt" + precision: "fp16" # "fp32" | "fp16" | "bf16" + depth_def: "z" # "z" (z-depth) | "ray" (ray-depth) + pass_f_px: true # 传递已知焦距 + +# --- 深度融合参数（原版配置） --- +fusion: + blend_mode: "multiband" # "softmin_invdepth" | "multiband" + output_scale: 1.10 # 全局尺度校正 + + # 权重模式 + weight_mode: "cosine" + k: 4 # cosine 权重指数 + + # 深度竞争 + depth_competition: "softmin_invdepth" + softmin_alpha: 10.0 + + # 极区处理 + pole_boost: false + pole_boost_factor: 1.5 + pole_latitude_deg: 75.0 + pole_ramp_deg: 10.0 + + pole_ring: + enabled: false + min_latitude_deg: 60.0 + ramp_deg: 10.0 + + face_pole_suppress: + enabled: false + min_latitude_deg: 70.0 + ramp_deg: 10.0 + min_scale: 0.4 + + # 极区一致性校正 + pole_consistency: + enabled: true + min_latitude_deg: 60.0 + min_overlap_pixels: 4000 + max_abs_log_shift: 0.7 + ref_slice_types: ["face", "pole_ring"] + target_slice_types: ["pole_north", "pole_south"] + + # Z-buffer 门限 + project_zbuffer_eps_abs_m: 0.02 + project_zbuffer_eps_rel: 0.02 + + # Multiband 金字塔 + multiband: + levels: 6 + highfreq_levels: 2 + eps: 1.0e-6 + + # 有效性 + min_weight_sum: 1.0e-6 + +# --- Warp 参数（原版配置） --- +warp: + enabled: true + center_frame: 0 + target_frames: "auto" # "auto" 自动识别所有非中心帧；或指定列表如 [1, 2, 3] + + # Splatting 方法 + method: "softmax_splatting" # "softmax_splatting" | "zbuffer_splatting" | "zbuffer_point" + alpha: 2.0 # softmax 温度 + + # 自适应 Splat 半径 + splat_radius_px: 1.5 # 基础半径 + radius_min_px: 0.6 # 半径下限 + radius_max_px: 2.2 # 中纬度上限 + radius_max_pole_px: 3.4 # 极区上限 + pole_radius_scale: 3.0 # 极区放大因子 + pole_lat_threshold: 60.0 # 极区纬度阈值（度） + depth_radius_scale: false # 深度缩放 + depth_ref_m: 2.0 # 深度参考值 + depth_scale_factor: 1.0 # 深度已在 fusion.output_scale 烘焙 + depth_edge_aware: true # 深度边缘感知 + depth_edge_threshold: 0.3 # 深度梯度阈值 + depth_edge_min_scale: 0.12 # 边缘处最小半径缩放 + + # 遮挡门控 + occlusion_gate: + enabled: true + abs_eps_m: 0.05 + rel_eps: 0.05 + + # Z-buffer 参数 + zbuffer_eps_abs_m: 0.03 + zbuffer_eps_rel: 0.03 + zbuffer_min_weight: 0.001 + + # 空洞填充 + hole_fill_enabled: false + max_hole_px: 16 + + # 有效性 + min_weight_sum: 1.0e-4 + min_hit_sum: 1.0e-6 + + # 输出控制 + output_flow: true + output_depth: true + +# --- 运行参数 --- +run: + device: "cuda" + save_intermediates: true diff --git a/configs/blender_indoor.yaml b/configs/blender_indoor.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c5e9d9d27bb86f38e0ce16ba3157ad7a728853e5 --- /dev/null +++ b/configs/blender_indoor.yaml @@ -0,0 +1,17 @@ +experiment: + source: blender_indoor + input_kind: blend + +pipeline: + blender: /path/to/blender + input_dir: data/blender_indoor + output_root: outputs/blender_indoor + num_frames: 30 + resolution: "2048,1024" + grid_spacing: 0.5 + camera_height: null + min_frames: 5 + stop_gain: 0.08 + stop_score: -0.3 + stop_delta: 0.08 + diff --git a/configs/blender_outdoor.yaml b/configs/blender_outdoor.yaml new file mode 100644 index 0000000000000000000000000000000000000000..65a8d77df2fe1ac56e96cfa18561d1cdeae4cf34 --- /dev/null +++ b/configs/blender_outdoor.yaml @@ -0,0 +1,17 @@ +experiment: + source: blender_outdoor + input_kind: glb + +pipeline: + blender: /path/to/blender + input_dir: data/blender_outdoor + output_root: outputs/blender_outdoor + num_frames: 30 + resolution: "2048,1024" + grid_spacing: 1.0 + camera_height: null + min_frames: 5 + stop_gain: 0.08 + stop_score: -0.3 + stop_delta: 0.08 + diff --git a/configs/default.yaml b/configs/default.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1b4dfbe426cb6e83cdfa558c10623ba647e341ff --- /dev/null +++ b/configs/default.yaml @@ -0,0 +1,22 @@ +# Default review configuration. +# The anonymous release is organized around the Blender-indoor path. + +experiment: + source: blender_indoor + input_kind: blend + review_path: primary + +pipeline: + blender: /path/to/blender + input_dir: data/blender_indoor + output_root: outputs/blender_indoor + num_frames: 30 + resolution: "2048,1024" + grid_spacing: 0.5 + camera_height: null + min_frames: 5 + stop_gain: 0.08 + stop_score: -0.3 + stop_delta: 0.08 + rotation_type: random_yaw + diff --git a/configs/hm3d.yaml b/configs/hm3d.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0acbf51b900aeb98d28c21bafb9b3f2f03e708b9 --- /dev/null +++ b/configs/hm3d.yaml @@ -0,0 +1,17 @@ +experiment: + source: hm3d + input_kind: glb + +pipeline: + blender: /path/to/blender + input_dir: data/hm3d + output_root: outputs/hm3d + num_frames: 30 + resolution: "2048,1024" + grid_spacing: 0.5 + camera_height: null + min_frames: 5 + stop_gain: 0.08 + stop_score: -0.3 + stop_delta: 0.08 + diff --git a/configs/scannetpp.yaml b/configs/scannetpp.yaml new file mode 100644 index 0000000000000000000000000000000000000000..97e21408fcff7b8e13bceeda7e8b00b4b6b83e7b --- /dev/null +++ b/configs/scannetpp.yaml @@ -0,0 +1,17 @@ +experiment: + source: scannetpp + input_kind: ply + +pipeline: + input_dir: data/scannetpp + output_root: outputs/scannetpp + num_frames: 30 + resolution: "2048,1024" + grid_spacing: 0.5 + point_size: 2.0 + z_up: true + min_frames: 5 + stop_gain: 0.08 + stop_score: -0.3 + stop_delta: 0.08 + diff --git a/configs/tiny.yaml b/configs/tiny.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bc156b14239d7995a81c71adadde68734b6b1560 --- /dev/null +++ b/configs/tiny.yaml @@ -0,0 +1,15 @@ +experiment: + name: blender_indoor_tiny_smoke_test + mode: blender_indoor_tiny + random_seed: 2026 + +selection: + budget: 4 + lambda_conflict: 0.35 + min_gain: 0.01 + +outputs: + root: outputs/tiny + metadata_dir: outputs/tiny/metadata + render_dir: outputs/tiny/renders + result_dir: outputs/tiny/results diff --git a/core/__init__.py b/core/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..2dd4ebd16c55fa390d9c0646ad1459ce562a161f --- /dev/null +++ b/core/__init__.py @@ -0,0 +1,35 @@ +""" +ERPT Core 模块 + +包含： +- tangent_extraction: ERP -> Tangent 切片生成 +- depth_estimation: Depth Pro 深度估计 +- depth_fusion: Tangent Depth -> ERP Depth 融合 +- coordinate: 坐标系定义（锁定） +- erp_projection: ERP 投影（锁定） +""" +from .tangent_extraction import ( + TangentSlice, + build_icosahedron_slices, + extract_all_tangents, + extract_tangent_from_erp, + compute_coverage_mask, + compute_ray_directions_for_slice, +) + +from .depth_estimation import ( + DepthEstimator, + estimate_all_tangent_depths, +) + +from .depth_fusion import ( + fuse_tangent_depths_to_erp, + visualize_depth, + save_depth_visualization, +) + +from .erp_warp import ( + WarpResult, + warp_erp_to_target, + create_comparison_image, +) diff --git a/core/coordinate.py b/core/coordinate.py new file mode 100644 index 0000000000000000000000000000000000000000..36f0e13d68042577bd149e6be261261374ed8aee --- /dev/null +++ b/core/coordinate.py @@ -0,0 +1,191 @@ +""" +坐标系约定和四元数工具 + +ERPT_native 坐标系标准： +- 世界坐标系：右手系 [X右, Y上, Z前] +- 满足：X × Y = Z（右手法则） +- ERP投影约定： + - lon = atan2(x, z)：经度，范围 [-π, π] + - lat = asin(y)：纬度，范围 [-π/2, π/2] + - 图像中心（u=W/2, v=H/2）看向 +Z 方向 + - 图像顶部是 +Y 方向（上） + +位姿格式： +- position: [x, y, z]，相机中心在世界坐标系的位置（米） +- rotation_quaternion: [w, x, y, z]，表示 camera->world 旋转 (R_cw) + +数学约定： +- P_world = R_cw @ P_cam + t（相机坐标系到世界坐标系） +- P_cam = R_wc @ (P_world - t)（世界坐标系到相机坐标系） +- R_wc = R_cw^T +""" + +import numpy as np +from typing import Tuple + + +def quat_wxyz_to_rotation_matrix(q: np.ndarray) -> np.ndarray: + """ + 四元数转旋转矩阵 + + 输入四元数表示 camera->world 旋转 (R_cw) + + Args: + q: (4,) 四元数 [w, x, y, z]，需归一化 + + Returns: + R: (3, 3) 旋转矩阵 R_cw + """ + q = np.asarray(q, dtype=np.float64).flatten() + assert q.shape == (4,), f"Expected shape (4,), got {q.shape}" + + # 归一化 + norm = np.linalg.norm(q) + if norm < 1e-9: + raise ValueError(f"Quaternion norm too small: {norm}") + q = q / norm + + w, x, y, z = q[0], q[1], q[2], q[3] + + # 旋转矩阵公式 + R = np.array([ + [1 - 2*(y*y + z*z), 2*(x*y - w*z), 2*(x*z + w*y)], + [2*(x*y + w*z), 1 - 2*(x*x + z*z), 2*(y*z - w*x)], + [2*(x*z - w*y), 2*(y*z + w*x), 1 - 2*(x*x + y*y)] + ], dtype=np.float64) + + return R + + +def rotation_matrix_to_quat_wxyz(R: np.ndarray) -> np.ndarray: + """ + 旋转矩阵转四元数 + + Args: + R: (3, 3) 旋转矩阵 + + Returns: + q: (4,) 四元数 [w, x, y, z] + """ + R = np.asarray(R, dtype=np.float64).reshape(3, 3) + + # 确保正交性（SVD正交化） + U, _, Vt = np.linalg.svd(R) + R = U @ Vt + if np.linalg.det(R) < 0: + U[:, -1] *= -1 + R = U @ Vt + + # Shepperd's method + trace = np.trace(R) + + if trace > 0: + s = 2.0 * np.sqrt(trace + 1.0) + w = 0.25 * s + x = (R[2, 1] - R[1, 2]) / s + y = (R[0, 2] - R[2, 0]) / s + z = (R[1, 0] - R[0, 1]) / s + elif R[0, 0] > R[1, 1] and R[0, 0] > R[2, 2]: + s = 2.0 * np.sqrt(1.0 + R[0, 0] - R[1, 1] - R[2, 2]) + w = (R[2, 1] - R[1, 2]) / s + x = 0.25 * s + y = (R[0, 1] + R[1, 0]) / s + z = (R[0, 2] + R[2, 0]) / s + elif R[1, 1] > R[2, 2]: + s = 2.0 * np.sqrt(1.0 + R[1, 1] - R[0, 0] - R[2, 2]) + w = (R[0, 2] - R[2, 0]) / s + x = (R[0, 1] + R[1, 0]) / s + y = 0.25 * s + z = (R[1, 2] + R[2, 1]) / s + else: + s = 2.0 * np.sqrt(1.0 + R[2, 2] - R[0, 0] - R[1, 1]) + w = (R[1, 0] - R[0, 1]) / s + x = (R[0, 2] + R[2, 0]) / s + y = (R[1, 2] + R[2, 1]) / s + z = 0.25 * s + + q = np.array([w, x, y, z], dtype=np.float64) + + # 归一化 + q = q / np.linalg.norm(q) + + # 确保 w >= 0（唯一性） + if q[0] < 0: + q = -q + + return q + + +def R_cw_to_R_wc(R_cw: np.ndarray) -> np.ndarray: + """ + camera->world 旋转矩阵转换为 world->camera + + R_wc = R_cw^T + + Args: + R_cw: (3, 3) camera->world 旋转矩阵 + + Returns: + R_wc: (3, 3) world->camera 旋转矩阵 + """ + return R_cw.T + + +def R_wc_to_R_cw(R_wc: np.ndarray) -> np.ndarray: + """ + world->camera 旋转矩阵转换为 camera->world + + R_cw = R_wc^T + + Args: + R_wc: (3, 3) world->camera 旋转矩阵 + + Returns: + R_cw: (3, 3) camera->world 旋转矩阵 + """ + return R_wc.T + + +def validate_rotation_matrix(R: np.ndarray, tol: float = 1e-5) -> Tuple[bool, str]: + """ + 验证旋转矩阵的有效性 + + Args: + R: (3, 3) 待验证的矩阵 + tol: 容差 + + Returns: + (is_valid, message) + """ + R = np.asarray(R, dtype=np.float64).reshape(3, 3) + + # 检查正交性：R^T @ R = I + I = R.T @ R + orth_err = np.max(np.abs(I - np.eye(3))) + if orth_err > tol: + return False, f"Orthogonality error: {orth_err:.6e} > {tol}" + + # 检查行列式：det(R) = +1 + det = np.linalg.det(R) + if np.abs(det - 1.0) > tol: + return False, f"Determinant error: det(R)={det:.6f}, expected 1.0" + + return True, "Valid rotation matrix" + + +def orthonormalize_rotation(R: np.ndarray) -> np.ndarray: + """ + 使用SVD正交化旋转矩阵 + + Args: + R: (3, 3) 近似旋转矩阵 + + Returns: + R_orth: (3, 3) 正交化后的旋转矩阵 + """ + U, _, Vt = np.linalg.svd(R) + R_orth = U @ Vt + if np.linalg.det(R_orth) < 0: + U[:, -1] *= -1 + R_orth = U @ Vt + return R_orth diff --git a/core/depth_estimation.py b/core/depth_estimation.py new file mode 100644 index 0000000000000000000000000000000000000000..b6130c9de863d3539400a70f4c89f251d6316d0d --- /dev/null +++ b/core/depth_estimation.py @@ -0,0 +1,185 @@ +""" +Depth Pro Wrapper（移植自原版 ERPT） + +封装 Apple Depth Pro 单目深度估计模型。 + +API 使用说明: + 1. 使用 depth_pro.create_model_and_transforms() 创建模型和预处理 transforms + 2. 输入 RGB 图像 (PIL Image 或 numpy array) + 3. 调用 model.infer(image, f_px=focal_length) 得到深度 + 4. 输出 depth 单位为米 (m) + +深度定义: + - Depth Pro 输出的是透视相机的 z-depth (沿相机前向轴的深度) +""" +from __future__ import annotations + +import os +import sys +from pathlib import Path +from typing import Any, Dict, List, Optional, Tuple + +import numpy as np +import torch +from PIL import Image + +from .tangent_extraction import TangentSlice + +# 模型缓存，避免重复加载 +_MODEL_CACHE: Dict[str, Tuple[torch.nn.Module, Any]] = {} + + +def _get_precision(cfg: Dict[str, Any]) -> torch.dtype: + """获取计算精度""" + prec = cfg.get("depth_pro", {}).get("precision", "fp16") + if prec == "fp16": + return torch.float16 + elif prec == "bf16": + return torch.bfloat16 + return torch.float32 + + +def _load_depthpro_model( + cfg: Dict[str, Any], + device: torch.device, +) -> Tuple[torch.nn.Module, Any]: + """ + 加载 Depth Pro 模型和 transforms + + Depth Pro 默认从 ./checkpoints/depth_pro.pt 加载权重， + 因此需要切换到 repo 目录加载模型。 + """ + dcfg = cfg.get("depth_pro", {}) + + # 获取 Depth Pro 仓库目录 + repo_dir = Path(dcfg.get("repo_dir", "third_party/ml-depth-pro")) + if not repo_dir.is_absolute(): + root = Path(str(cfg.get("_project_root", Path.cwd()))) + repo_dir = root / repo_dir + + checkpoint_path = repo_dir / "checkpoints" / "depth_pro.pt" + + precision = _get_precision(cfg) + cache_key = f"{checkpoint_path}_{device}_{precision}" + + if cache_key in _MODEL_CACHE: + return _MODEL_CACHE[cache_key] + + # 添加 Depth Pro 路径到 sys.path + if repo_dir.exists(): + src_path = str(repo_dir / "src") + if src_path not in sys.path: + sys.path.insert(0, src_path) + if str(repo_dir) not in sys.path: + sys.path.insert(0, str(repo_dir)) + + try: + import depth_pro + except ImportError as e: + raise RuntimeError( + f"Failed to import depth_pro module. " + f"Please ensure ml-depth-pro is installed at {repo_dir}\n" + f"Error: {e}" + ) from e + + if not checkpoint_path.exists(): + raise FileNotFoundError( + f"Depth Pro checkpoint not found: {checkpoint_path}\n" + f"Please place depth_pro.pt in {checkpoint_path.parent}" + ) + + print(f"[DepthPro] Loading model from {checkpoint_path}") + print(f"[DepthPro] Device: {device}, Precision: {precision}") + + # 保存当前目录并切换到 repo_dir（Depth Pro 默认从 ./checkpoints 加载） + original_cwd = os.getcwd() + try: + os.chdir(repo_dir) + + # 使用官方 API 加载模型 + model, transform = depth_pro.create_model_and_transforms( + device=device, + precision=precision, + ) + + model.eval() + print(f"[DepthPro] Model loaded successfully") + + finally: + os.chdir(original_cwd) + + _MODEL_CACHE[cache_key] = (model, transform) + return model, transform + + +class DepthEstimator: + """ + Depth Pro 深度估计器封装类 + + 提供统一的接口用于批量深度估计。 + """ + + def __init__(self, cfg: Dict[str, Any], device: torch.device): + self.cfg = cfg + self.device = device + self.model, self.transform = _load_depthpro_model(cfg, device) + self.pass_f_px = bool(cfg.get("depth_pro", {}).get("pass_f_px", True)) + + @torch.no_grad() + def predict_single(self, rgb: np.ndarray, f_px: Optional[float] = None) -> np.ndarray: + """ + 单张图像深度预测 + + Args: + rgb: (H, W, 3) uint8 numpy array + f_px: 可选的 focal length (像素) + + Returns: + (H, W) float32 numpy array, 单位米 + """ + pil_img = Image.fromarray(rgb.astype(np.uint8)) + img_tensor = self.transform(pil_img) + + f_px_tensor = None + if f_px is not None and self.pass_f_px: + f_px_tensor = torch.tensor([f_px], device=self.device) + + prediction = self.model.infer(img_tensor, f_px=f_px_tensor) + return prediction["depth"].detach().cpu().float().numpy().astype(np.float32) + + +def estimate_all_tangent_depths( + tangent_rgbs: Dict[str, np.ndarray], + slices: List[TangentSlice], + cfg: Dict[str, Any], + device: torch.device, +) -> Dict[str, np.ndarray]: + """ + 对所有切片估计深度 + + Args: + tangent_rgbs: {slice_id: rgb_array} 字典 + slices: 切片规格列表 + cfg: 配置字典 + device: 计算设备 + + Returns: + tangent_depths: {slice_id: depth_array} 字典 + """ + estimator = DepthEstimator(cfg, device) + + # 建立 slice_id -> f_px 映射 + f_px_map = {s.slice_id: s.f_px for s in slices} + + results = {} + total = len(tangent_rgbs) + + for i, (slice_id, rgb) in enumerate(tangent_rgbs.items()): + f_px = f_px_map.get(slice_id) + depth = estimator.predict_single(rgb, f_px=f_px) + results[slice_id] = depth + + print(f" [{i+1}/{total}] {slice_id}: " + f"depth range [{depth.min():.2f}, {depth.max():.2f}] m") + + return results diff --git a/core/depth_fusion.py b/core/depth_fusion.py new file mode 100644 index 0000000000000000000000000000000000000000..4df18bdbc08b13f9262dde71acc7801bb93b58c7 --- /dev/null +++ b/core/depth_fusion.py @@ -0,0 +1,769 @@ +""" +Tangent Depth -> ERP Depth 融合模块（完整移植自原版 ERPT） + +核心功能： +1. 将每个切片的深度回投影到 ERP +2. 使用 cosine 权重实现平滑融合（无块状边界） +3. 使用 softmin(1/depth) 处理重叠区深度竞争 +4. 极区增强处理 +5. Multiband 金字塔融合（消除接缝） +6. Pole consistency 极区深度对齐 +7. Z-buffer 门控投影（保持边缘锐利） + +关键算法： +- Cosine 权重: w_face = max(0, dot(ray, face_center))^k +- Depth 竞争: softmin(1/depth) 确保近处优先且平滑过渡 +- Forward splatting 将切片像素投影到 ERP +- Multiband: Gaussian/Laplacian 金字塔融合 + +输出： +- depth_range: ERP range depth (float32, meters) +- weight_sum: 权重和（用于 debug） +- valid_mask: 有效掩码 +""" +from __future__ import annotations + +import math +from pathlib import Path +from typing import Any, Dict, List, Optional, Tuple + +import numpy as np +import torch + +from .tangent_extraction import TangentSlice + + +# ============================================================================= +# 基础工具函数 +# ============================================================================= + +def compute_cosine_weight( + ray_dirs: torch.Tensor, + face_center: torch.Tensor, + k: float = 4.0, +) -> torch.Tensor: + """ + 计算 cosine 权重: w = max(0, dot(ray, face_center))^k + """ + dots = torch.sum(ray_dirs * face_center.view(1, 1, 3), dim=-1) + weights = torch.clamp(dots, min=0.0) ** k + return weights + + +def _dirs_to_erp_uv( + dirs_world: torch.Tensor, + erp_h: int, + erp_w: int, +) -> Tuple[torch.Tensor, torch.Tensor]: + """将世界坐标方向转换为 ERP 像素坐标""" + x = dirs_world[..., 0] + y = dirs_world[..., 1] + z = dirs_world[..., 2] + + lon = torch.atan2(x, z) + lat = torch.asin(torch.clamp(y, -1.0, 1.0)) + + u = (lon + math.pi) / (2.0 * math.pi) * float(erp_w) + u = torch.remainder(u, float(erp_w)) + v = (math.pi / 2.0 - lat) / math.pi * float(erp_h - 1) + v = torch.clamp(v, 0.0, float(erp_h - 1)) + + return u, v + + +# ============================================================================= +# 极区权重处理 +# ============================================================================= + +def _apply_pole_weights( + slice_type: str, + dirs_world: torch.Tensor, + base_weight: torch.Tensor, + fusion_cfg: Dict[str, Any], +) -> torch.Tensor: + """极区权重门控与增强""" + # pole_ring gating + pole_ring_cfg = fusion_cfg.get("pole_ring", {}) + pole_ring_enabled = bool(pole_ring_cfg.get("enabled", True)) + pole_ring_min_lat_deg = float(pole_ring_cfg.get("min_latitude_deg", 60.0)) + pole_ring_ramp_deg = float(pole_ring_cfg.get("ramp_deg", 10.0)) + + if slice_type == "pole_ring": + if not pole_ring_enabled: + return torch.zeros_like(base_weight) + lat = torch.asin(torch.clamp(dirs_world[..., 1], -1.0, 1.0)) * (180.0 / math.pi) + abs_lat = torch.abs(lat) + ramp = torch.clamp( + (abs_lat - pole_ring_min_lat_deg) / max(pole_ring_ramp_deg, 1e-3), + min=0.0, max=1.0, + ) + return base_weight * ramp + + # pole caps progressive boost + pole_boost = bool(fusion_cfg.get("pole_boost", True)) + pole_boost_factor = float(fusion_cfg.get("pole_boost_factor", 1.5)) + pole_latitude_deg = float(fusion_cfg.get("pole_latitude_deg", 75.0)) + pole_ramp_deg = float(fusion_cfg.get("pole_ramp_deg", 10.0)) + + if pole_boost and slice_type in ("pole_north", "pole_south"): + lat = torch.asin(torch.clamp(dirs_world[..., 1], -1.0, 1.0)) * (180.0 / math.pi) + abs_lat = torch.abs(lat) + ramp = torch.clamp( + (abs_lat - pole_latitude_deg) / max(pole_ramp_deg, 1e-3), + min=0.0, max=1.0, + ) + mult = 1.0 + ramp * (pole_boost_factor - 1.0) + return base_weight * mult + + # faces 在极区衰减 + face_pole_cfg = fusion_cfg.get("face_pole_suppress", {}) + if slice_type == "face" and bool(face_pole_cfg.get("enabled", True)): + min_lat = float(face_pole_cfg.get("min_latitude_deg", 70.0)) + ramp_deg = float(face_pole_cfg.get("ramp_deg", 10.0)) + min_scale = float(face_pole_cfg.get("min_scale", 0.4)) + lat = torch.asin(torch.clamp(dirs_world[..., 1], -1.0, 1.0)) * (180.0 / math.pi) + abs_lat = torch.abs(lat) + t = torch.clamp((abs_lat - min_lat) / max(ramp_deg, 1e-3), 0.0, 1.0) + scale = 1.0 - t * (1.0 - min_scale) + return base_weight * scale + + return base_weight + + +# ============================================================================= +# Forward splatting（softmin_invdepth 模式用） +# ============================================================================= + +def _forward_splat( + erp_h: int, + erp_w: int, + u: torch.Tensor, + v: torch.Tensor, + range_depth: torch.Tensor, + weight: torch.Tensor, + accum_weighted_invdepth: torch.Tensor, + accum_weight: torch.Tensor, + depth_competition: str, + softmin_alpha: float, + pole_boost: bool, + pole_boost_factor: float, + pole_latitude_deg: float, +) -> None: + """Forward splatting with bilinear interpolation""" + u_flat = u.reshape(-1) + v_flat = v.reshape(-1) + d_flat = range_depth.reshape(-1) + w_flat = weight.reshape(-1) + + valid = torch.isfinite(d_flat) & (d_flat > 0.0) & torch.isfinite(w_flat) & (w_flat > 0.0) + + u0 = torch.floor(u_flat).to(torch.int64) + v0 = torch.floor(v_flat).to(torch.int64) + du = (u_flat - u0.to(u_flat.dtype)).clamp(0.0, 1.0) + dv = (v_flat - v0.to(v_flat.dtype)).clamp(0.0, 1.0) + + u0_wrap = torch.remainder(u0, erp_w) + u1_wrap = torch.remainder(u0 + 1, erp_w) + v1 = v0 + 1 + + w00 = (1.0 - du) * (1.0 - dv) + w10 = du * (1.0 - dv) + w01 = (1.0 - du) * dv + w11 = du * dv + + if depth_competition == "softmin_invdepth": + inv_depth = 1.0 / torch.clamp(d_flat, min=1e-6) + value_to_splat = inv_depth + elif depth_competition == "softmax_negdepth": + exp_weight = torch.exp(-softmin_alpha * d_flat) + w_flat = w_flat * exp_weight + value_to_splat = d_flat + else: + value_to_splat = d_flat + + def _add(u_idx, v_idx, bilinear_w): + v_ok = (v_idx >= 0) & (v_idx < erp_h) + m = valid & v_ok + u_safe = torch.where(m, u_idx, torch.zeros_like(u_idx)) + v_safe = torch.where(m, v_idx, torch.zeros_like(v_idx)) + idx = v_safe * erp_w + u_safe + final_w = torch.where(m, bilinear_w * w_flat, torch.zeros_like(bilinear_w)) + final_val = torch.where(m, bilinear_w * w_flat * value_to_splat, torch.zeros_like(bilinear_w)) + accum_weight.scatter_add_(0, idx, final_w) + accum_weighted_invdepth.scatter_add_(0, idx, final_val) + + _add(u0_wrap, v0, w00) + _add(u1_wrap, v0, w10) + _add(u0_wrap, v1, w01) + _add(u1_wrap, v1, w11) + + +# ============================================================================= +# Z-buffer 门控投影（multiband 模式用） +# ============================================================================= + +def _project_slice_to_erp_disp_weight_zbuffer( + depth_t: torch.Tensor, + slice_spec: TangentSlice, + cfg: Dict[str, Any], + erp_h: int, + erp_w: int, + depth_def: str, + k: float, + device: torch.device, +) -> Tuple[torch.Tensor, torch.Tensor]: + """ + 将单个切片投影到 ERP，输出 disparity(1/range) 与 weight。 + 采用 per-slice z-buffer（min depth）避免同一 slice 内的边缘被平均糊掉。 + """ + fusion_cfg = cfg.get("fusion", {}) + weight_mode = str(fusion_cfg.get("weight_mode", "cosine")) + + res = slice_spec.resolution + K = slice_spec.K + R_cw = slice_spec.R_cw + + fx, fy = float(K[0, 0]), float(K[1, 1]) + cx, cy = float(K[0, 2]), float(K[1, 2]) + + xs = torch.arange(res, device=device, dtype=torch.float32) + ys = torch.arange(res, device=device, dtype=torch.float32) + yv, xv = torch.meshgrid(ys, xs, indexing="ij") + + x_cam = (xv - cx) / fx + y_cam = -(yv - cy) / fy + z_cam = torch.ones_like(x_cam) + + dirs_cam = torch.stack([x_cam, y_cam, z_cam], dim=-1) + ray_len = torch.norm(dirs_cam, dim=-1, keepdim=True).clamp(min=1e-9) + dirs_cam = dirs_cam / ray_len + + R = torch.tensor(R_cw, device=device, dtype=torch.float32) + dirs_world = torch.einsum("ij,hwj->hwi", R, dirs_cam) + + # range depth + if depth_def == "z": + range_depth = depth_t * ray_len.squeeze(-1) + else: + range_depth = depth_t + + u, v = _dirs_to_erp_uv(dirs_world, erp_h, erp_w) + + if weight_mode == "cosine": + face_center = torch.tensor(slice_spec.center_dir, device=device, dtype=torch.float32) + base_w = compute_cosine_weight(dirs_world, face_center, k=k) + else: + base_w = torch.ones_like(range_depth) + + base_w = _apply_pole_weights(slice_spec.slice_type, dirs_world, base_w, fusion_cfg) + + u_flat = u.reshape(-1) + v_flat = v.reshape(-1) + d_flat = range_depth.reshape(-1) + w_flat = base_w.reshape(-1) + + valid = torch.isfinite(d_flat) & (d_flat > 0.0) & torch.isfinite(w_flat) & (w_flat > 0.0) + + u0 = torch.floor(u_flat).to(torch.int64) + v0 = torch.floor(v_flat).to(torch.int64) + du = (u_flat - u0.float()).clamp(0.0, 1.0) + dv = (v_flat - v0.float()).clamp(0.0, 1.0) + + u0w = torch.remainder(u0, erp_w) + u1w = torch.remainder(u0 + 1, erp_w) + v1 = v0 + 1 + + bw00 = (1.0 - du) * (1.0 - dv) + bw10 = du * (1.0 - dv) + bw01 = (1.0 - du) * dv + bw11 = du * dv + + # Pass A: min depth + min_depth = torch.full((erp_h * erp_w,), float("inf"), device=device, dtype=torch.float32) + + def _amin(ui, vi, bw): + m = valid & (vi >= 0) & (vi < erp_h) + ui_safe = torch.where(m, ui, torch.zeros_like(ui)) + vi_safe = torch.where(m, vi, torch.zeros_like(vi)) + idx = vi_safe * erp_w + ui_safe + cand = torch.where(m, d_flat, torch.full_like(d_flat, float("inf"))) + min_depth.scatter_reduce_(0, idx, cand, reduce="amin", include_self=True) + + _amin(u0w, v0, bw00) + _amin(u1w, v0, bw10) + _amin(u0w, v1, bw01) + _amin(u1w, v1, bw11) + + # Pass B: accumulate disparity near min depth + disp_acc = torch.zeros(erp_h * erp_w, device=device, dtype=torch.float32) + w_acc = torch.zeros(erp_h * erp_w, device=device, dtype=torch.float32) + + eps_abs = float(fusion_cfg.get("project_zbuffer_eps_abs_m", 0.02)) + eps_rel = float(fusion_cfg.get("project_zbuffer_eps_rel", 0.02)) + + inv_d = 1.0 / torch.clamp(d_flat, min=1e-6) + + def _acc(ui, vi, bw): + m = valid & (vi >= 0) & (vi < erp_h) + ui_safe = torch.where(m, ui, torch.zeros_like(ui)) + vi_safe = torch.where(m, vi, torch.zeros_like(vi)) + idx = vi_safe * erp_w + ui_safe + md = min_depth.gather(0, idx) + gate = d_flat <= (md * (1.0 + eps_rel) + eps_abs) + mm = m & gate + w_here = torch.where(mm, bw * w_flat, torch.zeros_like(bw)) + disp_here = torch.where(mm, w_here * inv_d, torch.zeros_like(w_here)) + w_acc.scatter_add_(0, idx, w_here) + disp_acc.scatter_add_(0, idx, disp_here) + + _acc(u0w, v0, bw00) + _acc(u1w, v0, bw10) + _acc(u0w, v1, bw01) + _acc(u1w, v1, bw11) + + w_map = w_acc.view(erp_h, erp_w) + disp_map = torch.zeros_like(w_map) + m = w_map > 1e-9 + disp_map[m] = disp_acc.view(erp_h, erp_w)[m] / w_map[m] + return disp_map, w_map + + +# ============================================================================= +# Multiband 金字塔工具 +# ============================================================================= + +def _pad_circular_w(x: torch.Tensor, pad: int) -> torch.Tensor: + if pad <= 0: + return x + return torch.cat([x[..., -pad:], x, x[..., :pad]], dim=-1) + + +def _gauss5_kernel(device: torch.device, dtype: torch.dtype) -> torch.Tensor: + k1 = torch.tensor([1.0, 4.0, 6.0, 4.0, 1.0], device=device, dtype=dtype) + k1 = k1 / k1.sum() + k2 = (k1[:, None] * k1[None, :]).view(1, 1, 5, 5) + return k2 + + +def _blur_circular_w(x: torch.Tensor, kernel: torch.Tensor) -> torch.Tensor: + import torch.nn.functional as F + pad = kernel.shape[-1] // 2 + xw = _pad_circular_w(x, pad) + xwh = F.pad(xw, (0, 0, pad, pad), mode="reflect") + return F.conv2d(xwh, kernel) + + +def _down2(x: torch.Tensor) -> torch.Tensor: + return x[..., ::2, ::2] + + +def _upsample2_circular_w(x: torch.Tensor, out_h: int, out_w: int) -> torch.Tensor: + import torch.nn.functional as F + x3 = torch.cat([x, x, x], dim=-1) + y3 = F.interpolate(x3, size=(out_h, out_w * 3), mode="bilinear", align_corners=False) + return y3[..., out_w: 2 * out_w] + + +# ============================================================================= +# 主融合函数 +# ============================================================================= + +@torch.no_grad() +def fuse_tangent_depths_to_erp( + tangent_depths: Dict[str, np.ndarray], + slices: List[TangentSlice], + cfg: Dict[str, Any], + device: torch.device, + debug_dir: Optional[Path] = None, +) -> Tuple[np.ndarray, np.ndarray, np.ndarray]: + """ + 将所有切片深度融合为 ERP range depth + + Args: + tangent_depths: {slice_id: depth_array} + slices: 切片规格列表 + cfg: 配置字典 + device: 计算设备 + + Returns: + depth_range: (erp_h, erp_w) ERP range depth, float32 + weight_sum: (erp_h, erp_w) 权重和 + valid_mask: (erp_h, erp_w) uint8 + """ + erp_cfg = cfg.get("erp", {}) + erp_h = int(erp_cfg.get("height", 1024)) + erp_w = int(erp_cfg.get("width", 2048)) + + fusion_cfg = cfg.get("fusion", {}) + blend_mode = str(fusion_cfg.get("blend_mode", "softmin_invdepth")) + + if blend_mode == "multiband": + depth_np, weight_np, valid_np = _fuse_multiband( + tangent_depths, slices, cfg, device, erp_h, erp_w, debug_dir, + ) + else: + depth_np, weight_np, valid_np = _fuse_softmin( + tangent_depths, slices, cfg, device, erp_h, erp_w, + ) + + # output_scale 校正 + output_scale = float(fusion_cfg.get("output_scale", 1.0)) + if output_scale != 1.0: + valid = np.isfinite(depth_np) & (depth_np > 0) + depth_np[valid] *= output_scale + + return depth_np, weight_np, valid_np + + +def _fuse_softmin( + tangent_depths: Dict[str, np.ndarray], + slices: List[TangentSlice], + cfg: Dict[str, Any], + device: torch.device, + erp_h: int, + erp_w: int, +) -> Tuple[np.ndarray, np.ndarray, np.ndarray]: + """softmin_invdepth 模式融合""" + fusion_cfg = cfg.get("fusion", {}) + weight_mode = str(fusion_cfg.get("weight_mode", "cosine")) + k = float(fusion_cfg.get("k", 4.0)) + depth_competition = str(fusion_cfg.get("depth_competition", "softmin_invdepth")) + softmin_alpha = float(fusion_cfg.get("softmin_alpha", 10.0)) + min_weight_sum = float(fusion_cfg.get("min_weight_sum", 1e-6)) + pole_boost = bool(fusion_cfg.get("pole_boost", True)) + pole_boost_factor = float(fusion_cfg.get("pole_boost_factor", 1.5)) + pole_latitude_deg = float(fusion_cfg.get("pole_latitude_deg", 75.0)) + pole_ring_cfg = fusion_cfg.get("pole_ring", {}) + pole_ring_enabled = bool(pole_ring_cfg.get("enabled", True)) + pole_ring_min_lat_deg = float(pole_ring_cfg.get("min_latitude_deg", 60.0)) + pole_ring_ramp_deg = float(pole_ring_cfg.get("ramp_deg", 5.0)) + depth_def = str(cfg.get("depth_pro", {}).get("depth_def", "z")) + + accum_weighted_invdepth = torch.zeros(erp_h * erp_w, device=device, dtype=torch.float32) + accum_weight = torch.zeros(erp_h * erp_w, device=device, dtype=torch.float32) + + for s in slices: + if s.slice_id not in tangent_depths: + continue + depth_np = tangent_depths[s.slice_id] + depth_t = torch.from_numpy(depth_np.astype(np.float32)).to(device) + + res = s.resolution + K = s.K + R_cw = s.R_cw + fx, fy = float(K[0, 0]), float(K[1, 1]) + cx, cy = float(K[0, 2]), float(K[1, 2]) + + xs = torch.arange(res, device=device, dtype=torch.float32) + ys = torch.arange(res, device=device, dtype=torch.float32) + yv, xv = torch.meshgrid(ys, xs, indexing="ij") + + x_cam = (xv - cx) / fx + y_cam = -(yv - cy) / fy + z_cam = torch.ones_like(x_cam) + + dirs_cam = torch.stack([x_cam, y_cam, z_cam], dim=-1) + dirs_cam = dirs_cam / torch.clamp(torch.norm(dirs_cam, dim=-1, keepdim=True), min=1e-9) + + R = torch.tensor(R_cw, device=device, dtype=torch.float32) + dirs_world = torch.einsum("ij,hwj->hwi", R, dirs_cam) + + if depth_def == "z": + ray_length = torch.sqrt(x_cam ** 2 + y_cam ** 2 + 1.0) + range_depth = depth_t * ray_length + else: + range_depth = depth_t + + u, v = _dirs_to_erp_uv(dirs_world, erp_h, erp_w) + + if weight_mode == "cosine": + face_center = torch.tensor(s.center_dir, device=device, dtype=torch.float32) + base_weight = compute_cosine_weight(dirs_world, face_center, k=k) + else: + base_weight = torch.ones_like(range_depth) + + if s.slice_type == "pole_ring": + if not pole_ring_enabled: + base_weight = torch.zeros_like(base_weight) + else: + lat = torch.asin(torch.clamp(dirs_world[..., 1], -1.0, 1.0)) * (180.0 / math.pi) + abs_lat = torch.abs(lat) + ramp = torch.clamp( + (abs_lat - pole_ring_min_lat_deg) / max(pole_ring_ramp_deg, 1e-3), + min=0.0, max=1.0, + ) + base_weight = base_weight * ramp + + if pole_boost and s.slice_type in ("pole_north", "pole_south"): + base_weight = base_weight * pole_boost_factor + + _forward_splat( + erp_h, erp_w, u, v, range_depth, base_weight, + accum_weighted_invdepth, accum_weight, + depth_competition, softmin_alpha, + pole_boost, pole_boost_factor, pole_latitude_deg, + ) + + valid_mask_t = accum_weight > min_weight_sum + + if depth_competition == "softmin_invdepth": + avg_invdepth = torch.zeros_like(accum_weighted_invdepth) + avg_invdepth[valid_mask_t] = accum_weighted_invdepth[valid_mask_t] / accum_weight[valid_mask_t] + depth_out = torch.zeros_like(avg_invdepth) + depth_out[valid_mask_t] = 1.0 / torch.clamp(avg_invdepth[valid_mask_t], min=1e-6) + else: + depth_out = torch.zeros_like(accum_weighted_invdepth) + depth_out[valid_mask_t] = accum_weighted_invdepth[valid_mask_t] / accum_weight[valid_mask_t] + + depth_out[~valid_mask_t] = float("nan") + + depth_out = depth_out.reshape(erp_h, erp_w) + weight_sum = accum_weight.reshape(erp_h, erp_w) + valid_mask = valid_mask_t.reshape(erp_h, erp_w) + + return ( + depth_out.cpu().numpy().astype(np.float32), + weight_sum.cpu().numpy().astype(np.float32), + valid_mask.cpu().numpy().astype(np.uint8), + ) + + +def _fuse_multiband( + tangent_depths: Dict[str, np.ndarray], + slices: List[TangentSlice], + cfg: Dict[str, Any], + device: torch.device, + erp_h: int, + erp_w: int, + debug_dir: Optional[Path] = None, +) -> Tuple[np.ndarray, np.ndarray, np.ndarray]: + """Multiband 金字塔融合""" + fusion_cfg = cfg.get("fusion", {}) + mb_cfg = fusion_cfg.get("multiband", {}) + levels = int(mb_cfg.get("levels", 6)) + highfreq_levels = int(mb_cfg.get("highfreq_levels", 2)) + eps = float(mb_cfg.get("eps", 1e-6)) + min_weight_sum = float(fusion_cfg.get("min_weight_sum", 1e-6)) + + depth_def = str(cfg.get("depth_pro", {}).get("depth_def", "z")) + k = float(fusion_cfg.get("k", 4.0)) + + # Pole consistency 配置 + pole_cons_cfg = fusion_cfg.get("pole_consistency", {}) + if not isinstance(pole_cons_cfg, dict): + pole_cons_cfg = {} + pole_cons_enabled = bool(pole_cons_cfg.get("enabled", False)) + pole_cons_min_lat_deg = float(pole_cons_cfg.get("min_latitude_deg", 60.0)) + pole_cons_min_overlap = int(pole_cons_cfg.get("min_overlap_pixels", 4000)) + pole_cons_max_abs_log_shift = float(pole_cons_cfg.get("max_abs_log_shift", 0.7)) + pole_cons_ref_types = [str(x) for x in pole_cons_cfg.get("ref_slice_types", ["face", "pole_ring"])] + pole_cons_target_types = [str(x) for x in pole_cons_cfg.get("target_slice_types", ["pole_north", "pole_south"])] + + top_v_max = int(math.floor((90.0 - pole_cons_min_lat_deg) / 180.0 * float(max(erp_h - 1, 1)))) + bot_v_min = int(math.ceil((90.0 + pole_cons_min_lat_deg) / 180.0 * float(max(erp_h - 1, 1)))) + top_v_max = max(0, min(erp_h - 1, top_v_max)) + bot_v_min = max(0, min(erp_h - 1, bot_v_min)) + + ref_num_top = ref_den_top = ref_num_bot = ref_den_bot = None + pole_pending: List[TangentSlice] = [] + if pole_cons_enabled: + ref_num_top = torch.zeros((top_v_max + 1, erp_w), device=device, dtype=torch.float32) + ref_den_top = torch.zeros_like(ref_num_top) + ref_num_bot = torch.zeros((erp_h - bot_v_min, erp_w), device=device, dtype=torch.float32) + ref_den_bot = torch.zeros_like(ref_num_bot) + + # Per-level accumulators + kernel = _gauss5_kernel(device=device, dtype=torch.float32) + + Hs = [erp_h] + Ws = [erp_w] + for _ in range(1, levels): + Hs.append(max(1, Hs[-1] // 2)) + Ws.append(max(1, Ws[-1] // 2)) + + fused_lap: List[torch.Tensor] = [] + best_w: List[torch.Tensor] = [] + sum_w: List[torch.Tensor] = [] + sum_w_lap: List[torch.Tensor] = [] + + for l in range(levels): + shape = (1, 1, Hs[l], Ws[l]) + if l < highfreq_levels: + fused_lap.append(torch.zeros(shape, device=device, dtype=torch.float32)) + best_w.append(torch.zeros(shape, device=device, dtype=torch.float32)) + else: + fused_lap.append(torch.zeros(shape, device=device, dtype=torch.float32)) + sum_w.append(torch.zeros(shape, device=device, dtype=torch.float32)) + sum_w_lap.append(torch.zeros(shape, device=device, dtype=torch.float32)) + + weight_sum0 = torch.zeros(erp_h, erp_w, device=device, dtype=torch.float32) + + def _process_one_slice(s: TangentSlice, depth_np: np.ndarray): + depth_t = torch.from_numpy(depth_np.astype(np.float32)).to(device) + + disp0, w0 = _project_slice_to_erp_disp_weight_zbuffer( + depth_t, s, cfg, erp_h, erp_w, depth_def, k, device, + ) + return disp0, w0 + + def _blend_into_pyramid(disp0: torch.Tensor, w0: torch.Tensor): + nonlocal weight_sum0 + weight_sum0 += w0 + + disp_pyr = [disp0.unsqueeze(0).unsqueeze(0)] + w_pyr = [w0.unsqueeze(0).unsqueeze(0)] + + for l in range(1, levels): + num = _blur_circular_w(disp_pyr[l - 1] * w_pyr[l - 1], kernel) + den = _blur_circular_w(w_pyr[l - 1], kernel) + num_ds = _down2(num) + den_ds = _down2(den) + disp_ds = num_ds / torch.clamp(den_ds, min=eps) + disp_pyr.append(disp_ds) + w_pyr.append(den_ds) + + lap_pyr: List[torch.Tensor] = [] + for l in range(levels - 1): + up = _upsample2_circular_w(disp_pyr[l + 1], Hs[l], Ws[l]) + lap_pyr.append(disp_pyr[l] - up) + lap_pyr.append(disp_pyr[-1]) + + for l in range(levels): + wl = w_pyr[l] + Ll = lap_pyr[l] + if l < highfreq_levels: + better = wl > best_w[l] + fused_lap[l] = torch.where(better, Ll, fused_lap[l]) + best_w[l] = torch.where(better, wl, best_w[l]) + else: + idx = l - highfreq_levels + sum_w_lap[idx] += wl * Ll + sum_w[idx] += wl + + # Process non-pole slices first + for s in slices: + if s.slice_id not in tangent_depths: + continue + if pole_cons_enabled and (s.slice_type in pole_cons_target_types): + pole_pending.append(s) + continue + + disp0, w0 = _process_one_slice(s, tangent_depths[s.slice_id]) + + # Reference accumulation for pole consistency + if pole_cons_enabled and (s.slice_type in pole_cons_ref_types): + if ref_num_top is not None and top_v_max >= 0: + ref_num_top += disp0[:top_v_max + 1] * w0[:top_v_max + 1] + ref_den_top += w0[:top_v_max + 1] + if ref_num_bot is not None and bot_v_min < erp_h: + ref_num_bot += disp0[bot_v_min:] * w0[bot_v_min:] + ref_den_bot += w0[bot_v_min:] + + _blend_into_pyramid(disp0, w0) + + # Pole consistency pass + if pole_cons_enabled and pole_pending and ref_num_top is not None: + ref_disp_top = ref_num_top / torch.clamp(ref_den_top, min=eps) + ref_disp_bot = ref_num_bot / torch.clamp(ref_den_bot, min=eps) + + for s in pole_pending: + disp0, w0 = _process_one_slice(s, tangent_depths[s.slice_id]) + + try: + if s.slice_type == "pole_north": + disp_other = disp0[:top_v_max + 1] + w_other = w0[:top_v_max + 1] + disp_ref = ref_disp_top + den_ref = ref_den_top + else: + disp_other = disp0[bot_v_min:] + w_other = w0[bot_v_min:] + disp_ref = ref_disp_bot + den_ref = ref_den_bot + + overlap = (w_other > 1e-9) & (den_ref > 1e-9) & (disp_other > eps) & (disp_ref > eps) + n_overlap = int(overlap.sum().item()) + if n_overlap >= pole_cons_min_overlap: + log_ref = -torch.log(disp_ref[overlap].clamp(min=eps)) + log_other = -torch.log(disp_other[overlap].clamp(min=eps)) + shift = float(torch.median(log_ref - log_other).item()) + shift = max(-pole_cons_max_abs_log_shift, min(pole_cons_max_abs_log_shift, shift)) + disp0 = disp0 * float(math.exp(-shift)) + except Exception: + pass + + _blend_into_pyramid(disp0, w0) + + # Finalize lowfreq levels + for l in range(highfreq_levels, levels): + idx = l - highfreq_levels + fused_lap[l] = sum_w_lap[idx] / torch.clamp(sum_w[idx], min=eps) + + # Reconstruct fused disparity + disp = fused_lap[-1] + for l in range(levels - 2, -1, -1): + disp = _upsample2_circular_w(disp, Hs[l], Ws[l]) + fused_lap[l] + + disp0_fused = disp.squeeze(0).squeeze(0) + depth = torch.zeros_like(disp0_fused) + m = disp0_fused > eps + depth[m] = 1.0 / disp0_fused[m] + depth[~m] = float("nan") + + weight_np = weight_sum0.detach().cpu().numpy().astype(np.float32) + depth_np = depth.detach().cpu().numpy().astype(np.float32) + valid_np = (weight_np > min_weight_sum).astype(np.uint8) + + return depth_np, weight_np, valid_np + + +# ============================================================================= +# 可视化函数 +# ============================================================================= + +def visualize_depth( + depth: np.ndarray, + vmin: Optional[float] = None, + vmax: Optional[float] = None, +) -> np.ndarray: + """ + 可视化深度图（percentile + TURBO colormap） + + Returns: + vis: (H, W, 3) uint8 RGB + """ + d = depth.astype(np.float32).copy() + valid = np.isfinite(d) & (d > 0) + + if not np.any(valid): + return np.zeros((d.shape[0], d.shape[1], 3), dtype=np.uint8) + + if vmin is None: + vmin = float(np.percentile(d[valid], 2)) + if vmax is None: + vmax = float(np.percentile(d[valid], 98)) + vmax = max(vmax, vmin + 1e-6) + + d_norm = (np.clip(d, vmin, vmax) - vmin) / (vmax - vmin) + d_norm[~valid] = 0.0 + d_u8 = (d_norm * 255).astype(np.uint8) + + try: + import cv2 + cm = cv2.applyColorMap(d_u8, cv2.COLORMAP_TURBO) + return cv2.cvtColor(cm, cv2.COLOR_BGR2RGB) + except ImportError: + return np.stack([d_u8, d_u8, d_u8], axis=-1) + + +def save_depth_visualization( + depth: np.ndarray, + output_path: Path, + vmin: Optional[float] = None, + vmax: Optional[float] = None, +) -> None: + """保存深度可视化图像""" + import cv2 + vis = visualize_depth(depth, vmin=vmin, vmax=vmax) + Path(output_path).parent.mkdir(parents=True, exist_ok=True) + cv2.imwrite(str(output_path), cv2.cvtColor(vis, cv2.COLOR_RGB2BGR)) diff --git a/core/erp_projection.py b/core/erp_projection.py new file mode 100644 index 0000000000000000000000000000000000000000..fc2f5916cdac75f4d24899a2ced58aa2450d90c5 --- /dev/null +++ b/core/erp_projection.py @@ -0,0 +1,277 @@ +""" +ERP 投影模块 + +ERPT_native ERP投影约定： +- 经度：lon = atan2(x, z)，范围 [-π, π] +- 纬度：lat = asin(y)，范围 [-π/2, π/2] +- 像素坐标：u ∈ [0, W), v ∈ [0, H) +- 图像中心 (u=W/2, v=H/2) 对应 (lon=0, lat=0)，看向 +Z +- 图像顶部 (v=0) 对应 lat=+π/2，看向 +Y（上） +- 图像底部 (v=H-1) 对应 lat=-π/2，看向 -Y（下） +- 图像右边 lon增加，对应 +X 方向 + +像素到经纬度映射： + lon = (u / W) * 2π - π + lat = π/2 - (v / (H-1)) * π + +方向向量（相机坐标系，也是世界坐标系当无旋转时）： + x = sin(lon) * cos(lat) # 右 + y = sin(lat) # 上 + z = cos(lon) * cos(lat) # 前 +""" + +import math +import numpy as np +import torch +from typing import Tuple, Union + + +def erp_to_lonlat( + u: Union[np.ndarray, torch.Tensor], + v: Union[np.ndarray, torch.Tensor], + H: int, + W: int, +) -> Tuple[Union[np.ndarray, torch.Tensor], Union[np.ndarray, torch.Tensor]]: + """ + ERP像素坐标转经纬度 + + Args: + u: 水平像素坐标，范围 [0, W) + v: 垂直像素坐标，范围 [0, H) + H: 图像高度 + W: 图像宽度 + + Returns: + lon: 经度，范围 [-π, π] + lat: 纬度，范围 [-π/2, π/2] + """ + # lon = (u / W) * 2π - π + lon = (u / float(W)) * (2.0 * math.pi) - math.pi + + # lat = π/2 - (v / (H-1)) * π + lat = (math.pi / 2.0) - (v / float(H - 1)) * math.pi + + return lon, lat + + +def lonlat_to_erp( + lon: Union[np.ndarray, torch.Tensor], + lat: Union[np.ndarray, torch.Tensor], + H: int, + W: int, +) -> Tuple[Union[np.ndarray, torch.Tensor], Union[np.ndarray, torch.Tensor]]: + """ + 经纬度转ERP像素坐标 + + Args: + lon: 经度，范围 [-π, π] + lat: 纬度，范围 [-π/2, π/2] + H: 图像高度 + W: 图像宽度 + + Returns: + u: 水平像素坐标 + v: 垂直像素坐标 + """ + # u = (lon + π) / (2π) * W + u = (lon + math.pi) / (2.0 * math.pi) * float(W) + + # v = (π/2 - lat) / π * (H-1) + v = (math.pi / 2.0 - lat) / math.pi * float(H - 1) + + return u, v + + +def lonlat_to_direction( + lon: Union[np.ndarray, torch.Tensor], + lat: Union[np.ndarray, torch.Tensor], +) -> Union[np.ndarray, torch.Tensor]: + """ + 经纬度转方向向量（单位向量） + + 坐标系：[X右, Y上, Z前] + + Args: + lon: 经度 + lat: 纬度 + + Returns: + dirs: (..., 3) 单位方向向量 [x, y, z] + """ + if isinstance(lon, torch.Tensor): + cos_lat = torch.cos(lat) + x = torch.sin(lon) * cos_lat # 右 + y = torch.sin(lat) # 上 + z = torch.cos(lon) * cos_lat # 前 + dirs = torch.stack([x, y, z], dim=-1) + else: + cos_lat = np.cos(lat) + x = np.sin(lon) * cos_lat + y = np.sin(lat) + z = np.cos(lon) * cos_lat + dirs = np.stack([x, y, z], axis=-1) + + return dirs + + +def direction_to_lonlat( + dirs: Union[np.ndarray, torch.Tensor], +) -> Tuple[Union[np.ndarray, torch.Tensor], Union[np.ndarray, torch.Tensor]]: + """ + 方向向量转经纬度 + + Args: + dirs: (..., 3) 方向向量 [x, y, z] + + Returns: + lon: 经度 + lat: 纬度 + """ + x = dirs[..., 0] + y = dirs[..., 1] + z = dirs[..., 2] + + if isinstance(dirs, torch.Tensor): + # 归一化 + norm = torch.norm(dirs, dim=-1, keepdim=False) + norm = torch.clamp(norm, min=1e-9) + + # lon = atan2(x, z) + lon = torch.atan2(x, z) + + # lat = asin(y / norm) + y_normalized = torch.clamp(y / norm, -1.0, 1.0) + lat = torch.asin(y_normalized) + else: + norm = np.linalg.norm(dirs, axis=-1) + norm = np.maximum(norm, 1e-9) + + lon = np.arctan2(x, z) + y_normalized = np.clip(y / norm, -1.0, 1.0) + lat = np.arcsin(y_normalized) + + return lon, lat + + +def erp_to_direction( + u: Union[np.ndarray, torch.Tensor], + v: Union[np.ndarray, torch.Tensor], + H: int, + W: int, +) -> Union[np.ndarray, torch.Tensor]: + """ + ERP像素坐标转方向向量 + + Args: + u: 水平像素坐标 + v: 垂直像素坐标 + H: 图像高度 + W: 图像宽度 + + Returns: + dirs: (..., 3) 单位方向向量 [x, y, z] + """ + lon, lat = erp_to_lonlat(u, v, H, W) + return lonlat_to_direction(lon, lat) + + +def direction_to_erp( + dirs: Union[np.ndarray, torch.Tensor], + H: int, + W: int, +) -> Tuple[Union[np.ndarray, torch.Tensor], Union[np.ndarray, torch.Tensor]]: + """ + 方向向量转ERP像素坐标 + + Args: + dirs: (..., 3) 方向向量 [x, y, z] + H: 图像高度 + W: 图像宽度 + + Returns: + u: 水平像素坐标 + v: 垂直像素坐标 + """ + lon, lat = direction_to_lonlat(dirs) + return lonlat_to_erp(lon, lat, H, W) + + +def create_erp_grid( + H: int, + W: int, + device: torch.device = None, +) -> Tuple[torch.Tensor, torch.Tensor]: + """ + 创建ERP像素网格 + + Args: + H: 图像高度 + W: 图像宽度 + device: 计算设备 + + Returns: + uu: (H, W) 水平坐标网格 + vv: (H, W) 垂直坐标网格 + """ + if device is None: + device = torch.device("cpu") + + us = torch.arange(W, device=device, dtype=torch.float32) + vs = torch.arange(H, device=device, dtype=torch.float32) + vv, uu = torch.meshgrid(vs, us, indexing="ij") + + return uu, vv + + +def create_direction_grid( + H: int, + W: int, + device: torch.device = None, +) -> torch.Tensor: + """ + 创建ERP方向向量网格 + + Args: + H: 图像高度 + W: 图像宽度 + device: 计算设备 + + Returns: + dirs: (H, W, 3) 单位方向向量 + """ + uu, vv = create_erp_grid(H, W, device) + return erp_to_direction(uu, vv, H, W) + + +def wrap_u(u: Union[np.ndarray, torch.Tensor], W: int) -> Union[np.ndarray, torch.Tensor]: + """ + 水平坐标环绕处理（ERP在水平方向是周期性的） + + Args: + u: 水平像素坐标 + W: 图像宽度 + + Returns: + u_wrapped: 环绕后的坐标，范围 [0, W) + """ + if isinstance(u, torch.Tensor): + return torch.remainder(u, float(W)) + else: + return np.mod(u, float(W)) + + +def clamp_v(v: Union[np.ndarray, torch.Tensor], H: int) -> Union[np.ndarray, torch.Tensor]: + """ + 垂直坐标裁剪处理 + + Args: + v: 垂直像素坐标 + H: 图像高度 + + Returns: + v_clamped: 裁剪后的坐标，范围 [0, H-1] + """ + if isinstance(v, torch.Tensor): + return torch.clamp(v, 0.0, float(H - 1)) + else: + return np.clip(v, 0.0, float(H - 1)) diff --git a/core/erp_warp.py b/core/erp_warp.py new file mode 100644 index 0000000000000000000000000000000000000000..71935f1fe3db19d9f14c1d62d078f2fe3a0af8b3 --- /dev/null +++ b/core/erp_warp.py @@ -0,0 +1,591 @@ +""" +ERP Forward Warp 模块（移植自原版 ERPT erp_softsplat.py） + +使用锁定的投影/坐标系接口： +- core.erp_projection: erp_to_direction, direction_to_erp, wrap_u, clamp_v +- utils.pose_utils: Pose (R_cw, R_wc, position) + +算法流程： +1. 对每个 src ERP 像素，通过 erp_to_direction 获取射线方向 +2. 根据深度计算 3D 点，变换到目标相机坐标系 +3. 通过 direction_to_erp 投影到目标 ERP +4. Forward splatting 累积 RGB（softmax / zbuffer / point） + +支持的 splatting 方法： +- softmax_splatting（默认）：自适应半径 + 高斯核 + softmax 深度竞争 +- zbuffer_splatting：两遍 z-buffer 硬遮挡 +- zbuffer_point：最近邻投影 +""" +from __future__ import annotations + +import math +from dataclasses import dataclass +from typing import Any, Dict, Optional, Tuple + +import cv2 +import numpy as np +import torch + +from .erp_projection import ( + erp_to_direction, + direction_to_erp, + wrap_u, + create_erp_grid, +) + +import sys +from pathlib import Path +sys.path.insert(0, str(Path(__file__).parent.parent)) +from utils.pose_utils import Pose + + +@dataclass +class WarpResult: + """Warp 结果""" + warped_rgb: np.ndarray # (H, W, 3) uint8 + valid_mask: np.ndarray # (H, W) uint8, 1=valid, 0=invalid + flow: Optional[np.ndarray] # (H, W, 2) float32, optical flow + weight_sum: np.ndarray # (H, W) float32 + warped_depth: Optional[np.ndarray] = None # (H, W) float32, NaN=invalid + + +# ============================================================================= +# Forward Projection（坐标变换） +# ============================================================================= + +@torch.no_grad() +def _forward_project( + src_depth_t: torch.Tensor, + src_pose: Pose, + tgt_pose: Pose, + erp_h: int, + erp_w: int, + device: torch.device, + uu: Optional[torch.Tensor] = None, + vv: Optional[torch.Tensor] = None, +) -> Tuple[torch.Tensor, torch.Tensor, torch.Tensor, torch.Tensor]: + """ + 将源 ERP 像素投影到目标 ERP + + 使用锁定的 erp_projection 接口进行坐标变换。 + + Returns: + u_tgt, v_tgt: (H, W) 目标像素坐标 + range_tgt: (H, W) 目标 range depth + dirs_tgt: (H, W, 3) 目标方向向量 + """ + if uu is None or vv is None: + uu, vv = create_erp_grid(erp_h, erp_w, device) + + # 1. 源像素 -> 方向（源相机坐标系） + dirs_src = erp_to_direction(uu, vv, erp_h, erp_w) # (H, W, 3) + + # 2. 方向 * 深度 -> 源相机坐标系 3D 点 + P_cam_src = dirs_src * src_depth_t.unsqueeze(-1) # (H, W, 3) + + # 3. 源相机 -> 世界 + R_cw_src = torch.tensor(src_pose.R_cw, device=device, dtype=torch.float32) + t_src = torch.tensor(src_pose.position, device=device, dtype=torch.float32) + P_world = torch.einsum("ij,hwj->hwi", R_cw_src, P_cam_src) + t_src + + # 4. 世界 -> 目标相机 + R_wc_tgt = torch.tensor(tgt_pose.R_wc, device=device, dtype=torch.float32) + t_tgt = torch.tensor(tgt_pose.position, device=device, dtype=torch.float32) + P_cam_tgt = torch.einsum("ij,hwj->hwi", R_wc_tgt, P_world - t_tgt) + + # 5. 目标 range depth 和方向 + range_tgt = torch.norm(P_cam_tgt, dim=-1) + dirs_tgt = P_cam_tgt / torch.clamp(range_tgt.unsqueeze(-1), min=1e-9) + + # 6. 方向 -> 目标 ERP 像素 + u_tgt, v_tgt = direction_to_erp(dirs_tgt, erp_h, erp_w) + u_tgt = wrap_u(u_tgt, erp_w) + + return u_tgt, v_tgt, range_tgt, dirs_tgt + + +# ============================================================================= +# Adaptive Softmax Splatting +# ============================================================================= + +def _adaptive_splat_rgb( + erp_h: int, + erp_w: int, + u: torch.Tensor, + v: torch.Tensor, + rgb: torch.Tensor, + depth_compete: torch.Tensor, + valid: torch.Tensor, + alpha: float, + radius: torch.Tensor, + occlusion_gate: Optional[Dict[str, Any]] = None, +) -> Tuple[torch.Tensor, torch.Tensor, torch.Tensor, torch.Tensor]: + """ + 自适应半径 softmax splatting + + - 高斯核加权 + - softmax(alpha * inv_depth) 深度竞争 + - 可选 occlusion gate（近似 z-buffer 门控） + """ + device = u.device + u_flat = u.reshape(-1) + v_flat = v.reshape(-1) + rgb_flat = rgb.reshape(-1, 3) + d_flat = depth_compete.reshape(-1) + valid_flat = valid.reshape(-1) + r_flat = radius.reshape(-1) + + # 安全深度 + safe_d = torch.where( + valid_flat & torch.isfinite(d_flat) & (d_flat > 0), + d_flat, torch.ones_like(d_flat), + ) + + # Softmax 权重 = exp(alpha * inv_depth) + inv_d = 1.0 / torch.clamp(safe_d, min=0.1) + valid_inv = inv_d[valid_flat] + inv_max = valid_inv.max() if len(valid_inv) > 0 else inv_d.max() + exp_w = torch.exp(alpha * (inv_d - inv_max)) + + # 可选 occlusion gate + gate_enabled = False + min_d_flat: Optional[torch.Tensor] = None + gate_abs = 0.0 + gate_rel = 0.0 + if occlusion_gate and bool(occlusion_gate.get("enabled", False)): + gate_enabled = True + gate_abs = float(occlusion_gate.get("abs_eps_m", 0.05)) + gate_rel = float(occlusion_gate.get("rel_eps", 0.05)) + u_nn = torch.round(u_flat).to(torch.long) + v_nn = torch.round(v_flat).to(torch.long) + u_nn = torch.remainder(u_nn, erp_w) + v_ok = (v_nn >= 0) & (v_nn < erp_h) + v_nn_c = torch.clamp(v_nn, 0, erp_h - 1) + idx_nn = v_nn_c * erp_w + u_nn + min_d_flat = torch.full((erp_h * erp_w,), float("inf"), device=device) + d_nn = torch.where(valid_flat & v_ok & torch.isfinite(d_flat), + d_flat, torch.full_like(d_flat, float("inf"))) + min_d_flat.scatter_reduce_(0, idx_nn, d_nn, reduce="amin", include_self=True) + + accum_rgb = torch.zeros(erp_h, erp_w, 3, device=device, dtype=torch.float32) + accum_w = torch.zeros(erp_h, erp_w, device=device, dtype=torch.float32) + accum_hit = torch.zeros(erp_h, erp_w, device=device, dtype=torch.float32) + accum_d = torch.zeros(erp_h, erp_w, device=device, dtype=torch.float32) + + u0 = torch.floor(u_flat).to(torch.int64) + v0 = torch.floor(v_flat).to(torch.int64) + du = (u_flat - u0.float()).clamp(0, 1) + dv = (v_flat - v0.float()).clamp(0, 1) + + # Splat 范围 + valid_radii = r_flat[valid_flat & torch.isfinite(r_flat)] + max_r = min(int(valid_radii.max().item()) + 1, 5) if len(valid_radii) > 0 else 2 + + def _add(u_idx, v_idx, bw): + v_ok = (v_idx >= 0) & (v_idx < erp_h) + m = valid_flat & v_ok & torch.isfinite(d_flat) + u_safe = torch.where(m, u_idx, torch.zeros_like(u_idx)) + v_safe = torch.where(m, v_idx, torch.zeros_like(v_idx)) + idx = v_safe * erp_w + u_safe + + if gate_enabled and min_d_flat is not None: + md = min_d_flat.gather(0, idx) + gate = d_flat <= (md * (1.0 + gate_rel) + gate_abs) + mm = m & gate + else: + mm = m + + final_w = torch.where(mm, bw * exp_w, torch.zeros_like(bw)) + hit_w = torch.where(mm, bw, torch.zeros_like(bw)) + accum_w.view(-1).scatter_add_(0, idx, final_w) + accum_hit.view(-1).scatter_add_(0, idx, hit_w) + accum_rgb.view(-1, 3).scatter_add_( + 0, idx.unsqueeze(-1).expand(-1, 3), + (final_w.unsqueeze(-1) * rgb_flat).float(), + ) + accum_d.view(-1).scatter_add_(0, idx, (final_w * d_flat).float()) + + for di in range(-max_r, max_r + 1): + for dj in range(-max_r, max_r + 1): + dist_ij = math.sqrt(di * di + dj * dj) + if dist_ij > max_r + 0.5: + continue + dx = float(di) - du + dy = float(dj) - dv + dist = torch.sqrt(dx * dx + dy * dy) + within = dist <= (r_flat + 0.5) + gauss_w = torch.where( + within, + torch.exp(-0.5 * (dist / r_flat.clamp(min=0.5)) ** 2), + torch.zeros_like(r_flat), + ) + u_off = torch.remainder(u0 + di, erp_w) + v_off = v0 + dj + _add(u_off, v_off, gauss_w) + + return accum_rgb, accum_w, accum_hit, accum_d + + +# ============================================================================= +# Z-Buffer Splatting +# ============================================================================= + +def _zbuffer_splat_rgb( + erp_h: int, erp_w: int, + u: torch.Tensor, v: torch.Tensor, + rgb: torch.Tensor, depth_compete: torch.Tensor, valid: torch.Tensor, + eps_abs_m: float, eps_rel: float, min_w: float, +) -> Tuple[torch.Tensor, torch.Tensor, torch.Tensor, torch.Tensor]: + """Z-buffer 硬遮挡 forward splatting（两遍法）""" + device = u.device + u_flat, v_flat = u.reshape(-1), v.reshape(-1) + d_flat = depth_compete.reshape(-1) + rgb_flat = rgb.reshape(-1, 3) + valid_flat = valid.reshape(-1) + + m0 = valid_flat & torch.isfinite(u_flat) & torch.isfinite(v_flat) & \ + torch.isfinite(d_flat) & (d_flat > 0.0) + + u0 = torch.floor(u_flat).to(torch.int64) + v0 = torch.floor(v_flat).to(torch.int64) + du = (u_flat - u0.float()).clamp(0, 1) + dv = (v_flat - v0.float()).clamp(0, 1) + u0w = torch.remainder(u0, erp_w) + u1w = torch.remainder(u0 + 1, erp_w) + v1 = v0 + 1 + w00 = (1 - du) * (1 - dv) + w10 = du * (1 - dv) + w01 = (1 - du) * dv + w11 = du * dv + + # Pass A: min depth + min_depth = torch.full((erp_h * erp_w,), float("inf"), device=device) + + def _amin(ui, vi, w): + m = m0 & (vi >= 0) & (vi < erp_h) & (w >= min_w) + us = torch.where(m, ui, torch.zeros_like(ui)) + vs = torch.where(m, vi, torch.zeros_like(vi)) + idx = vs * erp_w + us + cand = torch.where(m, d_flat, torch.full_like(d_flat, float("inf"))) + min_depth.scatter_reduce_(0, idx, cand, reduce="amin", include_self=True) + + _amin(u0w, v0, w00); _amin(u1w, v0, w10) + _amin(u0w, v1, w01); _amin(u1w, v1, w11) + + # Pass B: accumulate near-front + accum_rgb = torch.zeros(erp_h, erp_w, 3, device=device) + accum_w = torch.zeros(erp_h, erp_w, device=device) + accum_hit = torch.zeros(erp_h, erp_w, device=device) + accum_d = torch.zeros(erp_h, erp_w, device=device) + + def _acc(ui, vi, w): + m = m0 & (vi >= 0) & (vi < erp_h) & (w >= min_w) + us = torch.where(m, ui, torch.zeros_like(ui)) + vs = torch.where(m, vi, torch.zeros_like(vi)) + idx = vs * erp_w + us + md = min_depth.gather(0, idx) + gate = d_flat <= (md * (1 + eps_rel) + eps_abs_m) + mm = m & gate + wf = torch.where(mm, w, torch.zeros_like(w)) + accum_w.view(-1).scatter_add_(0, idx, wf) + accum_hit.view(-1).scatter_add_(0, idx, wf) + accum_rgb.view(-1, 3).scatter_add_( + 0, idx.unsqueeze(-1).expand(-1, 3), + (wf.unsqueeze(-1) * rgb_flat).float(), + ) + accum_d.view(-1).scatter_add_(0, idx, (wf * d_flat).float()) + + _acc(u0w, v0, w00); _acc(u1w, v0, w10) + _acc(u0w, v1, w01); _acc(u1w, v1, w11) + + return accum_rgb, accum_w, accum_hit, accum_d + + +# ============================================================================= +# Z-Buffer Point +# ============================================================================= + +def _zbuffer_point_rgb( + erp_h: int, erp_w: int, + u: torch.Tensor, v: torch.Tensor, + rgb: torch.Tensor, depth_compete: torch.Tensor, valid: torch.Tensor, + eps_abs_m: float, eps_rel: float, +) -> Tuple[torch.Tensor, torch.Tensor, torch.Tensor, torch.Tensor]: + """Z-buffer 点渲染（radius=0, winner-take-all）""" + device = u.device + u_flat, v_flat = u.reshape(-1), v.reshape(-1) + d_flat = depth_compete.reshape(-1) + rgb_flat = rgb.reshape(-1, 3) + valid_flat = valid.reshape(-1) + + m0 = valid_flat & torch.isfinite(u_flat) & torch.isfinite(v_flat) & \ + torch.isfinite(d_flat) & (d_flat > 0.0) + + u_nn = torch.remainder(torch.round(u_flat).to(torch.int64), erp_w) + v_nn = torch.round(v_flat).to(torch.int64) + v_ok = (v_nn >= 0) & (v_nn < erp_h) + m = m0 & v_ok + us = torch.where(m, u_nn, torch.zeros_like(u_nn)) + vs = torch.where(m, v_nn, torch.zeros_like(v_nn)) + idx = vs * erp_w + us + + # Pass A: min depth + min_depth = torch.full((erp_h * erp_w,), float("inf"), device=device) + cand = torch.where(m, d_flat, torch.full_like(d_flat, float("inf"))) + min_depth.scatter_reduce_(0, idx, cand, reduce="amin", include_self=True) + + # Pass B + md = min_depth.gather(0, idx) + gate = d_flat <= (md * (1 + eps_rel) + eps_abs_m) + mm = m & gate + wf = torch.where(mm, torch.ones_like(d_flat), torch.zeros_like(d_flat)) + + accum_rgb = torch.zeros(erp_h, erp_w, 3, device=device) + accum_w = torch.zeros(erp_h, erp_w, device=device) + accum_hit = torch.zeros(erp_h, erp_w, device=device) + accum_d = torch.zeros(erp_h, erp_w, device=device) + + accum_w.view(-1).scatter_add_(0, idx, wf) + accum_hit.view(-1).scatter_add_(0, idx, wf) + accum_rgb.view(-1, 3).scatter_add_( + 0, idx.unsqueeze(-1).expand(-1, 3), + (wf.unsqueeze(-1) * rgb_flat).float(), + ) + accum_d.view(-1).scatter_add_(0, idx, (wf * d_flat).float()) + + return accum_rgb, accum_w, accum_hit, accum_d + + +# ============================================================================= +# Hole Fill +# ============================================================================= + +def _edge_aware_hole_fill( + rgb: np.ndarray, mask: np.ndarray, + max_hole_px: int = 5, + inpaint_radius: int = 2, +) -> Tuple[np.ndarray, np.ndarray]: + """小洞填充（只填充极小洞，避免 disocclusion 被错误填充）""" + holes = (mask == 0).astype(np.uint8) + if holes.sum() == 0: + return rgb, mask + + num, labels, stats, _ = cv2.connectedComponentsWithStats(holes, connectivity=8) + fill_mask = np.zeros_like(holes) + max_area = max_hole_px * max_hole_px + + for i in range(1, num): + area = stats[i, cv2.CC_STAT_AREA] + if area <= max_area: + fill_mask[labels == i] = 1 + + if fill_mask.sum() == 0: + return rgb, mask + + rgb_bgr = cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR) + filled = cv2.inpaint(rgb_bgr, fill_mask, inpaint_radius, cv2.INPAINT_TELEA) + filled_rgb = cv2.cvtColor(filled, cv2.COLOR_BGR2RGB) + + rgb_out = rgb.copy() + mask_out = mask.copy() + fill_bool = fill_mask > 0 + rgb_out[fill_bool] = filled_rgb[fill_bool] + mask_out[fill_bool] = 1 + + return rgb_out, mask_out + + +# ============================================================================= +# 主函数 +# ============================================================================= + +@torch.no_grad() +def warp_erp_to_target( + src_rgb: np.ndarray, + src_depth: np.ndarray, + src_pose: Pose, + tgt_pose: Pose, + cfg: Dict[str, Any], + device: torch.device, +) -> WarpResult: + """ + 从源 ERP 视角 warp 到目标 ERP 视角 + + 使用锁定的 erp_projection.py 进行坐标变换， + 使用锁定的 pose_utils.Pose 进行位姿处理。 + + Args: + src_rgb: (H, W, 3) uint8 源 RGB + src_depth: (H, W) float32 源 range depth（米） + src_pose: 源相机位姿（Pose 实例） + tgt_pose: 目标相机位姿（Pose 实例） + cfg: 配置字典 + device: 计算设备 + + Returns: + WarpResult + """ + warp_cfg = cfg.get("warp", {}) + method = str(warp_cfg.get("method", "softmax_splatting")) + alpha = float(warp_cfg.get("alpha", 2.0)) + min_weight_sum = float(warp_cfg.get("min_weight_sum", 1e-4)) + output_flow = bool(warp_cfg.get("output_flow", True)) + output_depth = bool(warp_cfg.get("output_depth", True)) + depth_scale_factor = float(warp_cfg.get("depth_scale_factor", 1.0)) + + # Z-buffer 参数 + z_eps_abs = float(warp_cfg.get("zbuffer_eps_abs_m", 0.03)) + z_eps_rel = float(warp_cfg.get("zbuffer_eps_rel", 0.03)) + z_min_w = float(warp_cfg.get("zbuffer_min_weight", 1e-3)) + + # 自适应半径参数 + base_radius = float(warp_cfg.get("splat_radius_px", 1.5)) + radius_min = float(warp_cfg.get("radius_min_px", 0.6)) + radius_max_eq = float(warp_cfg.get("radius_max_px", 2.2)) + radius_max_pole = float(warp_cfg.get("radius_max_pole_px", 3.4)) + pole_radius_scale = float(warp_cfg.get("pole_radius_scale", 3.0)) + pole_lat_threshold = float(warp_cfg.get("pole_lat_threshold", 60.0)) * math.pi / 180.0 + depth_radius_scale = bool(warp_cfg.get("depth_radius_scale", False)) + depth_ref = float(warp_cfg.get("depth_ref_m", 2.0)) + depth_edge_aware = bool(warp_cfg.get("depth_edge_aware", True)) + depth_edge_threshold = float(warp_cfg.get("depth_edge_threshold", 0.3)) + depth_edge_min_scale = float(warp_cfg.get("depth_edge_min_scale", 0.12)) + + # Hole fill + hole_fill = bool(warp_cfg.get("hole_fill_enabled", False)) and method not in ("zbuffer_splatting", "zbuffer_point") + max_hole_px = int(warp_cfg.get("max_hole_px", 16)) + + erp_h, erp_w = src_rgb.shape[:2] + + # 转 tensor + src_rgb_t = torch.from_numpy(src_rgb.astype(np.float32)).to(device) / 255.0 + src_depth_t = torch.from_numpy(src_depth.astype(np.float32)).to(device) + if depth_scale_factor != 1.0: + src_depth_t *= depth_scale_factor + + valid = torch.isfinite(src_depth_t) & (src_depth_t > 0.0) + + # --- 深度边缘掩码 --- + depth_edge_scale = torch.ones_like(src_depth_t) + if depth_edge_aware: + from torch.nn.functional import conv2d + sobel_x = torch.tensor([[-1, 0, 1], [-2, 0, 2], [-1, 0, 1]], + dtype=torch.float32, device=device).view(1, 1, 3, 3) + sobel_y = torch.tensor([[-1, -2, -1], [0, 0, 0], [1, 2, 1]], + dtype=torch.float32, device=device).view(1, 1, 3, 3) + safe_d = torch.where(valid, src_depth_t, src_depth_t[valid].median() if valid.any() else torch.ones_like(src_depth_t)) + log_d = torch.log(torch.clamp(safe_d, min=0.1)).unsqueeze(0).unsqueeze(0) + gx = conv2d(log_d, sobel_x, padding=1).squeeze() + gy = conv2d(log_d, sobel_y, padding=1).squeeze() + grad = torch.sqrt(gx ** 2 + gy ** 2) + gmax = grad.max() + if gmax > 1e-6: + gnorm = grad / gmax + else: + gnorm = torch.zeros_like(grad) + depth_edge_scale = torch.clamp( + 1.0 - gnorm / max(depth_edge_threshold, 1e-6), + min=depth_edge_min_scale, max=1.0, + ) + depth_edge_scale = torch.where(torch.isfinite(depth_edge_scale), + depth_edge_scale, torch.ones_like(depth_edge_scale)) + + # --- ERP 网格 --- + uu, vv = create_erp_grid(erp_h, erp_w, device) + + # --- Forward project --- + u_tgt, v_tgt, range_tgt, dirs_tgt = _forward_project( + src_depth_t, src_pose, tgt_pose, erp_h, erp_w, device, uu, vv, + ) + + # --- 自适应半径 --- + lat_tgt = torch.asin(torch.clamp(dirs_tgt[..., 1], -1.0, 1.0)) + abs_lat = torch.abs(lat_tgt) + pole_factor = torch.clamp( + (abs_lat - pole_lat_threshold) / (0.5 * math.pi - pole_lat_threshold), + min=0.0, max=1.0, + ) + lat_scale = 1.0 + pole_factor * (pole_radius_scale - 1.0) + + if depth_radius_scale: + safe_range = torch.where(valid, range_tgt, torch.full_like(range_tgt, depth_ref)) + d_scale = 1.0 / (1.0 + safe_range / depth_ref) + else: + d_scale = torch.ones_like(range_tgt) + + adaptive_radius = base_radius * lat_scale * d_scale * depth_edge_scale + adaptive_radius = torch.where(valid, adaptive_radius, torch.full_like(adaptive_radius, base_radius)) + radius_max_local = radius_max_eq + pole_factor * (radius_max_pole - radius_max_eq) + adaptive_radius = torch.clamp(adaptive_radius, min=radius_min) + adaptive_radius = torch.minimum(adaptive_radius, radius_max_local) + + # --- Splatting --- + if method == "zbuffer_splatting": + _rgb, _w, _hit, _d = _zbuffer_splat_rgb( + erp_h, erp_w, u_tgt, v_tgt, src_rgb_t, range_tgt, valid, + z_eps_abs, z_eps_rel, z_min_w, + ) + elif method == "zbuffer_point": + _rgb, _w, _hit, _d = _zbuffer_point_rgb( + erp_h, erp_w, u_tgt, v_tgt, src_rgb_t, range_tgt, valid, + z_eps_abs, z_eps_rel, + ) + else: + _rgb, _w, _hit, _d = _adaptive_splat_rgb( + erp_h, erp_w, u_tgt, v_tgt, src_rgb_t, range_tgt, valid, + alpha, adaptive_radius, warp_cfg.get("occlusion_gate", None), + ) + + # --- 归一化 --- + denom = _w > 0.0 + out_rgb = torch.zeros_like(_rgb) + out_rgb[denom] = _rgb[denom] / _w[denom].unsqueeze(-1) + + min_hit = float(warp_cfg.get("min_hit_sum", 1e-6)) + valid_mask = _hit > min_hit + + warped_np = (out_rgb.clamp(0, 1) * 255).byte().cpu().numpy() + mask_np = valid_mask.cpu().numpy().astype(np.uint8) + weight_np = _hit.cpu().numpy().astype(np.float32) + + # --- Warped depth --- + warped_depth_np = None + if output_depth: + out_d = torch.full((erp_h, erp_w), float("nan"), device=device) + out_d[denom] = _d[denom] / torch.clamp(_w[denom], min=1e-9) + out_d[~valid_mask] = float("nan") + warped_depth_np = out_d.cpu().numpy().astype(np.float32) + + # --- Hole fill --- + if hole_fill: + warped_np, mask_np = _edge_aware_hole_fill(warped_np, mask_np, max_hole_px) + + # --- Optical flow --- + flow_np = None + if output_flow: + du = u_tgt - uu + du = (du + 0.5 * erp_w) % erp_w - 0.5 * erp_w + dv = v_tgt - vv + flow_np = torch.stack([du, dv], dim=-1).cpu().numpy().astype(np.float32) + + return WarpResult( + warped_rgb=warped_np, + valid_mask=mask_np, + flow=flow_np, + weight_sum=weight_np, + warped_depth=warped_depth_np, + ) + + +def create_comparison_image( + warped_rgb: np.ndarray, + valid_mask: np.ndarray, + gt_rgb: Optional[np.ndarray] = None, +) -> np.ndarray: + """创建对比图（warped | GT），如无 GT 则只返回 warped""" + vis = warped_rgb.copy() + vis[valid_mask == 0] = 0 + + if gt_rgb is not None: + return np.concatenate([vis, gt_rgb], axis=0) + return vis diff --git a/core/tangent_extraction.py b/core/tangent_extraction.py new file mode 100644 index 0000000000000000000000000000000000000000..8d311cdec0e0af7b2c6931303ba4cc015eda8d19 --- /dev/null +++ b/core/tangent_extraction.py @@ -0,0 +1,566 @@ +""" +ERP -> Tangent 切片生成模块（移植自原版 ERPT） + +功能： +1. 生成 icosahedron 20 面的相机朝向 +2. 生成 north/south pole 额外切片（使用更大 FOV） +3. 从 ERP 采样生成透视切片（支持 seam wrap） +4. 输出切片 RGB 和元数据 + +关键算法： +- icosahedron 面法向计算 +- 相机坐标系构建（look-at） +- ERP -> 透视投影（grid_sample with seam wrap） +""" +from __future__ import annotations + +import math +from dataclasses import dataclass +from pathlib import Path +from typing import Any, Dict, List, Optional, Tuple + +import numpy as np +import torch +import torch.nn.functional as F + + +@dataclass +class TangentSlice: + """切片规格""" + slice_id: str # 切片 ID（如 "face_00", "north", "south"） + slice_type: str # 类型："face" | "pole_north" | "pole_south" + center_dir: np.ndarray # 切片中心方向（世界坐标，单位向量） + R_cw: np.ndarray # 相机到世界的旋转矩阵 (3,3) + fov_deg: float # 视场角（度） + resolution: int # 输出分辨率（像素，正方形） + K: np.ndarray # 相机内参 (3,3) + f_px: float # 焦距（像素） + + def to_dict(self) -> Dict[str, Any]: + """转换为可 JSON 序列化的字典""" + return { + "slice_id": self.slice_id, + "slice_type": self.slice_type, + "center_dir": self.center_dir.tolist(), + "R_cw": self.R_cw.tolist(), + "fov_deg": float(self.fov_deg), + "resolution": int(self.resolution), + "K": self.K.tolist(), + "f_px": float(self.f_px), + } + + +def _compute_icosahedron_face_centers() -> List[np.ndarray]: + """ + 计算正二十面体 20 个面的中心方向（单位向量） + + 正二十面体有 12 个顶点、20 个面、30 条边。 + 每个面是等边三角形，面中心 = (v0 + v1 + v2) / 3 归一化 + + Returns: + 20 个单位向量的列表，每个指向一个面的中心 + """ + # 黄金比例 + phi = (1.0 + math.sqrt(5.0)) / 2.0 + + # 正二十面体 12 个顶点（坐标已归一化） + vertices = np.array([ + [-1, phi, 0], + [ 1, phi, 0], + [-1, -phi, 0], + [ 1, -phi, 0], + [0, -1, phi], + [0, 1, phi], + [0, -1, -phi], + [0, 1, -phi], + [ phi, 0, -1], + [ phi, 0, 1], + [-phi, 0, -1], + [-phi, 0, 1], + ], dtype=np.float64) + + # 归一化顶点 + vertices = vertices / np.linalg.norm(vertices, axis=1, keepdims=True) + + # 20 个面的顶点索引 + faces = [ + (0, 11, 5), (0, 5, 1), (0, 1, 7), (0, 7, 10), (0, 10, 11), + (1, 5, 9), (5, 11, 4), (11, 10, 2), (10, 7, 6), (7, 1, 8), + (3, 9, 4), (3, 4, 2), (3, 2, 6), (3, 6, 8), (3, 8, 9), + (4, 9, 5), (2, 4, 11), (6, 2, 10), (8, 6, 7), (9, 8, 1), + ] + + centers = [] + for i0, i1, i2 in faces: + center = vertices[i0] + vertices[i1] + vertices[i2] + center = center / np.linalg.norm(center) + centers.append(center.astype(np.float32)) + + return centers + + +def _look_at_rotation(forward: np.ndarray, up_hint: Optional[np.ndarray] = None) -> np.ndarray: + """ + 构建从相机坐标系到世界坐标系的旋转矩阵 + + 相机坐标系约定： + - +Z: 前向（forward） + - +Y: 上方（up） + - +X: 右方（right = up × forward） + + Args: + forward: 相机前向方向（世界坐标，单位向量） + up_hint: 上方提示（默认世界 Y 轴） + + Returns: + R_cw: (3,3) 旋转矩阵，v_world = R_cw @ v_cam + """ + f = np.asarray(forward, dtype=np.float64).reshape(3) + f = f / (np.linalg.norm(f) + 1e-12) + + if up_hint is None: + up_hint = np.array([0.0, 1.0, 0.0], dtype=np.float64) + u = np.asarray(up_hint, dtype=np.float64).reshape(3) + u = u / (np.linalg.norm(u) + 1e-12) + + # 如果 forward 与 up_hint 几乎平行，换一个 up_hint + if abs(np.dot(f, u)) > 0.95: + u = np.array([0.0, 0.0, 1.0], dtype=np.float64) + + # 右方向 = up × forward + r = np.cross(u, f) + r = r / (np.linalg.norm(r) + 1e-12) + + # 真正的上方向 = forward × right + u2 = np.cross(f, r) + u2 = u2 / (np.linalg.norm(u2) + 1e-12) + + # 旋转矩阵的列是相机坐标轴在世界坐标系中的表示 + R_cw = np.stack([r, u2, f], axis=1) + return R_cw.astype(np.float32) + + +def _compute_intrinsics(resolution: int, fov_deg: float) -> Tuple[np.ndarray, float]: + """ + 计算针孔相机内参 + + Args: + resolution: 图像分辨率（正方形） + fov_deg: 水平视场角（度） + + Returns: + K: (3,3) 内参矩阵 + f_px: 焦距（像素） + """ + fov_rad = np.deg2rad(fov_deg) + f_px = 0.5 * resolution / np.tan(0.5 * fov_rad) + + cx = (resolution - 1) * 0.5 + cy = (resolution - 1) * 0.5 + + K = np.array([ + [f_px, 0.0, cx], + [0.0, f_px, cy], + [0.0, 0.0, 1.0] + ], dtype=np.float32) + + return K, float(f_px) + + +def build_icosahedron_slices(cfg: Dict[str, Any]) -> List[TangentSlice]: + """ + 根据配置构建 icosahedron + poles 切片列表 + + 360MonoDepth 风格：使用 padding_factor 而非 overlap_pad_deg + 有效 FOV = base_fov * padding_factor + + Args: + cfg: 配置字典（包含 tangent 配置） + + Returns: + 切片规格列表 + """ + tcfg = cfg.get("tangent", {}) + + # 基本参数 + face_resolution = int(tcfg.get("face_resolution", 768)) + fov_deg = float(tcfg.get("fov_deg", 90.0)) + + # 360MonoDepth 风格 padding（优先使用 padding_factor） + padding_factor = float(tcfg.get("padding_factor", 1.3)) + overlap_pad_deg = float(tcfg.get("overlap_pad_deg", 0.0)) # 向后兼容 + + # 计算有效 FOV + if padding_factor > 1.0: + effective_fov = fov_deg * padding_factor + else: + effective_fov = fov_deg + overlap_pad_deg + + # 限制最大 FOV 避免极端畸变 + effective_fov = min(effective_fov, 170.0) + + # 极区参数（增强覆盖） + add_poles = bool(tcfg.get("add_poles", True)) + pole_fov_deg = float(tcfg.get("pole_fov_deg", 150.0)) # 默认更大 + pole_resolution = int(tcfg.get("pole_resolution", face_resolution)) + pole_extra_rings = int(tcfg.get("pole_extra_rings", 0)) # 额外极区密采样 + + slices = [] + + # 1. 添加 20 个 icosahedron 面 + face_centers = _compute_icosahedron_face_centers() + for i, center in enumerate(face_centers): + R_cw = _look_at_rotation(center) + K, f_px = _compute_intrinsics(face_resolution, effective_fov) + + slices.append(TangentSlice( + slice_id=f"face_{i:02d}", + slice_type="face", + center_dir=center, + R_cw=R_cw, + fov_deg=effective_fov, + resolution=face_resolution, + K=K, + f_px=f_px, + )) + + # 2. 添加极区切片 + if add_poles: + # 北极（+Y） + north_dir = np.array([0.0, 1.0, 0.0], dtype=np.float32) + R_north = _look_at_rotation(north_dir, up_hint=np.array([0.0, 0.0, -1.0])) + K_north, f_north = _compute_intrinsics(pole_resolution, pole_fov_deg) + + slices.append(TangentSlice( + slice_id="north", + slice_type="pole_north", + center_dir=north_dir, + R_cw=R_north, + fov_deg=pole_fov_deg, + resolution=pole_resolution, + K=K_north, + f_px=f_north, + )) + + # 南极（-Y） + south_dir = np.array([0.0, -1.0, 0.0], dtype=np.float32) + R_south = _look_at_rotation(south_dir, up_hint=np.array([0.0, 0.0, 1.0])) + K_south, f_south = _compute_intrinsics(pole_resolution, pole_fov_deg) + + slices.append(TangentSlice( + slice_id="south", + slice_type="pole_south", + center_dir=south_dir, + R_cw=R_south, + fov_deg=pole_fov_deg, + resolution=pole_resolution, + K=K_south, + f_px=f_south, + )) + + # 3. 额外极区密采样环（可选） + if pole_extra_rings > 0: + _add_polar_ring_slices( + slices, pole_extra_rings, pole_resolution, pole_fov_deg * 0.8 + ) + + return slices + + +def _add_polar_ring_slices( + slices: List[TangentSlice], + num_rings: int, + resolution: int, + fov_deg: float, +) -> None: + """ + 添加额外的极区密采样切片（环状分布在极区附近） + """ + latitudes = [math.radians(75)] + if num_rings > 1: + latitudes = [math.radians(60 + 25 * i / (num_rings - 1)) for i in range(num_rings)] + + K, f_px = _compute_intrinsics(resolution, fov_deg) + + for ring_idx, lat in enumerate(latitudes): + num_slices_per_ring = 6 + for lon_idx in range(num_slices_per_ring): + lon = lon_idx * 2 * math.pi / num_slices_per_ring + + # 北极附近 + x_n = math.cos(lat) * math.sin(lon) + y_n = math.sin(lat) + z_n = math.cos(lat) * math.cos(lon) + dir_n = np.array([x_n, y_n, z_n], dtype=np.float32) + R_n = _look_at_rotation(dir_n) + + slices.append(TangentSlice( + slice_id=f"pole_ring_n_{ring_idx}_{lon_idx}", + slice_type="pole_ring", + center_dir=dir_n, + R_cw=R_n, + fov_deg=fov_deg, + resolution=resolution, + K=K, + f_px=f_px, + )) + + # 南极附近 + y_s = -math.sin(lat) + dir_s = np.array([x_n, y_s, z_n], dtype=np.float32) + R_s = _look_at_rotation(dir_s) + + slices.append(TangentSlice( + slice_id=f"pole_ring_s_{ring_idx}_{lon_idx}", + slice_type="pole_ring", + center_dir=dir_s, + R_cw=R_s, + fov_deg=fov_deg, + resolution=resolution, + K=K, + f_px=f_px, + )) + + +def _build_sample_grid( + slice_spec: TangentSlice, + erp_h: int, + erp_w: int, + device: torch.device, +) -> torch.Tensor: + """ + 构建从 ERP 采样到切片的网格 + + 对于切片的每个像素 (u, v): + 1. 反投影到相机坐标系射线方向 + 2. 旋转到世界坐标系 + 3. 计算球面经纬度 + 4. 映射到 ERP 像素坐标 + """ + res = slice_spec.resolution + K = slice_spec.K + R_cw = slice_spec.R_cw + + fx, fy = float(K[0, 0]), float(K[1, 1]) + cx, cy = float(K[0, 2]), float(K[1, 2]) + + # 切片像素坐标 + xs = torch.arange(res, device=device, dtype=torch.float32) + ys = torch.arange(res, device=device, dtype=torch.float32) + yv, xv = torch.meshgrid(ys, xs, indexing="ij") # (H, W) + + # 反投影到相机坐标系 + x_cam = (xv - cx) / fx + y_cam = -(yv - cy) / fy # 图像 y 向下，相机 y 向上 + z_cam = torch.ones_like(x_cam) + + # 归一化射线方向 + dirs_cam = torch.stack([x_cam, y_cam, z_cam], dim=-1) # (H, W, 3) + dirs_cam = dirs_cam / torch.clamp(torch.norm(dirs_cam, dim=-1, keepdim=True), min=1e-9) + + # 旋转到世界坐标系 + R = torch.tensor(R_cw, device=device, dtype=torch.float32) + dirs_world = torch.einsum("ij,hwj->hwi", R, dirs_cam) # (H, W, 3) + + # 计算球面坐标 + x = dirs_world[..., 0] + y = dirs_world[..., 1] + z = dirs_world[..., 2] + + lon = torch.atan2(x, z) + lat = torch.asin(torch.clamp(y, -1.0, 1.0)) + + # 映射到 ERP 像素坐标 + u = (lon + math.pi) / (2.0 * math.pi) * float(erp_w) + v = (math.pi / 2.0 - lat) / math.pi * float(erp_h - 1) + + # Seam wrap: ERP 在 x 方向扩展 3 倍，采样时从中间段采样 + u_padded = u + float(erp_w) + erp_w_padded = erp_w * 3 + + x_norm = (u_padded / float(erp_w_padded - 1)) * 2.0 - 1.0 + y_norm = (v / float(erp_h - 1)) * 2.0 - 1.0 + + grid = torch.stack([x_norm, y_norm], dim=-1).unsqueeze(0) # (1, H, W, 2) + return grid + + +@torch.no_grad() +def extract_tangent_from_erp( + erp_rgb: torch.Tensor, + slice_spec: TangentSlice, + device: torch.device, +) -> np.ndarray: + """ + 从 ERP 提取单个切片 + + Args: + erp_rgb: (1, 3, H, W) ERP 图像 + slice_spec: 切片规格 + device: 计算设备 + + Returns: + tangent_rgb: (H, W, 3) uint8 numpy array + """ + erp_h, erp_w = erp_rgb.shape[2], erp_rgb.shape[3] + + # Seam wrap: 扩展 ERP 宽度 + erp_padded = torch.cat([erp_rgb, erp_rgb, erp_rgb], dim=-1) # (1, 3, H, 3W) + + # 构建采样网格 + grid = _build_sample_grid(slice_spec, erp_h, erp_w, device) + + # 采样 + tangent = F.grid_sample( + erp_padded, + grid, + mode="bilinear", + padding_mode="border", + align_corners=True, + ) # (1, 3, res, res) + + # 转换为 numpy + tangent_np = (tangent.squeeze(0).permute(1, 2, 0).clamp(0, 1) * 255.0).byte().cpu().numpy() + return tangent_np + + +@torch.no_grad() +def extract_all_tangents( + erp_rgb_np: np.ndarray, + slices: List[TangentSlice], + device: torch.device, +) -> Dict[str, np.ndarray]: + """ + 从 ERP 提取所有切片 + + Args: + erp_rgb_np: (H, W, 3) ERP 图像 numpy array + slices: 切片规格列表 + device: 计算设备 + + Returns: + 字典 {slice_id: tangent_rgb} + """ + erp_t = torch.from_numpy(erp_rgb_np).to(device).permute(2, 0, 1).float() / 255.0 + erp_t = erp_t.unsqueeze(0) # (1, 3, H, W) + + results = {} + for s in slices: + tangent = extract_tangent_from_erp(erp_t, s, device) + results[s.slice_id] = tangent + + return results + + +def compute_ray_directions_for_slice( + slice_spec: TangentSlice, + device: torch.device, +) -> torch.Tensor: + """ + 计算切片每个像素对应的世界坐标系射线方向（融合时使用） + + Returns: + dirs_world: (H, W, 3) 单位方向向量 + """ + res = slice_spec.resolution + K = slice_spec.K + R_cw = slice_spec.R_cw + + fx, fy = float(K[0, 0]), float(K[1, 1]) + cx, cy = float(K[0, 2]), float(K[1, 2]) + + xs = torch.arange(res, device=device, dtype=torch.float32) + ys = torch.arange(res, device=device, dtype=torch.float32) + yv, xv = torch.meshgrid(ys, xs, indexing="ij") + + x_cam = (xv - cx) / fx + y_cam = -(yv - cy) / fy + z_cam = torch.ones_like(x_cam) + + dirs_cam = torch.stack([x_cam, y_cam, z_cam], dim=-1) + dirs_cam = dirs_cam / torch.clamp(torch.norm(dirs_cam, dim=-1, keepdim=True), min=1e-9) + + R = torch.tensor(R_cw, device=device, dtype=torch.float32) + dirs_world = torch.einsum("ij,hwj->hwi", R, dirs_cam) + + return dirs_world + + +@torch.no_grad() +def compute_coverage_mask( + slices: List[TangentSlice], + erp_h: int, + erp_w: int, + device: torch.device, +) -> Tuple[np.ndarray, Dict[str, float]]: + """ + 计算 ERP 覆盖率掩码（纯几何计算） + + Returns: + coverage_mask: (H, W) uint8, 255=covered, 0=uncovered + stats: 覆盖率统计字典 + """ + coverage = torch.zeros(erp_h, erp_w, device=device, dtype=torch.float32) + + for s in slices: + res = s.resolution + K = s.K + R_cw = s.R_cw + + fx, fy = float(K[0, 0]), float(K[1, 1]) + cx, cy = float(K[0, 2]), float(K[1, 2]) + + xs = torch.arange(res, device=device, dtype=torch.float32) + ys = torch.arange(res, device=device, dtype=torch.float32) + yv, xv = torch.meshgrid(ys, xs, indexing="ij") + + x_cam = (xv - cx) / fx + y_cam = -(yv - cy) / fy + z_cam = torch.ones_like(x_cam) + + dirs_cam = torch.stack([x_cam, y_cam, z_cam], dim=-1) + dirs_cam = dirs_cam / torch.clamp(torch.norm(dirs_cam, dim=-1, keepdim=True), min=1e-9) + + R = torch.tensor(R_cw, device=device, dtype=torch.float32) + dirs_world = torch.einsum("ij,hwj->hwi", R, dirs_cam) + + x = dirs_world[..., 0] + y = dirs_world[..., 1] + z = dirs_world[..., 2] + + lon = torch.atan2(x, z) + lat = torch.asin(torch.clamp(y, -1.0, 1.0)) + + u = (lon + math.pi) / (2.0 * math.pi) * float(erp_w) + v = (math.pi / 2.0 - lat) / math.pi * float(erp_h - 1) + + u_int = torch.round(u).to(torch.int64) + v_int = torch.round(v).to(torch.int64) + + u_int = torch.clamp(u_int % erp_w, 0, erp_w - 1) + v_int = torch.clamp(v_int, 0, erp_h - 1) + + idx = v_int * erp_w + u_int + idx = idx.reshape(-1) + + coverage_flat = coverage.reshape(-1) + coverage_flat.scatter_add_(0, idx, torch.ones_like(idx, dtype=torch.float32)) + + covered = coverage > 0 + coverage_mask = (covered.float() * 255).byte().cpu().numpy() + + total_pixels = erp_h * erp_w + covered_pixels = int(covered.sum().item()) + + pole_rows = int(erp_h * 0.1) + north_covered = covered[:pole_rows, :].float().mean().item() + south_covered = covered[-pole_rows:, :].float().mean().item() + + stats = { + "total_coverage": covered_pixels / total_pixels * 100, + "uncovered_pixels": total_pixels - covered_pixels, + "north_pole_coverage": north_covered * 100, + "south_pole_coverage": south_covered * 100, + } + + return coverage_mask, stats diff --git a/data/README.md b/data/README.md new file mode 100644 index 0000000000000000000000000000000000000000..9ebc7c7fe8aacc571c664147c6f0c453f268e3a5 --- /dev/null +++ b/data/README.md @@ -0,0 +1,16 @@ +# Data Directory + +Place local scene assets here when running experiments. Do not commit dataset files to the anonymous repository. + +Recommended layout: + +```text +data/ +├── blender_indoor/ +├── blender_outdoor/ +├── hm3d/ +└── scannetpp/ +``` + +You may also pass absolute paths directly to the pipeline CLI. + diff --git a/dataset_metadata/croissant.json b/dataset_metadata/croissant.json new file mode 100644 index 0000000000000000000000000000000000000000..bdcd81368c2e4112e4fd92d98f85179435a7143f --- /dev/null +++ b/dataset_metadata/croissant.json @@ -0,0 +1,414 @@ +{ + "@context": { + "@language": "en", + "@vocab": "https://schema.org/", + "citeAs": "cr:citeAs", + "column": "cr:column", + "conformsTo": "dct:conformsTo", + "cr": "http://mlcommons.org/croissant/", + "rai": "http://mlcommons.org/croissant/RAI/", + "data": { + "@id": "cr:data", + "@type": "@json" + }, + "dataType": { + "@id": "cr:dataType", + "@type": "@vocab" + }, + "dct": "http://purl.org/dc/terms/", + "examples": { + "@id": "cr:examples", + "@type": "@json" + }, + "extract": "cr:extract", + "field": "cr:field", + "fileProperty": "cr:fileProperty", + "fileObject": "cr:fileObject", + "fileSet": "cr:fileSet", + "format": "cr:format", + "includes": "cr:includes", + "isLiveDataset": "cr:isLiveDataset", + "jsonPath": "cr:jsonPath", + "key": "cr:key", + "md5": "cr:md5", + "parentField": "cr:parentField", + "path": "cr:path", + "recordSet": "cr:recordSet", + "references": "cr:references", + "regex": "cr:regex", + "repeated": "cr:repeated", + "replace": "cr:replace", + "samplingRate": "cr:samplingRate", + "sc": "https://schema.org/", + "separator": "cr:separator", + "source": "cr:source", + "subField": "cr:subField", + "transform": "cr:transform" + }, + "@type": "sc:Dataset", + "conformsTo": "http://mlcommons.org/croissant/1.0", + "name": "CM-EVS", + "description": "CM-EVS is a curated panoramic RGB-D dataset built under a single principle: maximize the geometric coverage of a 3D scene with the fewest equirectangular (ERP) frames possible. The headline release contains 11,583 ERP RGB-depth-pose frames over 326 Blender indoor scenes (CC-BY 4.0), each paired with the per-step provenance log of the depth-conflict-aware curator that selected it. The full v1.0 release additionally provides 786,344 frames re-encoded from TartanGround (783,944 frames over 63 environments) and OB3D (2,400 frames over 12 scenes) outdoor sources into the same ERP and world-to-camera pose schema, plus license-aware adapter packages for HM3D (14,475 frames over 401 rooms after local regeneration) and ScanNet++ (8,267 frames over 500 scans after local regeneration) that produce matched frames locally without redistributing licensed assets.", + "version": "1.0.0", + "license": "https://creativecommons.org/licenses/by/4.0/", + "url": "https://huggingface.co/datasets/anon-cmevs-2026/cmevs-erp-eval", + "citeAs": "@inproceedings{cmevs2026, title={{CM-EVS}: A Coverage-Curated Panoramic {RGB-D} Dataset for Indoor Scene Understanding}, author={Anonymous Author(s)}, booktitle={NeurIPS 2026 Datasets and Benchmarks Track (under review)}, year={2026}}", + "creator": { + "@type": "Organization", + "name": "Anonymous (double-blind submission)" + }, + "datePublished": "2026-05-01", + "keywords": [ + "panoramic", + "equirectangular", + "ERP", + "RGB-D", + "view planning", + "fixed-budget", + "data-centric", + "viewpoint provenance", + "indoor scene understanding", + "panoramic depth estimation", + "novel view synthesis", + "world model pretraining" + ], + "isLiveDataset": false, + "distribution": [ + { + "@type": "cr:FileObject", + "@id": "blender-indoor-archive.tar", + "name": "blender-indoor-archive.tar", + "contentUrl": "https://huggingface.co/datasets/anon-cmevs-2026/cmevs-erp-eval/resolve/main/blender_indoor.tar", + "encodingFormat": "application/x-tar", + "sha256": "TODO_SHA256" + }, + { + "@type": "cr:FileSet", + "@id": "blender-indoor-rgb", + "name": "blender-indoor-rgb", + "containedIn": { + "@id": "blender-indoor-archive.tar" + }, + "encodingFormat": "image/png", + "includes": "rgb/*.png" + }, + { + "@type": "cr:FileSet", + "@id": "blender-indoor-depth", + "name": "blender-indoor-depth", + "containedIn": { + "@id": "blender-indoor-archive.tar" + }, + "encodingFormat": "application/octet-stream", + "includes": "depth/*.npy" + }, + { + "@type": "cr:FileSet", + "@id": "blender-indoor-pose", + "name": "blender-indoor-pose", + "containedIn": { + "@id": "blender-indoor-archive.tar" + }, + "encodingFormat": "application/json", + "includes": "pose/*.json" + }, + { + "@type": "cr:FileSet", + "@id": "blender-indoor-metadata", + "name": "blender-indoor-metadata", + "containedIn": { + "@id": "blender-indoor-archive.tar" + }, + "encodingFormat": "application/json", + "includes": "metadata/*.json*" + }, + { + "@type": "cr:FileObject", + "@id": "outdoor-tartanground-adapter.tar", + "name": "outdoor-tartanground-adapter.tar", + "contentUrl": "https://huggingface.co/datasets/anon-cmevs-2026/cmevs-erp-eval/resolve/main/outdoor_tartanground_adapter.tar", + "encodingFormat": "application/x-tar", + "sha256": "TODO_SHA256" + }, + { + "@type": "cr:FileObject", + "@id": "outdoor-ob3d-adapter.tar", + "name": "outdoor-ob3d-adapter.tar", + "contentUrl": "https://huggingface.co/datasets/anon-cmevs-2026/cmevs-erp-eval/resolve/main/outdoor_ob3d_adapter.tar", + "encodingFormat": "application/x-tar", + "sha256": "TODO_SHA256" + }, + { + "@type": "cr:FileObject", + "@id": "hm3d-adapter.tar", + "name": "hm3d-adapter.tar", + "contentUrl": "https://huggingface.co/datasets/anon-cmevs-2026/cmevs-erp-eval/resolve/main/hm3d_adapter.tar", + "encodingFormat": "application/x-tar", + "sha256": "TODO_SHA256" + }, + { + "@type": "cr:FileObject", + "@id": "scannetpp-adapter.tar", + "name": "scannetpp-adapter.tar", + "contentUrl": "https://huggingface.co/datasets/anon-cmevs-2026/cmevs-erp-eval/resolve/main/scannetpp_adapter.tar", + "encodingFormat": "application/x-tar", + "sha256": "TODO_SHA256" + }, + { + "@type": "cr:FileObject", + "@id": "curator-source-code.tar", + "name": "curator-source-code.tar", + "contentUrl": "https://huggingface.co/datasets/anon-cmevs-2026/cmevs-erp-eval/resolve/main/code.tar", + "encodingFormat": "application/x-tar", + "sha256": "TODO_SHA256" + }, + { + "@type": "cr:FileObject", + "@id": "documentation.tar", + "name": "documentation.tar", + "contentUrl": "https://huggingface.co/datasets/anon-cmevs-2026/cmevs-erp-eval/resolve/main/docs.tar", + "encodingFormat": "application/x-tar", + "sha256": "TODO_SHA256" + }, + { + "@type": "cr:FileObject", + "@id": "frame-manifest.csv", + "name": "frame-manifest.csv", + "contentUrl": "https://huggingface.co/datasets/anon-cmevs-2026/cmevs-erp-eval/resolve/main/frame_manifest.csv", + "encodingFormat": "text/csv", + "sha256": "TODO_SHA256" + } + ], + "recordSet": [ + { + "@type": "cr:RecordSet", + "@id": "erp-frame-records", + "name": "erp-frame-records", + "description": "One record per released ERP frame. Curator-only fields (viewpoint_score, coverage_gain, conflict_ratio, candidate_id) are populated only for frames produced by the depth-conflict-aware curator; outdoor re-encoded frames carry the schema fields without per-step provenance.", + "field": [ + { + "@type": "cr:Field", + "@id": "erp-frame-records/frame_id", + "name": "frame_id", + "dataType": "sc:Text", + "source": { + "fileObject": { + "@id": "frame-manifest.csv" + }, + "extract": { + "column": "frame_id" + } + } + }, + { + "@type": "cr:Field", + "@id": "erp-frame-records/source", + "name": "source", + "dataType": "sc:Text", + "source": { + "fileObject": { + "@id": "frame-manifest.csv" + }, + "extract": { + "column": "source" + } + } + }, + { + "@type": "cr:Field", + "@id": "erp-frame-records/scene_id", + "name": "scene_id", + "dataType": "sc:Text", + "source": { + "fileObject": { + "@id": "frame-manifest.csv" + }, + "extract": { + "column": "scene_id" + } + } + }, + { + "@type": "cr:Field", + "@id": "erp-frame-records/room_id", + "name": "room_id", + "dataType": "sc:Text", + "source": { + "fileObject": { + "@id": "frame-manifest.csv" + }, + "extract": { + "column": "room_id" + } + } + }, + { + "@type": "cr:Field", + "@id": "erp-frame-records/split", + "name": "split", + "dataType": "sc:Text", + "source": { + "fileObject": { + "@id": "frame-manifest.csv" + }, + "extract": { + "column": "split" + } + } + }, + { + "@type": "cr:Field", + "@id": "erp-frame-records/rgb", + "name": "rgb", + "dataType": "sc:ImageObject", + "source": { + "fileObject": { + "@id": "frame-manifest.csv" + }, + "extract": { + "column": "rgb_path" + } + } + }, + { + "@type": "cr:Field", + "@id": "erp-frame-records/depth", + "name": "depth", + "dataType": "sc:Text", + "source": { + "fileObject": { + "@id": "frame-manifest.csv" + }, + "extract": { + "column": "depth_path" + } + } + }, + { + "@type": "cr:Field", + "@id": "erp-frame-records/pose_quaternion", + "name": "pose_quaternion", + "dataType": "sc:Text", + "source": { + "fileObject": { + "@id": "frame-manifest.csv" + }, + "extract": { + "column": "pose_quaternion" + } + } + }, + { + "@type": "cr:Field", + "@id": "erp-frame-records/pose_position", + "name": "pose_position", + "dataType": "sc:Text", + "source": { + "fileObject": { + "@id": "frame-manifest.csv" + }, + "extract": { + "column": "pose_position" + } + } + }, + { + "@type": "cr:Field", + "@id": "erp-frame-records/camera_type", + "name": "camera_type", + "dataType": "sc:Text", + "source": { + "fileObject": { + "@id": "frame-manifest.csv" + }, + "extract": { + "column": "camera_type" + } + } + }, + { + "@type": "cr:Field", + "@id": "erp-frame-records/viewpoint_score", + "name": "viewpoint_score", + "dataType": "sc:Float", + "source": { + "fileObject": { + "@id": "frame-manifest.csv" + }, + "extract": { + "column": "viewpoint_score" + } + } + }, + { + "@type": "cr:Field", + "@id": "erp-frame-records/coverage_gain", + "name": "coverage_gain", + "dataType": "sc:Float", + "source": { + "fileObject": { + "@id": "frame-manifest.csv" + }, + "extract": { + "column": "coverage_gain" + } + } + }, + { + "@type": "cr:Field", + "@id": "erp-frame-records/conflict_ratio", + "name": "conflict_ratio", + "dataType": "sc:Float", + "source": { + "fileObject": { + "@id": "frame-manifest.csv" + }, + "extract": { + "column": "conflict_ratio" + } + } + }, + { + "@type": "cr:Field", + "@id": "erp-frame-records/candidate_id", + "name": "candidate_id", + "dataType": "sc:Text", + "source": { + "fileObject": { + "@id": "frame-manifest.csv" + }, + "extract": { + "column": "candidate_id" + } + } + } + ] + } + ], + "rai:dataCollection": "Indoor data is produced by the CM-EVS pipeline (asset loading, coordinate normalization, candidate generation, 26-direction geometric-validity filtering, conflict-aware greedy selection, 2048x1024 high-resolution Cycles ERP rendering, export under the unified schema). Outdoor data is sourced from TartanGround and OB3D and re-encoded into the unified schema; the curator is not run on outdoor sources in v1.0. HM3D and ScanNet++ frames are not redistributed; the release ships adapter regeneration scripts.", + "rai:dataPreprocessingProtocol": "Coordinate normalization to a right-handed +X-right, +Y-up, +Z-forward world frame with the OpenCV-style camera frame; pose stored as a scalar-first world-to-camera quaternion plus a position relative to the scene's first selected frame. AABB computation; source-specific candidate generation; 26-direction geometric-validity filter. Cubemap-to-ERP re-encoding at native resolution for outdoor sources; optional exposure adjustment for Blender; output schema conversion. Candidate probes, intermediate caches, pre-render-all oracle frames, and locally regenerated HM3D / ScanNet++ outputs are excluded from the public frame count F_pub.", + "rai:dataAnnotationProtocol": "No human annotation is performed. All labels (split, source, scene id, viewpoint score, coverage gain, conflict ratio) are produced automatically by the curator pipeline and recorded in metadata/per_step_log.jsonl and metadata/selected_viewpoints.json.", + "rai:dataReleaseMaintenancePlan": "Versioned releases on a 6-month cadence. Errata tracked via the project repository; SHA256 manifests refreshed at every release; HM3D and ScanNet++ regeneration scripts updated when upstream APIs, file layouts, or access terms change.", + "rai:dataUseCases": [ + "Panoramic depth estimation", + "ERP novel-view synthesis", + "Panoramic Gaussian-splatting reconstruction", + "Panoramic world-model pretraining", + "Fixed-budget viewpoint policy evaluation" + ], + "rai:dataLimitations": [ + "Real-scan derived frames (HM3D, ScanNet++) are not redistributed; users must accept upstream license terms and regenerate locally.", + "Outdoor frames are re-encoded source trajectories rather than curator-selected subsets and therefore do not carry per-step provenance.", + "Synthetic-real transfer must be validated separately by source; we do not claim Blender-only gains imply real-scan gains.", + "Geometry-validity filters may fail in atria, semi-outdoor spaces, narrow transitions, noisy scans, or pure point-cloud scenes." + ], + "rai:personalSensitiveInformation": "No new personal data is collected. Real-scan sources (HM3D, ScanNet++) may depict private indoor layouts and are not redistributed as derived frames. Even regeneration scripts and viewpoint metadata can reveal where observations would be sampled within a private space; users must comply with upstream source access terms.", + "rai:dataBiases": [ + "Source assets inherit geographic, architectural, and scanning biases.", + "HM3D and ScanNet++ are skewed toward scanned residential indoor spaces.", + "Blender assets are skewed toward staged residential, office, and architectural scenes.", + "Outdoor sources (TartanGround, OB3D) are skewed toward simulator-generated terrain along circular trajectories.", + "Synthetic Blender materials may not match real-scan sensor noise." + ], + "rai:dataSocialImpact": "CM-EVS lowers the engineering cost of producing auditable panoramic RGB-D resources from existing 3D scenes. Positive uses include panoramic perception, data-centric evaluation, view-planning research, and 3D-consistent world-model pretraining. Potential harms include over-trusting synthetic data, obscuring upstream dataset bias, and using real indoor scans in privacy-sensitive settings. The release therefore separates public synthetic frames from licensed real-scan regeneration and documents intended uses, non-uses, and source licenses." +} \ No newline at end of file diff --git a/dataset_metadata/manifests_h100/ARCHIVE_DIGESTS.txt b/dataset_metadata/manifests_h100/ARCHIVE_DIGESTS.txt new file mode 100644 index 0000000000000000000000000000000000000000..4126a02d03c05d37cc7519950b6354ea5eb6a065 --- /dev/null +++ b/dataset_metadata/manifests_h100/ARCHIVE_DIGESTS.txt @@ -0,0 +1,6 @@ +74e54654e43a6faa89ca4e50aec00a8e0366cdb3207ae16ee2c5efb1d2be70c1 SHA256SUMS_blender_indoor_round1+2.txt +8cda976ce5a9180cf03bda4408ccf921d4ba295eb6ea1b31d66f76bdde398679 SHA256SUMS_blender_indoor_round2.txt +7b7a42ab4aae6c22764d1447bfe35cb7210fd11d1b306497131058736f05e20e SHA256SUMS_HM3D.txt +60ecb00e2063f6efacc9408137fda5a73a4ac61647bd3cf8c32cc1e31839bc6f SHA256SUMS_scannetpp.txt +5e0285d4a3c472fee245501abb9be92ce0dada5f361cad1253bb51ded6e89f99 SHA256SUMS_OB3D.txt +b13e68a7e6ff7ced448e841649f84d0fc6d7a4fe96c120150e42bffbdf2f06bf SHA256SUMS_tartanground.txt diff --git a/dataset_metadata/manifests_h100/README.md b/dataset_metadata/manifests_h100/README.md new file mode 100644 index 0000000000000000000000000000000000000000..6e0d82ccf1caedede26b0467cb9ad89e2253ef35 --- /dev/null +++ b/dataset_metadata/manifests_h100/README.md @@ -0,0 +1,104 @@ +# H100 数据快照 SHA256 清单 + +> 生成时间：2026-05-02 06:48 UTC（H100 节点 `node96`） +> 数据根：`/data/data_wr/data_shushu/` (7 TB 数据盘) +> **范围：仅包含本论文相关的 6 个数据子目录** + +--- + +## 这些清单是什么 + +这是 H100 上**本论文相关数据**的逐文件 SHA-256 留底。每行格式： + +``` + +``` + +可用 `shasum -a 256 -c` / `sha256sum -c` 在数据所在机器上原地校验。 + +`ARCHIVE_DIGESTS.txt` 是每份 `SHA256SUMS_*.txt` 自身的 SHA-256，作为各 archive 的"内容指纹"。 + +--- + +## 论文 → H100 数据映射 + +V4 §4.3 表 4 列出 5 个数据来源；H100 上 Blender indoor 因为采样轮次不同分成两个目录存放： + +| 论文来源（V4 §4.3） | V4 声称规模 | H100 子目录 | 实际数量（manifest 行数 = 文件数）| +| --- | --- | --- | --- | +| **Blender indoor**（CC-BY 4.0）| 326 场景 / 11,583 帧 | `combined/blender_indoor_FOU_threshold-0.2_round1+2`（第 1 轮 + 第 1+2 轮合并）| 19,271 | +| | | `combined/blender_indoor_FOU_threshold-0.2_round2`（第 2 轮独立提取）| 20,673 | +| **HM3D**（adapter，不再分发）| 401 rooms / 14,475 帧 | `combined/HM3D` | 43,431 | +| **ScanNet++**（adapter，不再分发）| 500 scans / 8,267 帧 | `combined/scannetpp_threshold0.2` | 24,801 | +| **OB3D**（户外，按上游许可）| 12 场景 / 2,400 帧 | `continuous/OB3D_shushu`（12 场景 × 2 视角 = 24 份）| 7,246 | +| **TartanGround**（户外，**不再分发**）| 63 environments / 783,944 帧 | `continuous/Tartanground`（11 个环境，762 parts；其余环境仍在用户本地）| 342,064 | + +**Blender 只有室内**，没有 outdoor — 论文中的 outdoor 部分由 TartanGround + OB3D 提供。 + +--- + +## 为什么没有写到 `croissant.json` + +`croissant.json` 里 `cr:FileObject.sha256` 字段的语义是：**用户从 `contentUrl` 下载到的 .tar 文件的 SHA-256**。我们目前还**没有**把数据打包成最终发布 archive，因此那些字段保持 `TODO_SHA256` 占位。 + +H100 上的目录结构与 `croissant.json` 里的发布产物**不是一一对应**： + +- `blender-indoor-archive.tar` 应是 **curator 筛选过的 11,583 帧 / 326 场景**，需要从 `round1+2` 与 `round2` 两个 H100 子目录中合并去重 + curator 选帧后再 tar，**这一步还没做**。 +- `*-adapter.tar`（HM3D / ScanNet++ / TartanGround / OB3D）应是 **adapter 脚本 + 元数据包**，**不**包含数据帧。脚本目前在 `cmevs_anonymous_code_release/scripts/` + `adapters/` 下，也还没单独打包成 tar。 + +这里的 SHA256SUMS 只是当前 H100 数据状态的"内部留底"，**不会上传到 HF / OpenReview**，仅供你后续： +- 增量补 TartanGround 时比对哪些 part 已处理 +- 重组 / 重新打包发布 archive 时确认源数据没被改动 + +--- + +## 何时把哈希填进 `croissant.json` + +当你**实际打包发布 archive** 后： + +```bash +# 1. 在打包好的 .tar 上重算 +shasum -a 256 blender_indoor_v1.tar +# 2. 把哈希写入 croissant.json 中 blender-indoor-archive.tar 的 sha256 字段 +# 或运行：tools/update_croissant_with_real_hashes.py +``` + +reviewer 下载验证时用的就是这个哈希。 + +--- + +## 文件清单 + +| 文件 | 行数（=文件数）| 大小 | H100 路径 | +| --- | ---: | ---: | --- | +| `ARCHIVE_DIGESTS.txt` | 6 | 568 B | `~/cmevs_release_hashing/manifests/` | +| `SHA256SUMS_blender_indoor_round1+2.txt` | 19,271 | 2.9 MB | `combined/blender_indoor_FOU_threshold-0.2_round1+2` | +| `SHA256SUMS_blender_indoor_round2.txt` | 20,673 | 3.0 MB | `combined/blender_indoor_FOU_threshold-0.2_round2` | +| `SHA256SUMS_HM3D.txt` | 43,431 | 5.2 MB | `combined/HM3D` | +| `SHA256SUMS_scannetpp.txt` | 24,801 | 3.0 MB | `combined/scannetpp_threshold0.2` | +| `SHA256SUMS_OB3D.txt` | 7,246 | 930 KB | `continuous/OB3D_shushu` | +| `SHA256SUMS_tartanground.txt` | 342,064 | 47 MB | `continuous/Tartanground` | + +合计：**457,486 行**（一行 = 一个文件的 sha256），约 **62 MB**（不含 README）。 + +--- + +## 排除的目录 + +H100 数据根下还有以下子目录，但**与本论文无关**，因此**未生成 manifest**： + +- `combined/data_离散_1m间距` — 1m 间距实验性采样，未进入论文最终发布 +- `continuous/shushu_line_连续` — 室内连续直线轨迹，未进入论文 +- `continuous/shushu_circle_连续` — 室内连续圆形轨迹，未进入论文 +- `Robustness/` — 鲁棒性评估数据（洋红坏帧筛选用），未进入论文 + +如果未来这些目录进入发布范围，再单独跑 `~/cmevs_release_hashing/run_hashes.sh` 补哈希即可。 + +--- + +## 上游许可重要说明 + +- **TartanGround 不再分发为 ERP 重新编码帧**——与 V4 §4.2 表 3 `Direct release: no` 一致。这里的 sha256 仅作 H100 内部留底；最终发布只发 adapter 脚本 + 场景 id + 元数据。 +- **HM3D / ScanNet++ 同理**：上游 EULA / ToS 不允许再分发衍生 RGB-D 帧。 +- **OB3D**：按上游许可范围内可再分发；具体由发布前的许可核查决定。 +- **可直接发布的部分**：仅 Blender indoor（CC-BY 4.0 资产渲染）。 diff --git a/dataset_metadata/manifests_h100/SHA256SUMS_HM3D.txt b/dataset_metadata/manifests_h100/SHA256SUMS_HM3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..837d3c33bf4817fc11fd0fff6879886ddc4c5b86 --- /dev/null +++ b/dataset_metadata/manifests_h100/SHA256SUMS_HM3D.txt @@ -0,0 +1,43431 @@ +de11b3fd588e280e225e5b0258eb99d2cad1beb12a23f90169e8dc4b8f707c7b combined/HM3D/00000-kfPV7w3FaU5+space_01/panorama_0000.png +82822b434740400b9034c7f46f15f010d34bb7b9c2f47ed33e8efb5c6af7ea58 combined/HM3D/00000-kfPV7w3FaU5+space_01/panorama_0000_depth.npy +bfbbf48bac5b225546171ca1767de650b2da9da7d35035c20d24f4e3a8a44d3b combined/HM3D/00000-kfPV7w3FaU5+space_01/panorama_0005.png +7b828514f3c6cda30c14c14614a5d363bf2f11471602943f7d43cb3deceb862e combined/HM3D/00000-kfPV7w3FaU5+space_01/panorama_0005_depth.npy +a14d811a47651de71b9b9b0afd1c687ab757696806e1b053c008cfb94076d78f 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combined/scannetpp_threshold0.2/scene956/pose_0019.json +744163916619768104fe9f9bb3d2f1dd5562c19e37205ca7e1ce049a95840374 combined/scannetpp_threshold0.2/scene956/pose_0020.json diff --git a/dataset_metadata/manifests_h100/SHA256SUMS_tartanground.txt b/dataset_metadata/manifests_h100/SHA256SUMS_tartanground.txt new file mode 100644 index 0000000000000000000000000000000000000000..ba6eb90b34556589ac182bde1602dfc25b373d83 --- /dev/null +++ b/dataset_metadata/manifests_h100/SHA256SUMS_tartanground.txt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b13e68a7e6ff7ced448e841649f84d0fc6d7a4fe96c120150e42bffbdf2f06bf +size 48934340 diff --git a/environment.yml b/environment.yml new file mode 100644 index 0000000000000000000000000000000000000000..df442650601951e8f5500d3140f3400e9a6e9cb1 --- /dev/null +++ b/environment.yml @@ -0,0 +1,25 @@ +name: cmevs +channels: + - pytorch + - nvidia + - conda-forge +dependencies: + - python=3.10 + - pip + - numpy>=1.24 + - scipy + - pandas + - pyyaml + - pillow + - matplotlib + - scikit-learn + - pytorch + - torchvision + - cudatoolkit + - pip: + - opencv-python + - open3d + - trimesh + - tqdm + - jsonschema + diff --git a/examples/metadata/candidates.jsonl b/examples/metadata/candidates.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e0f32ec130b109ce572803ce9d19fe08e038056 --- /dev/null +++ b/examples/metadata/candidates.jsonl @@ -0,0 +1,7 @@ +{"candidate_id":"tiny_000","source":"blender_indoor_tiny","scene_id":"tiny_blend_scene","position":[0.0,1.6,0.0],"yaw_deg":0.0,"valid":true,"rejection_layer":"accepted","single_view_probe_coverage":0.31,"conflict_prior":0.05,"covered_cells":["a","b","c","d"],"oracle_gain":0.30,"runtime_s":0.02} +{"candidate_id":"tiny_001","source":"blender_indoor_tiny","scene_id":"tiny_blend_scene","position":[1.0,1.6,0.0],"yaw_deg":45.0,"valid":true,"rejection_layer":"accepted","single_view_probe_coverage":0.34,"conflict_prior":0.12,"covered_cells":["c","d","e","f","g"],"oracle_gain":0.28,"runtime_s":0.02} +{"candidate_id":"tiny_002","source":"blender_indoor_tiny","scene_id":"tiny_blend_scene","position":[2.0,1.6,0.5],"yaw_deg":90.0,"valid":true,"rejection_layer":"accepted","single_view_probe_coverage":0.27,"conflict_prior":0.02,"covered_cells":["h","i","j"],"oracle_gain":0.24,"runtime_s":0.02} +{"candidate_id":"tiny_003","source":"blender_indoor_tiny","scene_id":"tiny_blend_scene","position":[0.5,1.6,1.5],"yaw_deg":135.0,"valid":true,"rejection_layer":"accepted","single_view_probe_coverage":0.22,"conflict_prior":0.18,"covered_cells":["a","k","l"],"oracle_gain":0.16,"runtime_s":0.02} +{"candidate_id":"tiny_004","source":"blender_indoor_tiny","scene_id":"tiny_blend_scene","position":[1.5,1.6,1.5],"yaw_deg":180.0,"valid":true,"rejection_layer":"accepted","single_view_probe_coverage":0.29,"conflict_prior":0.06,"covered_cells":["m","n","o","p"],"oracle_gain":0.26,"runtime_s":0.02} +{"candidate_id":"tiny_005","source":"blender_indoor_tiny","scene_id":"tiny_blend_scene","position":[3.0,1.6,1.5],"yaw_deg":270.0,"valid":false,"rejection_layer":"visibility","single_view_probe_coverage":0.04,"conflict_prior":0.35,"covered_cells":[],"oracle_gain":0.01,"runtime_s":0.01} + diff --git a/examples/tiny_blender_scene/README.md b/examples/tiny_blender_scene/README.md new file mode 100644 index 0000000000000000000000000000000000000000..49b502db56fd94bc758b550bcace315195ebed55 --- /dev/null +++ b/examples/tiny_blender_scene/README.md @@ -0,0 +1,5 @@ +# Tiny Example + +This directory intentionally contains no Blender asset. The tiny smoke test uses Blender-indoor-style metadata in `examples/metadata/candidates.jsonl` so that reviewers can run the repository without private or third-party scene data. + +For real rendering, place `.blend`, `.glb`, `.gltf`, or `.ply` scene files under `data/` and use the commands in the top-level README. diff --git a/metadata_examples/candidates.schema.json b/metadata_examples/candidates.schema.json new file mode 100644 index 0000000000000000000000000000000000000000..5a3d93a2ac5f3c1acb05dcf5ccfb781a358600e6 --- /dev/null +++ b/metadata_examples/candidates.schema.json @@ -0,0 +1,38 @@ +{ + "$schema": "https://json-schema.org/draft/2020-12/schema", + "title": "CM-EVS candidate metadata", + "type": "object", + "required": [ + "candidate_id", + "source", + "scene_id", + "position", + "valid", + "single_view_probe_coverage", + "conflict_prior", + "covered_cells" + ], + "properties": { + "candidate_id": {"type": "string"}, + "source": {"type": "string"}, + "scene_id": {"type": "string"}, + "position": { + "type": "array", + "items": {"type": "number"}, + "minItems": 3, + "maxItems": 3 + }, + "yaw_deg": {"type": "number"}, + "valid": {"type": "boolean"}, + "rejection_layer": {"type": "string"}, + "single_view_probe_coverage": {"type": "number"}, + "conflict_prior": {"type": "number"}, + "covered_cells": { + "type": "array", + "items": {"type": "string"} + }, + "oracle_gain": {"type": "number"}, + "runtime_s": {"type": "number"} + } +} + diff --git a/metadata_examples/per_step_log.schema.json b/metadata_examples/per_step_log.schema.json new file mode 100644 index 0000000000000000000000000000000000000000..de8240c0880c81b4c4be0ccfd9c912fa6bc2f8ef --- /dev/null +++ b/metadata_examples/per_step_log.schema.json @@ -0,0 +1,15 @@ +{ + "$schema": "https://json-schema.org/draft/2020-12/schema", + "title": "CM-EVS per-step selection log", + "type": "object", + "required": ["step", "candidate_id", "score", "marginal_gain", "coverage_after"], + "properties": { + "step": {"type": "integer"}, + "candidate_id": {"type": "string"}, + "score": {"type": "number"}, + "marginal_gain": {"type": "number"}, + "coverage_after": {"type": "number"}, + "conflict_prior": {"type": "number"} + } +} + diff --git a/metadata_examples/selected_viewpoints.schema.json b/metadata_examples/selected_viewpoints.schema.json new file mode 100644 index 0000000000000000000000000000000000000000..421e6c59063b8100b744ba5d819a48c4fa3fef00 --- /dev/null +++ b/metadata_examples/selected_viewpoints.schema.json @@ -0,0 +1,32 @@ +{ + "$schema": "https://json-schema.org/draft/2020-12/schema", + "title": "CM-EVS selected viewpoints", + "type": "object", + "required": ["scene_id", "method", "selected_viewpoints", "summary"], + "properties": { + "scene_id": {"type": "string"}, + "method": {"type": "string"}, + "selected_viewpoints": { + "type": "array", + "items": { + "type": "object", + "required": ["candidate_id", "rank", "position", "yaw_deg"], + "properties": { + "candidate_id": {"type": "string"}, + "rank": {"type": "integer"}, + "position": { + "type": "array", + "items": {"type": "number"}, + "minItems": 3, + "maxItems": 3 + }, + "yaw_deg": {"type": "number"}, + "score": {"type": "number"}, + "marginal_gain": {"type": "number"} + } + } + }, + "summary": {"type": "object"} + } +} + diff --git a/pipelines/get_blend_bounds.py b/pipelines/get_blend_bounds.py new file mode 100644 index 0000000000000000000000000000000000000000..a7596768f49fa3ed728f7ebeb022c31e9525a262 --- /dev/null +++ b/pipelines/get_blend_bounds.py @@ -0,0 +1,199 @@ +#!/usr/bin/env python3 +""" +获取.blend文件的场景信息（相机位置、边界框） + +此脚本在Blender内部执行，用于获取.blend文件的场景信息。 +输出JSON格式的数据供batch_render.py使用。 + +智能检测策略： +1. 如果场景中有相机，使用相机位置作为第一帧参考 +2. 如果没有相机，使用室内对象（Floor、Wall、Room等）的边界框计算中心 + +使用方法: + blender --background --python get_blend_bounds.py -- \ + --blend "path/to/scene.blend" + +输出格式: + [BOUNDS] {"bounds_min": [...], "bounds_max": [...], "center": [...], "camera": {...}} +""" + +import bpy +import sys +import json +import argparse +from mathutils import Vector + + +# 室内对象关键词 +INDOOR_KEYWORDS = [ + 'room', 'interior', 'floor', 'wall', 'ceiling', 'indoor', + 'kitchen', 'bathroom', 'bedroom', 'living', 'dining', + 'door', 'window', 'lamp', 'light', 'sofa', 'table', 'chair', + 'bed', 'desk', 'cabinet', 'shelf', 'carpet', 'curtain', + 'stair', 'corridor', 'hallway', 'closet', 'wardrobe' +] + + +def parse_args(): + """解析命令行参数""" + argv = sys.argv + if "--" in argv: + argv = argv[argv.index("--") + 1:] + else: + argv = [] + + parser = argparse.ArgumentParser(description="获取.blend文件场景信息") + parser.add_argument("--blend", type=str, required=True, + help=".blend文件路径") + + return parser.parse_args(argv) + + +def is_indoor_object(obj_name): + """判断对象是否是室内对象""" + name_lower = obj_name.lower() + return any(kw in name_lower for kw in INDOOR_KEYWORDS) + + +def get_scene_cameras(): + """ + 获取场景中的所有相机 + + Returns: + cameras: 相机信息列表 [{"name": str, "position": [x,y,z], "rotation": [x,y,z]}, ...] + """ + cameras = [] + for obj in bpy.context.scene.objects: + if obj.type == 'CAMERA': + loc = obj.location + rot = obj.rotation_euler + cameras.append({ + "name": obj.name, + "position": [loc.x, loc.y, loc.z], + "rotation": [rot.x, rot.y, rot.z] + }) + return cameras + + +def get_scene_bounds(indoor_only=True): + """ + 获取场景中mesh物体的边界框（Blender坐标系：X右, Y前, Z上） + + Args: + indoor_only: 是否仅考虑室内对象（默认True） + + Returns: + bounds_min: 边界框最小坐标 [x, y, z] + bounds_max: 边界框最大坐标 [x, y, z] + center: 几何中心 [x, y, z] + indoor_count: 室内对象数量 + """ + min_coords = [float('inf'), float('inf'), float('inf')] + max_coords = [float('-inf'), float('-inf'), float('-inf')] + + mesh_count = 0 + indoor_count = 0 + + for obj in bpy.context.scene.objects: + if obj.type == 'MESH': + mesh_count += 1 + + # 如果启用室内过滤，检查对象名称 + if indoor_only and not is_indoor_object(obj.name): + continue + + indoor_count += 1 + + # 获取世界坐标下的边界框 + for corner in obj.bound_box: + world_corner = obj.matrix_world @ Vector(corner) + for i in range(3): + min_coords[i] = min(min_coords[i], world_corner[i]) + max_coords[i] = max(max_coords[i], world_corner[i]) + + # 如果没有找到任何符合条件的mesh + if min_coords[0] == float('inf'): + if indoor_only: + print(f"[WARN] 未找到室内对象，回退到全场景边界框", file=sys.stderr) + return get_scene_bounds(indoor_only=False) + else: + print(f"[WARN] 未找到任何mesh对象，使用默认边界框", file=sys.stderr) + min_coords = [-5, -5, 0] + max_coords = [5, 5, 3] + indoor_count = 0 + + # 计算几何中心 + center = [ + (min_coords[0] + max_coords[0]) / 2, + (min_coords[1] + max_coords[1]) / 2, + (min_coords[2] + max_coords[2]) / 2 + ] + + mode_str = "室内对象" if indoor_only else "全场景" + print(f"[INFO] 边界框模式: {mode_str}", file=sys.stderr) + print(f"[INFO] 找到 {indoor_count}/{mesh_count} 个对象", file=sys.stderr) + print(f"[INFO] 边界框: min={[f'{x:.2f}' for x in min_coords]}, max={[f'{x:.2f}' for x in max_coords]}", file=sys.stderr) + print(f"[INFO] 几何中心: [{center[0]:.2f}, {center[1]:.2f}, {center[2]:.2f}]", file=sys.stderr) + + return min_coords, max_coords, center, indoor_count + + +def main(): + args = parse_args() + + print(f"[INFO] 打开.blend文件: {args.blend}", file=sys.stderr) + + # 打开.blend文件 + bpy.ops.wm.open_mainfile(filepath=args.blend) + + # 1. 检测场景中的相机 + cameras = get_scene_cameras() + print(f"[INFO] 检测到 {len(cameras)} 个相机", file=sys.stderr) + + camera_info = None + first_frame_position = None + position_source = "none" + + if cameras: + # 使用第一个相机的位置作为参考 + cam = cameras[0] + camera_info = cam + first_frame_position = cam["position"] + position_source = "camera" + print(f"[INFO] 使用相机 '{cam['name']}' 的位置作为第一帧参考", file=sys.stderr) + print(f"[INFO] 相机位置: [{cam['position'][0]:.2f}, {cam['position'][1]:.2f}, {cam['position'][2]:.2f}]", file=sys.stderr) + + # 2. 获取室内对象边界框 + bounds_min, bounds_max, center, indoor_count = get_scene_bounds(indoor_only=True) + + # 如果没有相机，使用室内边界框中心 + if first_frame_position is None: + first_frame_position = center + position_source = "indoor_bounds_center" + print(f"[INFO] 无相机，使用室内边界框中心作为第一帧位置", file=sys.stderr) + + # 3. 获取场景单位比例（用于将米转换为场景单位） + unit_scale = bpy.context.scene.unit_settings.scale_length + unit_system = bpy.context.scene.unit_settings.system + print(f"[INFO] 场景单位: scale={unit_scale}, system={unit_system}", file=sys.stderr) + + # 输出JSON格式（供batch_render.py解析） + result = { + "bounds_min": bounds_min, + "bounds_max": bounds_max, + "center": center, + "first_frame_position": first_frame_position, + "position_source": position_source, + "camera": camera_info, + "cameras_count": len(cameras), + "indoor_objects_count": indoor_count, + "unit_scale": unit_scale, # 用于米->场景单位转换 + "coordinate_system": "blender_z_up" # X右, Y前, Z上 + } + + # 使用特殊前缀，便于batch_render.py解析 + print(f"[BOUNDS] {json.dumps(result)}") + + +if __name__ == "__main__": + main() diff --git a/pipelines/render_erp_blender.py b/pipelines/render_erp_blender.py new file mode 100644 index 0000000000000000000000000000000000000000..f8cc93d2cf095b2a8132ce1e1fd3dd29402a7e5b --- /dev/null +++ b/pipelines/render_erp_blender.py @@ -0,0 +1,1015 @@ +#!/usr/bin/env python3 +""" +Blender ERP全景图渲染脚本 + +此脚本在Blender内部执行，用于渲染ERP（等距圆柱投影）全景图。 + +使用方法: + blender --background --python render_erp_blender.py -- \ + --mesh "path/to/mesh.glb" \ + --output "output/panorama_0000.png" \ + --camera-pos "0.0,0.5,0.0" \ + --camera-rot "0.0,0.0,0.0" \ + --resolution "1024,512" +""" + +import bpy +import sys +import os +import json +import math +import argparse +from mathutils import Vector, Euler, Quaternion + + +def parse_args(): + """解析命令行参数（Blender的--之后的参数）""" + # 找到'--'之后的参数 + argv = sys.argv + if "--" in argv: + argv = argv[argv.index("--") + 1:] + else: + argv = [] + + parser = argparse.ArgumentParser(description="Blender ERP渲染脚本") + parser.add_argument("--mesh", type=str, required=True, + help="输入mesh文件路径（GLB/GLTF/OBJ）") + parser.add_argument("--output", type=str, required=True, + help="输出图像路径") + parser.add_argument("--pose-output", type=str, default=None, + help="输出位姿JSON路径（默认与图像同名）") + parser.add_argument("--camera-pos", type=str, default="0.0,0.0,0.0", + help="相机位置 x,y,z") + parser.add_argument("--camera-rot", type=str, default="0.0,0.0,0.0", + help="相机旋转 roll,pitch,yaw（弧度）") + parser.add_argument("--camera-rot-quat", type=str, default=None, + help="（已废弃）相机旋转四元数 w,x,y,z。现在主路径使用 --camera-rot Euler角") + parser.add_argument("--resolution", type=str, default="1024,512", + help="渲染分辨率 width,height") + parser.add_argument("--samples", type=int, default=16, + help="渲染采样数（默认16，Emission材质不需要高采样，可大幅提升渲染速度）") + parser.add_argument("--engine", type=str, default="CYCLES", + choices=["BLENDER_EEVEE", "CYCLES"], + help="渲染引擎（全景图必须使用CYCLES）") + parser.add_argument("--frame-id", type=int, default=0, + help="帧序号") + parser.add_argument("--ref-position", type=str, default=None, + help="参考帧位置 x,y,z（Y-up坐标系），None表示第一帧") + parser.add_argument("--ref-quaternion", type=str, default=None, + help="参考帧四元数 w,x,y,z，None表示第一帧") + parser.add_argument("--render-depth", action="store_true", + help="是否渲染深度图（保存为.npy格式）") + parser.add_argument("--depth-output", type=str, default=None, + help="深度图输出路径（默认与图像同目录，后缀_depth.npy）") + + return parser.parse_args(argv) + + +def clear_scene(): + """清空当前场景""" + # 选择所有对象 + bpy.ops.object.select_all(action='SELECT') + # 删除选中的对象 + bpy.ops.object.delete(use_global=False) + + # 清理孤立数据 + for block in bpy.data.meshes: + if block.users == 0: + bpy.data.meshes.remove(block) + for block in bpy.data.materials: + if block.users == 0: + bpy.data.materials.remove(block) + for block in bpy.data.textures: + if block.users == 0: + bpy.data.textures.remove(block) + for block in bpy.data.images: + if block.users == 0: + bpy.data.images.remove(block) + + +def import_mesh(mesh_path): + """导入mesh文件""" + ext = os.path.splitext(mesh_path)[1].lower() + + if ext in ['.glb', '.gltf']: + bpy.ops.import_scene.gltf(filepath=mesh_path) + elif ext == '.obj': + bpy.ops.wm.obj_import(filepath=mesh_path) + elif ext == '.fbx': + bpy.ops.import_scene.fbx(filepath=mesh_path) + elif ext == '.ply': + bpy.ops.wm.ply_import(filepath=mesh_path) + else: + raise ValueError(f"不支持的文件格式: {ext}") + + print(f"[INFO] 导入mesh: {mesh_path}") + + # 获取导入的对象 + imported_objects = [obj for obj in bpy.context.selected_objects] + print(f"[INFO] 导入了 {len(imported_objects)} 个对象") + + # 为房间结构添加程序化纹理 + apply_procedural_textures(imported_objects) + + return imported_objects + + +def is_room_structure(obj_name): + """ + 判断对象是否是房间结构（墙面、地板、天花板） + + 房间结构的常见命名模式： + 1. None.obj - 标准3D-Front房间结构 + 2. geometry_N - 无纹理的通用几何体 + 3. 纯数字.obj (如 12670.obj) - 数字ID命名的结构 + """ + name_lower = obj_name.lower() + + # 模式1: 包含 "none" + if 'none' in name_lower: + return True + + # 模式2: 以 "geometry_" 开头 + if name_lower.startswith('geometry_') or name_lower.startswith('geometry.'): + return True + + # 模式3: 纯数字命名 (如 "12670.obj", "7319.obj") + base_name = obj_name.replace('.obj', '').replace('.OBJ', '') + if base_name.isdigit(): + return True + + return False + + +def apply_procedural_textures(objects): + """为所有对象添加Emission材质（材质预览模式：显示原始颜色，不受光照影响）""" + applied_count = 0 + for obj in objects: + if obj.type != 'MESH': + continue + + # 检查对象是否有材质，或者材质是否为空 + has_material = obj.data.materials and len(obj.data.materials) > 0 and obj.data.materials[0] is not None + + # 为所有对象应用Emission材质（材质预览模式） + # 这样所有对象都会显示原始颜色，不受光照影响 + if not has_material or is_room_structure(obj.name): + # 没有材质或者是房间结构：应用Emission材质 + print(f"[INFO] 为对象添加Emission材质: {obj.name}") + apply_room_material(obj) + applied_count += 1 + else: + # 有材质：也转换为Emission材质（确保所有对象都使用Emission模式） + print(f"[INFO] 将对象材质转换为Emission: {obj.name}") + convert_to_emission_material(obj) + applied_count += 1 + + if applied_count == 0: + print("[WARN] 未找到需要添加材质的对象") + else: + print(f"[INFO] 共为 {applied_count} 个对象添加了Emission材质（材质预览模式）") + + +def apply_room_material(obj): + """为房间结构应用程序化材质（墙面、地板、天花板）""" + # 创建新材质 + mat = bpy.data.materials.new(name="RoomProceduralMaterial") + mat.use_nodes = True + + nodes = mat.node_tree.nodes + links = mat.node_tree.links + + # 清除默认节点 + nodes.clear() + + # 创建输出节点 + output = nodes.new('ShaderNodeOutputMaterial') + output.location = (800, 0) + + # 使用几何节点获取法线 + geometry = nodes.new('ShaderNodeNewGeometry') + geometry.location = (-600, 0) + + # 分离法线的Z分量 + separate_xyz = nodes.new('ShaderNodeSeparateXYZ') + separate_xyz.location = (-400, 0) + links.new(geometry.outputs['Normal'], separate_xyz.inputs['Vector']) + + # === 判断天花板（法线Z < -0.5，朝下的面） === + ceiling_check = nodes.new('ShaderNodeMath') + ceiling_check.operation = 'LESS_THAN' + ceiling_check.inputs[1].default_value = -0.5 + ceiling_check.location = (-200, 100) + links.new(separate_xyz.outputs['Z'], ceiling_check.inputs[0]) + + # === 判断地板（法线Z > 0.5，朝上的面） === + floor_check = nodes.new('ShaderNodeMath') + floor_check.operation = 'GREATER_THAN' + floor_check.inputs[1].default_value = 0.5 + floor_check.location = (-200, -100) + links.new(separate_xyz.outputs['Z'], floor_check.inputs[0]) + + # === 创建三种材质 === + floor_shader = create_wood_floor_material(nodes, links) + floor_shader.location = (0, 300) + + wall_shader = create_brick_wall_material(nodes, links) # 砖墙材质 + wall_shader.location = (0, 0) + + ceiling_shader = create_grid_ceiling_material(nodes, links) # 网格天花板 + ceiling_shader.location = (0, -300) + + # === 混合着色器：先混合地板和墙面 === + mix_floor_wall = nodes.new('ShaderNodeMixShader') + mix_floor_wall.location = (300, 100) + links.new(floor_check.outputs['Value'], mix_floor_wall.inputs['Fac']) + links.new(wall_shader.outputs['Emission'], mix_floor_wall.inputs[1]) # Emission材质输出 + links.new(floor_shader.outputs['Emission'], mix_floor_wall.inputs[2]) # Emission材质输出 + + # === 混合着色器：再混合天花板 === + mix_final = nodes.new('ShaderNodeMixShader') + mix_final.location = (500, 0) + links.new(ceiling_check.outputs['Value'], mix_final.inputs['Fac']) + links.new(mix_floor_wall.outputs['Shader'], mix_final.inputs[1]) + links.new(ceiling_shader.outputs['Emission'], mix_final.inputs[2]) # Emission材质输出 + + # 连接输出 + links.new(mix_final.outputs['Shader'], output.inputs['Surface']) + + # 应用材质到对象 + if obj.data.materials: + obj.data.materials[0] = mat + else: + obj.data.materials.append(mat) + + print(f"[INFO] Emission材质已应用（地板+砖墙+网格天花板，材质预览模式）") + + +def convert_to_emission_material(obj): + """将现有材质转换为Emission材质（材质预览模式）""" + if not obj.data.materials or len(obj.data.materials) == 0: + # 如果没有材质，直接应用房间材质 + apply_room_material(obj) + return + + # 获取现有材质 + existing_mat = obj.data.materials[0] + if existing_mat is None: + apply_room_material(obj) + return + + # 如果材质已经有节点，尝试提取Base Color并转换为Emission + if existing_mat.use_nodes: + nodes = existing_mat.node_tree.nodes + links = existing_mat.node_tree.links + + # 查找Principled BSDF节点 + bsdf_node = None + for node in nodes: + if node.type == 'BSDF_PRINCIPLED': + bsdf_node = node + break + + if bsdf_node and 'Base Color' in bsdf_node.inputs: + # 找到Base Color输入 + base_color_input = bsdf_node.inputs['Base Color'] + + # 创建Emission节点 + emission = nodes.new('ShaderNodeEmission') + emission.name = "Emission" + emission.location = bsdf_node.location + + # 获取Base Color的值或连接 + if base_color_input.is_linked: + # 如果有连接，连接到Emission + color_source = base_color_input.links[0].from_node + color_output = base_color_input.links[0].from_socket + links.new(color_output, emission.inputs['Color']) + else: + # 如果没有连接，使用默认值 + emission.inputs['Color'].default_value = base_color_input.default_value + + emission.inputs['Strength'].default_value = 1.0 # Emission强度（材质预览模式，避免过曝） + + # 找到输出节点并连接 + output_node = None + for node in nodes: + if node.type == 'OUTPUT_MATERIAL': + output_node = node + break + + if output_node: + # 断开原有连接 + if output_node.inputs['Surface'].is_linked: + for link in output_node.inputs['Surface'].links: + existing_mat.node_tree.links.remove(link) + # 连接Emission + links.new(emission.outputs['Emission'], output_node.inputs['Surface']) + print(f"[INFO] 已将材质转换为Emission: {obj.name}") + return + + # 如果无法转换，直接应用房间材质 + apply_room_material(obj) + + +def create_wood_floor_material(nodes, links): + """创建木地板程序化材质（Emission模式，显示原始颜色）""" + # 使用Emission材质，直接发光，不受光照影响 + emission = nodes.new('ShaderNodeEmission') + emission.name = "FloorEmission" + + # 木纹噪波纹理 + noise = nodes.new('ShaderNodeTexNoise') + noise.inputs['Scale'].default_value = 20.0 + noise.inputs['Detail'].default_value = 8.0 + noise.inputs['Roughness'].default_value = 0.6 + noise.location = (-600, 200) + + # 波浪纹理（模拟木纹条纹） + wave = nodes.new('ShaderNodeTexWave') + wave.wave_type = 'BANDS' + wave.bands_direction = 'X' + wave.inputs['Scale'].default_value = 3.0 + wave.inputs['Distortion'].default_value = 5.0 + wave.inputs['Detail'].default_value = 3.0 + wave.location = (-600, 0) + + # 颜色渐变（木材颜色） + color_ramp = nodes.new('ShaderNodeValToRGB') + color_ramp.color_ramp.elements[0].color = (0.15, 0.08, 0.04, 1.0) # 深棕色 + color_ramp.color_ramp.elements[1].color = (0.35, 0.20, 0.10, 1.0) # 浅棕色 + color_ramp.location = (-400, 100) + + # 混合噪波和波浪 + mix_rgb = nodes.new('ShaderNodeMix') + mix_rgb.data_type = 'RGBA' + mix_rgb.inputs['Factor'].default_value = 0.5 + mix_rgb.location = (-400, 0) + + links.new(noise.outputs['Fac'], mix_rgb.inputs['A']) + links.new(wave.outputs['Fac'], mix_rgb.inputs['B']) + links.new(mix_rgb.outputs['Result'], color_ramp.inputs['Fac']) + + # 连接到Emission材质（直接显示颜色，不受光照影响） + links.new(color_ramp.outputs['Color'], emission.inputs['Color']) + emission.inputs['Strength'].default_value = 1.0 # Emission强度（材质预览模式，避免过曝） + + return emission + + +def create_brick_wall_material(nodes, links): + """创建砖墙程序化材质（Emission模式，显示原始颜色）""" + # 使用Emission材质，直接发光，不受光照影响 + emission = nodes.new('ShaderNodeEmission') + emission.name = "BrickWallEmission" + + # 使用纹理坐标 + tex_coord = nodes.new('ShaderNodeTexCoord') + tex_coord.location = (-800, 0) + + # 缩放映射（控制砖块大小） + mapping = nodes.new('ShaderNodeMapping') + mapping.inputs['Scale'].default_value = (4.0, 8.0, 1.0) # X方向砖块较宽 + mapping.location = (-600, 0) + links.new(tex_coord.outputs['Generated'], mapping.inputs['Vector']) + + # 砖块纹理 + brick = nodes.new('ShaderNodeTexBrick') + brick.inputs['Color1'].default_value = (0.6, 0.3, 0.2, 1.0) # 砖红色 + brick.inputs['Color2'].default_value = (0.5, 0.25, 0.15, 1.0) # 深砖红色 + brick.inputs['Mortar'].default_value = (0.85, 0.85, 0.8, 1.0) # 灰白色砂浆 + brick.inputs['Scale'].default_value = 3.0 + brick.inputs['Mortar Size'].default_value = 0.02 + brick.inputs['Mortar Smooth'].default_value = 0.1 + brick.inputs['Bias'].default_value = 0.0 + brick.inputs['Brick Width'].default_value = 0.5 + brick.inputs['Row Height'].default_value = 0.25 + brick.location = (-400, 0) + links.new(mapping.outputs['Vector'], brick.inputs['Vector']) + + # 添加细微噪波增加真实感 + noise = nodes.new('ShaderNodeTexNoise') + noise.inputs['Scale'].default_value = 50.0 + noise.inputs['Detail'].default_value = 3.0 + noise.location = (-400, -200) + links.new(mapping.outputs['Vector'], noise.inputs['Vector']) + + # 混合砖块颜色和噪波 + mix_color = nodes.new('ShaderNodeMix') + mix_color.data_type = 'RGBA' + mix_color.inputs['Factor'].default_value = 0.1 + mix_color.location = (-200, 0) + links.new(brick.outputs['Color'], mix_color.inputs['A']) + links.new(noise.outputs['Color'], mix_color.inputs['B']) + + # 连接到Emission材质（直接显示颜色，不受光照影响） + links.new(mix_color.outputs['Result'], emission.inputs['Color']) + emission.inputs['Strength'].default_value = 2.0 # Emission强度（材质预览模式，避免过曝） + + return emission + + +def create_grid_ceiling_material(nodes, links): + """创建网格天花板程序化材质（Emission模式，显示原始颜色）""" + # 使用Emission材质，直接发光，不受光照影响 + emission = nodes.new('ShaderNodeEmission') + emission.name = "GridCeilingEmission" + + # 使用纹理坐标 + tex_coord = nodes.new('ShaderNodeTexCoord') + tex_coord.location = (-800, -400) + + # 缩放映射 + mapping = nodes.new('ShaderNodeMapping') + mapping.inputs['Scale'].default_value = (5.0, 5.0, 1.0) + mapping.location = (-600, -400) + links.new(tex_coord.outputs['Generated'], mapping.inputs['Vector']) + + # 分离XY坐标 + separate = nodes.new('ShaderNodeSeparateXYZ') + separate.location = (-400, -400) + links.new(mapping.outputs['Vector'], separate.inputs['Vector']) + + # X方向网格线（使用正弦波） + math_sin_x = nodes.new('ShaderNodeMath') + math_sin_x.operation = 'SINE' + math_sin_x.location = (-200, -350) + + math_mul_x = nodes.new('ShaderNodeMath') + math_mul_x.operation = 'MULTIPLY' + math_mul_x.inputs[1].default_value = 6.28 # 2*PI + math_mul_x.location = (-300, -350) + links.new(separate.outputs['X'], math_mul_x.inputs[0]) + links.new(math_mul_x.outputs['Value'], math_sin_x.inputs[0]) + + # Y方向网格线 + math_sin_y = nodes.new('ShaderNodeMath') + math_sin_y.operation = 'SINE' + math_sin_y.location = (-200, -500) + + math_mul_y = nodes.new('ShaderNodeMath') + math_mul_y.operation = 'MULTIPLY' + math_mul_y.inputs[1].default_value = 6.28 + math_mul_y.location = (-300, -500) + links.new(separate.outputs['Y'], math_mul_y.inputs[0]) + links.new(math_mul_y.outputs['Value'], math_sin_y.inputs[0]) + + # 取绝对值使线条清晰 + abs_x = nodes.new('ShaderNodeMath') + abs_x.operation = 'ABSOLUTE' + abs_x.location = (-100, -350) + links.new(math_sin_x.outputs['Value'], abs_x.inputs[0]) + + abs_y = nodes.new('ShaderNodeMath') + abs_y.operation = 'ABSOLUTE' + abs_y.location = (-100, -500) + links.new(math_sin_y.outputs['Value'], abs_y.inputs[0]) + + # 合并X和Y网格（取最小值形成网格交叉） + math_min = nodes.new('ShaderNodeMath') + math_min.operation = 'MINIMUM' + math_min.location = (0, -425) + links.new(abs_x.outputs['Value'], math_min.inputs[0]) + links.new(abs_y.outputs['Value'], math_min.inputs[1]) + + # 颜色渐变：网格线深色，格子浅色 + color_ramp = nodes.new('ShaderNodeValToRGB') + color_ramp.color_ramp.elements[0].color = (0.3, 0.3, 0.35, 1.0) # 深灰色网格线 + color_ramp.color_ramp.elements[0].position = 0.0 + color_ramp.color_ramp.elements[1].color = (0.95, 0.95, 0.95, 1.0) # 白色格子 + color_ramp.color_ramp.elements[1].position = 0.15 + color_ramp.location = (150, -425) + links.new(math_min.outputs['Value'], color_ramp.inputs['Fac']) + + # 连接到Emission材质（直接显示颜色，不受光照影响） + links.new(color_ramp.outputs['Color'], emission.inputs['Color']) + emission.inputs['Strength'].default_value = 2.0 # Emission强度（材质预览模式，避免过曝） + + return emission + + +def get_scene_bounds(): + """获取场景中所有物体的边界框""" + min_coords = [float('inf'), float('inf'), float('inf')] + max_coords = [float('-inf'), float('-inf'), float('-inf')] + + for obj in bpy.context.scene.objects: + if obj.type == 'MESH': + # 获取世界坐标下的边界框 + for corner in obj.bound_box: + world_corner = obj.matrix_world @ Vector(corner) + for i in range(3): + min_coords[i] = min(min_coords[i], world_corner[i]) + max_coords[i] = max(max_coords[i], world_corner[i]) + + # 如果没有找到任何mesh，返回默认值 + if min_coords[0] == float('inf'): + return ([-5, -5, 0], [5, 5, 3]) + + return (min_coords, max_coords) + + +def create_erp_camera(name="ERP_Camera"): + """创建ERP全景相机""" + # 创建相机数据 + camera_data = bpy.data.cameras.new(name=name) + + # 设置为全景相机 + camera_data.type = 'PANO' + + # 设置全景类型为等距圆柱投影（EEVEE和Cycles都支持） + # Blender 5.0 使用 panorama_type + if hasattr(camera_data, 'panorama_type'): + camera_data.panorama_type = 'EQUIRECTANGULAR' + # Cycles相机设置 + if hasattr(camera_data, 'cycles'): + camera_data.cycles.panorama_type = 'EQUIRECTANGULAR' + + # 创建相机对象 + camera_object = bpy.data.objects.new(name, camera_data) + + # 链接到场景 + bpy.context.scene.collection.objects.link(camera_object) + + print(f"[INFO] 创建ERP相机: {name}") + + return camera_object + + +def setup_camera(camera_object, position, rotation_euler=None, rotation_quat=None): + """设置相机位置和旋转（Euler 或 Quaternion）""" + # 设置位置 + camera_object.location = Vector(position) + + # 设置旋转 + if rotation_quat is not None: + # 使用四元数（推荐，避免Euler顺序/分解歧义） + camera_object.rotation_mode = 'QUATERNION' + camera_object.rotation_quaternion = Quaternion(rotation_quat) + print(f"[INFO] 相机位置: {position}") + print(f"[INFO] 相机旋转(Quaternion wxyz): {list(rotation_quat)}") + else: + # 使用欧拉角（Blender使用XYZ顺序的欧拉角） + camera_object.rotation_mode = 'XYZ' + camera_object.rotation_euler = Euler(rotation_euler, 'XYZ') + print(f"[INFO] 相机位置: {position}") + print(f"[INFO] 相机旋转(Euler XYZ, rad): {rotation_euler}") + + +def setup_render_settings(resolution, engine, samples): + """设置渲染参数""" + scene = bpy.context.scene + + # 设置渲染引擎 + scene.render.engine = engine + print(f"[INFO] 渲染引擎: {engine}") + + # 设置分辨率 + scene.render.resolution_x = resolution[0] + scene.render.resolution_y = resolution[1] + scene.render.resolution_percentage = 100 + print(f"[INFO] 分辨率: {resolution[0]}x{resolution[1]}") + + # 设置输出格式 + scene.render.image_settings.file_format = 'PNG' + scene.render.image_settings.color_mode = 'RGB' + scene.render.image_settings.color_depth = '8' + + # 引擎特定设置 + if engine == 'BLENDER_EEVEE': + # EEVEE设置 + if hasattr(scene, 'eevee'): + # 设置采样数（如果属性存在） + if hasattr(scene.eevee, 'taa_render_samples'): + scene.eevee.taa_render_samples = samples + # 软阴影（Blender 5.0可能不支持） + if hasattr(scene.eevee, 'use_soft_shadows'): + scene.eevee.use_soft_shadows = True + elif engine == 'CYCLES': + # Cycles设置 + scene.cycles.samples = samples + scene.cycles.use_denoising = True + + # 对于Emission材质，需要确保光线反弹足够 + # 但Emission材质本身会发光，不需要太多反弹 + scene.cycles.max_bounces = 4 # 减少反弹次数（Emission材质不需要太多） + scene.cycles.diffuse_bounces = 2 + scene.cycles.glossy_bounces = 2 + scene.cycles.transmission_bounces = 2 + + # 尝试使用GPU + try: + bpy.context.preferences.addons['cycles'].preferences.compute_device_type = 'CUDA' + bpy.context.scene.cycles.device = 'GPU' + print("[INFO] 使用GPU渲染") + except: + print("[INFO] 使用CPU渲染") + + +def setup_lighting(camera_position=None, scene_bounds=None): + """ + 设置照明（材质预览模式：仅使用强环境光，无其他光源，显示材质原始颜色和亮度） + + Args: + camera_position: 相机位置 (x, y, z)（未使用） + scene_bounds: 场景边界 (min, max)（未使用） + """ + scene = bpy.context.scene + + # 添加环境光（材质预览模式） + world = bpy.data.worlds.new("World") + scene.world = world + world.use_nodes = True + + # 获取节点树 + nodes = world.node_tree.nodes + links = world.node_tree.links + + # 清除默认节点 + nodes.clear() + + # 创建背景节点 - 使用非常强的环境光（类似材质预览模式） + # 只使用环境光，无其他光源，确保材质显示原始颜色和亮度，无明暗变化 + background = nodes.new('ShaderNodeBackground') + background.inputs['Color'].default_value = (1.0, 1.0, 1.0, 1.0) # 白色背景 + background.inputs['Strength'].default_value = 1.0 # 环境光强度（材质预览模式，避免过曝） + + # 创建输出节点 + output = nodes.new('ShaderNodeOutputWorld') + + # 连接节点 + links.new(background.outputs['Background'], output.inputs['Surface']) + + # === 不添加任何其他光源 === + # 只使用环境光，确保整个场景光照完全均匀，无距离衰减，无明暗变化 + # 这样材质会显示其原始颜色和亮度，就像Blender材质预览模式一样 + + print("[INFO] 设置照明完成（材质预览模式：仅强环境光，无其他光源，显示材质原始颜色和亮度）") + + +def setup_depth_pass(): + """ + 设置深度渲染 pass（Blender 5.0+ API） + + 在 Blender 中启用 Z pass，用于获取深度信息。 + 使用 Blender 5.0 新的 compositing_node_group API。 + """ + scene = bpy.context.scene + + # 启用 View Layer 的 Z pass + view_layer = bpy.context.view_layer + view_layer.use_pass_z = True + + # Blender 5.0: scene.node_tree 已移除，改用 compositing_node_group + # 创建新的 CompositorNodeTree 并赋给场景 + tree = bpy.data.node_groups.new("DepthCompositor", "CompositorNodeTree") + scene.compositing_node_group = tree + nodes = tree.nodes + links = tree.links + + # 创建 Render Layers 节点 + render_layers = nodes.new('CompositorNodeRLayers') + render_layers.location = (0, 300) + + # Blender 5.0: 用 NodeGroupOutput 替代 CompositorNodeComposite + output = nodes.new('NodeGroupOutput') + output.location = (400, 300) + tree.interface.new_socket(name="Image", in_out="OUTPUT", socket_type="NodeSocketColor") + + # 连接 RGB 输出 + links.new(render_layers.outputs['Image'], output.inputs['Image']) + + # 创建 File Output 节点（用于深度 EXR） + file_output = nodes.new('CompositorNodeOutputFile') + file_output.location = (400, 0) + file_output.directory = "" # 稍后在渲染时设置（Blender 5.0: 替代 base_path） + file_output.format.media_type = 'IMAGE' # Blender 5.0: 必须先设 media_type + file_output.format.file_format = 'OPEN_EXR' + file_output.format.color_depth = '32' + file_output.format.exr_codec = 'ZIP' + + # Blender 5.0: file_output_items 替代 file_slots + file_output.file_output_items.clear() + file_output.file_output_items.new('FLOAT', "depth") + + # 连接深度输出 + links.new(render_layers.outputs['Depth'], file_output.inputs['depth']) + + print("[INFO] 深度 pass 已启用（Blender 5.0 API）") + + return file_output + + +def _convert_depth_exr_via_blender_api(exr_path, npy_path): + """使用 Blender 图像 API 将 EXR 转为 NPY（备用路径，不依赖 OpenEXR）。""" + import numpy as np + img = bpy.data.images.load(exr_path) + width = img.size[0] + height = img.size[1] + pixels = np.array(img.pixels[:]) + pixels = pixels.reshape(height, width, -1) + depth = pixels[:, :, 0] + depth = np.flipud(depth) + unit_scale = bpy.context.scene.unit_settings.scale_length + depth_meters = depth * unit_scale + max_valid_depth = 1000.0 + depth_meters[depth_meters > max_valid_depth] = np.nan + depth_meters[depth_meters <= 0] = np.nan + np.save(npy_path, depth_meters.astype(np.float32)) + bpy.data.images.remove(img) + os.remove(exr_path) + print(f"[OK] 深度图保存（备用方法）: {npy_path}") + + +def convert_depth_exr_to_npy(exr_path, npy_path): + """ + 将 Blender 渲染的深度 EXR 转换为 NPY 格式 + + Blender ERP 相机的深度是 range depth（射线距离），单位为 Blender 单位（通常是米） + + Args: + exr_path: EXR 文件路径 + npy_path: NPY 输出路径 + """ + import numpy as np + try: + import OpenEXR + import Imath + + # 打开 EXR 文件 + exr_file = OpenEXR.InputFile(exr_path) + + # 获取图像尺寸 + header = exr_file.header() + dw = header['dataWindow'] + width = dw.max.x - dw.min.x + 1 + height = dw.max.y - dw.min.y + 1 + + # 读取深度通道 + # Blender 深度 pass 保存在 'R'、'G'、'B' 或 'V' 通道 + pt = Imath.PixelType(Imath.PixelType.FLOAT) + + # 尝试不同的通道名称 + channel_names = ['depth.R', 'R', 'V', 'Z', 'depth.V'] + depth_str = None + for ch in channel_names: + if ch in header['channels']: + depth_str = exr_file.channel(ch, pt) + print(f"[INFO] 使用深度通道: {ch}") + break + + if depth_str is None: + # 列出所有可用通道 + available_channels = list(header['channels'].keys()) + print(f"[WARN] 可用通道: {available_channels}") + # 尝试使用第一个通道 + if available_channels: + depth_str = exr_file.channel(available_channels[0], pt) + print(f"[INFO] 使用通道: {available_channels[0]}") + else: + raise ValueError("无法找到深度通道") + + # 转换为 numpy 数组 + depth = np.frombuffer(depth_str, dtype=np.float32) + depth = depth.reshape(height, width) + + # 获取场景单位比例（转换为米） + unit_scale = bpy.context.scene.unit_settings.scale_length + + # 将深度转换为米 + # Blender 的深度值是场景单位，需要乘以 unit_scale 转换为米 + depth_meters = depth * unit_scale + + # 处理无效深度（Blender 用非常大的值表示无穷远） + # 通常 > 1e9 的值表示背景/无穷远 + max_valid_depth = 1000.0 # 1000 米以上视为无效 + depth_meters[depth_meters > max_valid_depth] = np.nan + depth_meters[depth_meters <= 0] = np.nan + + # 保存为 NPY + np.save(npy_path, depth_meters.astype(np.float32)) + + # 删除临时 EXR 文件 + os.remove(exr_path) + + # 统计信息 + valid_mask = np.isfinite(depth_meters) + if np.any(valid_mask): + print(f"[OK] 深度图保存: {npy_path}") + print(f" 形状: {depth_meters.shape}") + print(f" 深度范围: {np.nanmin(depth_meters):.3f} - {np.nanmax(depth_meters):.3f} 米") + print(f" 有效像素: {np.sum(valid_mask)} / {depth_meters.size} ({100*np.sum(valid_mask)/depth_meters.size:.1f}%)") + else: + print(f"[WARN] 深度图全部无效!") + + except ImportError: + print("[ERROR] 需要安装 OpenEXR 库: pip install OpenEXR") + print("[INFO] 尝试使用 Blender 内置方法...") + try: + _convert_depth_exr_via_blender_api(exr_path, npy_path) + except Exception as e: + print(f"[ERROR] 备用方法也失败: {e}") + print(f"[INFO] EXR 文件保留在: {exr_path}") + except Exception as e: + print(f"[WARN] OpenEXR 读取失败，尝试 Blender 内置方法: {e}") + try: + _convert_depth_exr_via_blender_api(exr_path, npy_path) + except Exception as e2: + print(f"[ERROR] 备用方法也失败: {e2}") + print(f"[INFO] EXR 文件保留在: {exr_path}") + + +def render_and_save(output_path, render_depth=False, depth_output=None): + """ + 执行渲染并保存 + + Args: + output_path: RGB 图像输出路径 + render_depth: 是否渲染深度 + depth_output: 深度图输出路径（.npy 格式） + """ + # 确保输出目录存在 + output_dir = os.path.dirname(output_path) + if output_dir and not os.path.exists(output_dir): + os.makedirs(output_dir) + + # 设置输出路径 + bpy.context.scene.render.filepath = output_path + + # 执行渲染 + print(f"[INFO] 开始渲染...") + bpy.ops.render.render(write_still=True) + + # 强校验：必须有实际输出图像，避免上游出现“returncode=0但无文件” + if (not os.path.exists(output_path)) or os.path.getsize(output_path) <= 0: + raise RuntimeError(f"渲染完成但输出图像不存在或为空: {output_path}") + + print(f"[OK] 渲染完成: {output_path}") + + +def save_pose(camera_object, output_path, frame_id=0, ref_position=None, ref_quaternion=None): + """ + 保存相机位姿（绝对位姿，兼容 ERPT 格式） + + 输出格式： + - position: 相机中心在世界坐标系的绝对位置（米），[X右, Y上, Z前] + - rotation_quaternion: [w, x, y, z]，camera->world 旋转 (R_cw) + + 核心公式：R_cw_erpt = T @ R_blender_obj @ M + - T: Blender世界(Y前Z上) -> 统一世界(Y上Z前) 坐标轴交换 + - R_blender_obj: Blender相机的旋转矩阵（object local -> world） + - M: Blender相机本地(-Z前) -> ERPT相机(+Z前) Z轴翻转 + + Args: + camera_object: Blender相机对象 + output_path: 输出路径 + frame_id: 帧序号 + ref_position: （保留参数，当前未使用） + ref_quaternion: （保留参数，当前未使用） + """ + from mathutils import Matrix + + # 获取当前相机的绝对位置和旋转（Blender坐标系：X右, Y前, Z上） + abs_position_blender = list(camera_object.location) + abs_quat_blender = camera_object.rotation_euler.to_quaternion() + + # === 位置转换 === + # Blender世界(X右,Y前,Z上) -> 统一标准(X右,Y上,Z前) + abs_position_unified = [ + abs_position_blender[0], # X_unified = X_blender + abs_position_blender[2], # Y_unified = Z_blender (上) + abs_position_blender[1] # Z_unified = Y_blender (前) + ] + + # === 旋转转换 === + # Blender object rotation matrix (local -> world in Blender coords) + R_obj_blender = abs_quat_blender.to_matrix() + + # T: Blender世界坐标 -> 统一世界坐标（交换Y和Z轴） + T_blender_to_unified = Matrix([ + [1, 0, 0], # X不变 + [0, 0, 1], # Y_unified = Z_blender + [0, 1, 0] # Z_unified = Y_blender + ]) + + # M: Blender相机本地坐标 -> ERPT相机坐标（翻转Z轴） + # Blender相机沿 -Z_local 看，ERPT相机沿 +Z_camera 看 + # 因此 ERPT_Z = -Blender_Z_local，即 Z 轴翻转 + M_cam = Matrix([ + [1, 0, 0], + [0, 1, 0], + [0, 0, -1] + ]) + + # 核心公式：R_cw_erpt = T @ R_obj_blender @ M + # 含义：ERPT相机坐标 -> (M) -> Blender本地 -> (R_obj) -> Blender世界 -> (T) -> 统一世界 + R_cw_erpt = T_blender_to_unified @ R_obj_blender @ M_cam + + # 转换为四元数（cam_to_world，ERPT期望的格式） + quat_cw = R_cw_erpt.to_quaternion() + abs_quaternion_cw = [quat_cw.w, quat_cw.x, quat_cw.y, quat_cw.z] + + # === 输出 === + # 绝对位姿，cam_to_world格式，兼容ERPT + pose_data = { + "frame_id": frame_id, + "position": abs_position_unified, + "rotation_quaternion": abs_quaternion_cw, + "camera_type": "erp_ray", + "coordinate_system": "right-handed, Y-up, Z-forward (cam_to_world)", + "render_method": "blender_cycles" + } + + # 保存JSON + with open(output_path, 'w') as f: + json.dump(pose_data, f, indent=2) + + if (not os.path.exists(output_path)) or os.path.getsize(output_path) <= 0: + raise RuntimeError(f"位姿文件写入失败或为空: {output_path}") + + print(f"[OK] 位姿保存: {output_path}") + print(f" Position (absolute, meters): {abs_position_unified}") + print(f" Rotation (cam_to_world): {abs_quaternion_cw}") + + # 返回绝对位姿（统一标准坐标系，cam_to_world） + return abs_position_unified, abs_quaternion_cw + + +def main(): + # 解析参数 + args = parse_args() + + # 解析相机位置 + camera_pos = [float(x) for x in args.camera_pos.split(',')] + camera_rot = [float(x) for x in args.camera_rot.split(',')] + camera_rot_quat = None + if args.camera_rot_quat: + camera_rot_quat = [float(x) for x in args.camera_rot_quat.split(',')] + resolution = [int(x) for x in args.resolution.split(',')] + + # 解析参考帧位姿 + ref_position = None + ref_quaternion = None + if args.ref_position: + ref_position = [float(x) for x in args.ref_position.split(',')] + if args.ref_quaternion: + ref_quaternion = [float(x) for x in args.ref_quaternion.split(',')] + + # 确定位姿输出路径 + if args.pose_output: + pose_output = args.pose_output + else: + pose_output = os.path.splitext(args.output)[0] + '_pose.json' + + print("=" * 60) + print("Blender ERP渲染") + print("=" * 60) + + # 1. 清空场景 + print("\n[1/6] 清空场景...") + clear_scene() + + # 2. 导入mesh + print("\n[2/6] 导入mesh...") + import_mesh(args.mesh) + + # 3. 创建ERP相机 + print("\n[3/6] 创建ERP相机...") + camera = create_erp_camera() + setup_camera(camera, camera_pos, rotation_euler=camera_rot, rotation_quat=camera_rot_quat) + bpy.context.scene.camera = camera + + # 获取场景边界（用于灯光设置） + scene_bounds = get_scene_bounds() + print(f"[INFO] 场景边界: min={scene_bounds[0]}, max={scene_bounds[1]}") + + # 4. 设置渲染参数 + print("\n[4/6] 设置渲染参数...") + setup_render_settings(resolution, args.engine, args.samples) + setup_lighting(camera_position=camera_pos, scene_bounds=scene_bounds) + + # 5. 渲染 + print("\n[5/6] 渲染中...") + render_and_save(args.output) + + # 6. 保存位姿（相对于第一帧） + print("\n[6/6] 保存位姿...") + abs_pos, abs_quat = save_pose( + camera, + pose_output, + frame_id=args.frame_id, + ref_position=ref_position, + ref_quaternion=ref_quaternion + ) + + # 输出绝对位姿供批量脚本使用 + print(f"[ABS_POSE] {abs_pos[0]},{abs_pos[1]},{abs_pos[2]}|{abs_quat[0]},{abs_quat[1]},{abs_quat[2]},{abs_quat[3]}") + + print("\n" + "=" * 60) + print("渲染完成！") + print("=" * 60) + + +if __name__ == "__main__": + main() + diff --git a/pipelines/run_blend_pipeline.py b/pipelines/run_blend_pipeline.py new file mode 100644 index 0000000000000000000000000000000000000000..b69d42fbd38b8c3ee01dfa63be31999d96a36db8 --- /dev/null +++ b/pipelines/run_blend_pipeline.py @@ -0,0 +1,1860 @@ +#!/usr/bin/env python3 +""" +Blend 全流程 Pipeline v5（单 Blender 进程） + +v3 → v4 改进: + - Phase 0+1+2 全部在一个 Blender 进程内完成 + - 不再导出 GLB（用 Blender scene.ray_cast 替代 trimesh） + - 不再每帧重启 Blender（同进程内移动相机 + 渲染） + - 去掉 trimesh 外部依赖 + +v5 → v6 改进: + - 新增 GLB/GLTF 格式支持（--glb 参数） + - --blend / --glb 二选一，支持 .blend .glb .gltf 三种格式 + - GLB 导入后与 .blend 流程完全统一 + +对外接口 100% 兼容 v3/v5: + - 命令行参数完全一致（新增 --glb 为可选补充） + - 输出文件名完全一致（panorama_XXXX.png / _depth.npy / pose_XXXX.json） + - run_full_pipeline.py 零改动 + +双模式运行: + 1) python run_blend_pipeline.py --blender X --blend Y ... + python run_blend_pipeline.py --blender X --glb Y ... + → 检测到 --blender → 启动 blender --python THIS_FILE -- --blend/--glb Y ... + 2) Blender 内部自动进入 in-process 模式 + → Phase 0 (边界) + Phase 1 (撒点+过滤) + Phase 2 (边渲边选) +""" + +# ===================================================================== +# 检测运行环境 +# ===================================================================== +try: + import bpy + from mathutils import Vector, Euler, Matrix + IN_BLENDER = True +except ImportError: + IN_BLENDER = False + +import argparse +import json +import math +import os +import subprocess +import sys +import time +import random as _random +from pathlib import Path + +import numpy as np + + +# ===================================================================== +# 常量 +# ===================================================================== + +WARP_H = 128 +WARP_W = 256 +MARGIN = 0.5 # 距墙最小安全距离（防穿模） + +DEFAULT_STOP_GAIN = 0.08 +DEFAULT_OVERLAP_PENALTY = 0.5 +DEFAULT_MIN_DIST = 0.6 +DEFAULT_MIN_FRAMES = 5 + +ROTATION_TYPES = { + "none": [0.0, 0.0, 0.0], + "rotate_x_90": [math.pi / 2, 0.0, 0.0], + "rotate_x_180": [math.pi, 0.0, 0.0], + "rotate_z_90": [0.0, 0.0, math.pi / 2], +} + + +def get_camera_rot(rotation_type: str, frame_id: int): + if rotation_type == "random_yaw": + yaw = 0.0 if frame_id == 0 else _random.uniform(0, 2 * math.pi) + return [math.pi / 2, 0.0, yaw] + return list(ROTATION_TYPES[rotation_type]) + + +# ===================================================================== +# 参数解析（兼容两种模式） +# ===================================================================== + +def parse_args_python(): + """Python 模式: 需要 --blender""" + parser = argparse.ArgumentParser(description="Blend Pipeline v5（边渲边选）") + parser.add_argument("--blender", type=str, required=True) + scene_grp = parser.add_mutually_exclusive_group(required=True) + scene_grp.add_argument("--blend", type=str, default=None, + help=".blend 场景文件路径") + scene_grp.add_argument("--glb", type=str, default=None, + help=".glb / .gltf 场景文件路径") + parser.add_argument("--output-dir", type=str, required=True) + parser.add_argument("--num-frames", type=int, default=30) + parser.add_argument("--render-depth", action="store_true") + parser.add_argument("--resolution", type=str, default="2048,1024") + parser.add_argument("--samples", type=int, default=128) + parser.add_argument("--engine", type=str, default="CYCLES") + parser.add_argument("--exposure", type=float, default=0.0) + parser.add_argument("--grid-spacing", type=float, default=0.5) + parser.add_argument("--camera-height", type=float, default=None) + parser.add_argument("--stop-gain", type=float, default=DEFAULT_STOP_GAIN) + parser.add_argument("--stop-score", type=float, default=-0.3) + parser.add_argument("--stop-delta", type=float, default=0.08) + parser.add_argument("--min-frames", type=int, default=DEFAULT_MIN_FRAMES) + parser.add_argument("--rotation-type", type=str, default="random_yaw", + choices=["none", "rotate_x_90", "rotate_x_180", + "rotate_z_90", "random_yaw"]) + parser.add_argument("--gain-curve", action="store_true", default=True) + parser.add_argument("--no-gain-curve", dest="gain_curve", action="store_false") + return parser.parse_args() + + +def parse_args_blender(): + """Blender 模式: 不需要 --blender""" + argv = sys.argv + if "--" in argv: + argv = argv[argv.index("--") + 1:] + else: + argv = [] + parser = argparse.ArgumentParser() + scene_grp = parser.add_mutually_exclusive_group(required=True) + scene_grp.add_argument("--blend", type=str, default=None, + help=".blend 场景文件路径") + scene_grp.add_argument("--glb", type=str, default=None, + help=".glb / .gltf 场景文件路径") + parser.add_argument("--output-dir", type=str, required=True) + parser.add_argument("--num-frames", type=int, default=30) + parser.add_argument("--resolution", type=str, default="2048,1024") + parser.add_argument("--samples", type=int, default=128) + parser.add_argument("--engine", type=str, default="CYCLES") + parser.add_argument("--exposure", type=float, default=0.0) + parser.add_argument("--grid-spacing", type=float, default=0.5) + parser.add_argument("--camera-height", type=float, default=None) + parser.add_argument("--stop-gain", type=float, default=DEFAULT_STOP_GAIN) + parser.add_argument("--stop-score", type=float, default=-0.3) + parser.add_argument("--stop-delta", type=float, default=0.08) + parser.add_argument("--min-frames", type=int, default=DEFAULT_MIN_FRAMES) + parser.add_argument("--rotation-type", type=str, default="random_yaw", + choices=["none", "rotate_x_90", "rotate_x_180", + "rotate_z_90", "random_yaw"]) + parser.add_argument("--gain-curve", action="store_true", default=True) + parser.add_argument("--no-gain-curve", dest="gain_curve", action="store_false") + return parser.parse_args(argv) + + +# ##################################################################### +# +# Python 模式入口: 启动单个 Blender 进程 +# +# ##################################################################### + +def main_python(): + """Python 调用入口 → 启动一个 Blender 进程执行本脚本""" + args = parse_args_python() + + # 判断场景格式 + if args.blend: + scene_path = str(Path(args.blend).resolve()) + scene_flag = "--blend" + scene_label = f"Blend: {scene_path}" + else: + scene_path = str(Path(args.glb).resolve()) + scene_flag = "--glb" + scene_label = f"GLB: {scene_path}" + + output_dir = str(Path(args.output_dir).resolve()) + os.makedirs(output_dir, exist_ok=True) + + this_script = str(Path(__file__).resolve()) + + # 构建 Blender 命令（把参数透传，去掉 --blender 和 --render-depth） + cmd = [ + args.blender, "--background", + "--python", this_script, + "--", + scene_flag, scene_path, + "--output-dir", output_dir, + "--num-frames", str(args.num_frames), + "--resolution", args.resolution, + "--samples", str(args.samples), + "--engine", args.engine, + "--exposure", str(args.exposure), + "--grid-spacing", str(args.grid_spacing), + "--stop-gain", str(args.stop_gain), + "--stop-score", str(args.stop_score), + "--stop-delta", str(args.stop_delta), + "--min-frames", str(args.min_frames), + "--rotation-type", args.rotation_type, + ] + if args.camera_height is not None: + cmd += ["--camera-height", str(args.camera_height)] + if not args.gain_curve: + cmd += ["--no-gain-curve"] + + print("=" * 60) + print("ERPT Blend Pipeline v5（单进程边渲边选）") + print("=" * 60) + print(f" {scene_label}") + print(f" Output: {output_dir}") + print(f" Max frames: {args.num_frames}") + + # 不设 timeout — 大场景渲染时间不可预测 + proc = subprocess.run(cmd, text=True) + sys.exit(proc.returncode) + + +# ##################################################################### +# +# Blender 模式: Phase 0 + 1 + 2 全部在 Blender 内部执行 +# +# ##################################################################### + +# ===================================================================== +# Phase 0: 加载场景 + 获取边界 +# ===================================================================== + +def load_scene(scene_path): + """加载场景文件，支持 .blend / .glb / .gltf 三种格式。 + 启用所有 collection，返回 mesh AABB 边界 (bmin, bmax)。 + """ + ext = Path(scene_path).suffix.lower() + print(f"\n[Phase 0] 加载场景: {scene_path} (格式: {ext})") + + if ext == ".blend": + # ---- .blend 原有流程 ---- + bpy.ops.wm.open_mainfile(filepath=scene_path) + + # 启用所有 collection + 取消隐藏 + def enable_all(lc): + lc.exclude = False + lc.hide_viewport = False + for c in lc.children: + enable_all(c) + enable_all(bpy.context.view_layer.layer_collection) + + for obj in bpy.context.scene.objects: + if obj.type == 'MESH': + obj.hide_viewport = False + obj.hide_set(False) + + elif ext in (".glb", ".gltf"): + # ---- GLB / GLTF 导入流程 ---- + # 先清空默认场景（cube / lamp / camera） + bpy.ops.wm.read_factory_settings(use_empty=True) + + import_kwargs = dict(filepath=scene_path) + # Blender 3.x+ 使用 import_scene.gltf + if hasattr(bpy.ops.import_scene, 'gltf'): + bpy.ops.import_scene.gltf(**import_kwargs) + else: + raise RuntimeError( + "当前 Blender 版本不支持 import_scene.gltf，" + "请升级到 Blender 3.0 及以上版本。" + ) + + # 确保所有导入对象可见 + for obj in bpy.context.scene.objects: + if obj.type == 'MESH': + obj.hide_viewport = False + obj.hide_set(False) + + else: + raise ValueError( + f"不支持的场景格式: {ext}，" + f"支持的格式: .blend / .glb / .gltf" + ) + + bpy.context.view_layer.update() + + # 计算 mesh 边界（通用逻辑） + bmin = [float('inf')] * 3 + bmax = [float('-inf')] * 3 + n_mesh = 0 + for obj in bpy.context.scene.objects: + if obj.type == 'MESH': + n_mesh += 1 + for corner in obj.bound_box: + wc = obj.matrix_world @ Vector(corner) + for i in range(3): + bmin[i] = min(bmin[i], wc[i]) + bmax[i] = max(bmax[i], wc[i]) + + if bmin[0] == float('inf'): + bmin, bmax = [-5, -5, 0], [5, 5, 3] + + print(f" Mesh 数量: {n_mesh}") + print(f" 边界 (Z-up): min=[{bmin[0]:.1f}, {bmin[1]:.1f}, {bmin[2]:.1f}] " + f"max=[{bmax[0]:.1f}, {bmax[1]:.1f}, {bmax[2]:.1f}]") + return bmin, bmax + + +# ===================================================================== +# Phase 1: 撒点 + 4 层 Blender ray_cast 过滤 +# ===================================================================== + +def compute_camera_heights(floor_z, ceiling_z, manual_height=None, bmin=None, bmax=None): + """计算相机高度层 + + 策略: + - 手动指定 → 只用该高度 + - 多层建筑 → 每层铺固定高度 [0.5, 0.8, 1.2, 1.7, 2.1] + 动态顶层 + - 单层高空间 → 2.5m 以下用固定高度，2.5m 以上阶梯递增: + +1.0m, +1.5m, +2.0m, +2.5m, +3.0m ...（间距逐步放大） + 最后加动态顶层（天花板 -0.5m） + """ + CEIL_CLEARANCE = 0.3 # 最高高度：离天花板 0.3m（保留 2.1m 层） + FIXED_HEIGHTS = [0.5, 0.8, 1.2, 1.7, 2.1] # 2.5m 以下的固定高度 + + if manual_height is not None: + return [manual_height] + + room_h = ceiling_z - floor_z + if room_h <= 0: + return [floor_z + 1.5] + + def _stepped_heights_for_floor(fz, local_ceil): + """单层高度计算：固定 + 阶梯递增 + 动态顶层""" + heights = [] + local_h = local_ceil - fz + + # 2.5m 以下: 固定高度 + for eye_h in FIXED_HEIGHTS: + z = fz + eye_h + if z < local_ceil - CEIL_CLEARANCE: + heights.append(z) + + # 2.5m 以上: 阶梯递增（间距从 1.0m 逐步增大到 3.0m） + if local_h > 3.0: # 层高 > 3m 才加中间高度 + cur_h = FIXED_HEIGHTS[-1] # 从 2.1m 开始 + step = 1.0 # 初始步长 1.0m + MAX_STEP = 3.0 # 最大步长 3.0m + STEP_GROW = 0.5 # 每次步长增加 0.5m + + while True: + cur_h += step + z = fz + cur_h + if z >= local_ceil - CEIL_CLEARANCE: + break + heights.append(z) + step = min(step + STEP_GROW, MAX_STEP) + + # 动态顶层：天花板 - 0.5m（如果比最高已有高度至少高 0.5m） + top_z = local_ceil - CEIL_CLEARANCE + if heights: + if top_z > max(heights) + 0.5: + heights.append(top_z) + elif top_z > fz + 0.5: + heights.append(top_z) + + return heights + + # 先尝试用 Blender raycast 探测楼板 + try: + floors = _detect_floor_levels(floor_z, ceiling_z, bmin, bmax) + if floors: + print(f" [楼层检测] 发现 {len(floors)} 个楼层: " + f"{[f'{z:.2f}m' for z in floors]}") + heights = [] + for idx, fz in enumerate(floors): + # 每层的天花板 = 下一层楼板 或 全局天花板 + if idx + 1 < len(floors): + local_ceil = floors[idx + 1] + else: + local_ceil = ceiling_z + heights.extend(_stepped_heights_for_floor(fz, local_ceil)) + + if heights: + result = sorted(set(round(h, 2) for h in heights)) + # 打印高度分布 + for h in result: + rel = h - floors[0] + print(f" 高度 Z={h:.2f}m (离地 {rel:.2f}m)") + return result + else: + print(f" [楼层检测] 未检测到楼板，使用启发式") + except Exception as e: + print(f" [楼层检测] 异常: {e}，使用启发式") + + # fallback: 简单启发式（同样用阶梯递增） + h_list = _stepped_heights_for_floor(floor_z, ceiling_z) + return sorted(set(round(h, 2) for h in h_list)) if h_list else [floor_z + 1.5] + + +def _detect_floor_levels(floor_z, ceiling_z, bmin=None, bmax=None): + """用 raycast 从上往下扫描，检测楼板位置 + + 在 XY 平面采样若干点，每个点从顶部往下打射线，收集 hit 的 Z 坐标。 + 对 Z 坐标做聚类（间距 > 1.5m 算不同楼层），得到各楼层地面高度。 + + 关键改进: + 1. 采样范围按场景大小缩放（不只中心 ±2m） + 2. 检测到楼板后验证上方有天花板（排除屋顶外表面） + """ + scene = bpy.context.scene + depsgraph = bpy.context.evaluated_depsgraph_get() + dir_down = Vector((0, 0, -1)) + dir_up = Vector((0, 0, 1)) + + # 用场景 AABB 的 XY 中心和范围 + if bmin is not None and bmax is not None: + cx = (bmin[0] + bmax[0]) / 2 + cy = (bmin[1] + bmax[1]) / 2 + # 采样范围: 场景 XY 的 1/4 跨度，至少 2m，最多 20m + rx = min(20.0, max(2.0, (bmax[0] - bmin[0]) * 0.25)) + ry = min(20.0, max(2.0, (bmax[1] - bmin[1]) * 0.25)) + else: + cx, cy = 0.0, 0.0 + rx, ry = 2.0, 2.0 + + hit_zs = [] + # 3x3 网格采样，按场景大小缩放 + offsets = [] + for fx in [-1, 0, 1]: + for fy in [-1, 0, 1]: + offsets.append((fx * rx, fy * ry)) + + for dx, dy in offsets: + origin = Vector((cx + dx, cy + dy, ceiling_z + 1.0)) + # 多次向下 raycast（穿透式：命中后从命中点下方继续） + cur_z = ceiling_z + 1.0 + for _ in range(10): # 最多穿 10 层 + hit, loc, norm, *_ = scene.ray_cast( + depsgraph, Vector((cx + dx, cy + dy, cur_z)), dir_down) + if not hit: + break + # 法线朝上（Z 分量 > 0.5）→ 这是地板/楼板表面 + if norm.z > 0.5: + hit_zs.append((loc.z, cx + dx, cy + dy)) + cur_z = loc.z - 0.05 # 穿过这个表面继续往下 + + if not hit_zs: + return [] + + # 聚类: 排序后间距 > 1.5m 算不同楼层 + hit_zs.sort(key=lambda t: t[0]) + clusters = [[hit_zs[0]]] + for item in hit_zs[1:]: + if item[0] - clusters[-1][-1][0] > 1.5: + clusters.append([item]) + else: + clusters[-1].append(item) + + # 每个 cluster 验证: 楼板上方是否有天花板 + MAX_CEILING_DIST = 30.0 # 最高天花板距离（超过说明是露天/屋顶外表面） + floors = [] + for c in clusters: + fz = sorted(c, key=lambda t: t[0])[len(c) // 2][0] + if not (floor_z - 0.5 <= fz <= ceiling_z - 1.0): + continue + + # 验证: 从该楼板上方 1m 处往上打射线，检查是否有天花板 + n_has_ceiling = 0 + n_tested = 0 + for _, px, py in c: + test_origin = Vector((px, py, fz + 1.0)) + hit_ceil, loc_ceil, norm_ceil, *_ = scene.ray_cast( + depsgraph, test_origin, dir_up) + n_tested += 1 + if hit_ceil and (loc_ceil.z - fz) < MAX_CEILING_DIST: + n_has_ceiling += 1 + + # 过半采样点上方有天花板 → 真正的楼板 + if n_tested > 0 and n_has_ceiling / n_tested >= 0.5: + floors.append(fz) + else: + print(f" [楼层检测] Z={fz:.2f}m 上方无天花板" + f"（{n_has_ceiling}/{n_tested}），排除（可能是屋顶外表面）") + + return sorted(floors) + + +def generate_candidate_grid(bmin, bmax, x_spacing, y_spacing, heights): + cx = (bmin[0] + bmax[0]) / 2 + cy = (bmin[1] + bmax[1]) / 2 + x_half = int((bmax[0] - cx - MARGIN) / x_spacing) + y_half = int((bmax[1] - cy - MARGIN) / y_spacing) + + xy_offsets = [] + for ix in range(-x_half, x_half + 1): + for iy in range(-y_half, y_half + 1): + x = cx + ix * x_spacing + y = cy + iy * y_spacing + if bmin[0] + MARGIN <= x <= bmax[0] - MARGIN and \ + bmin[1] + MARGIN <= y <= bmax[1] - MARGIN: + xy_offsets.append((ix * ix + iy * iy, x, y)) + xy_offsets.sort(key=lambda t: t[0]) + + candidates = [] + for z in heights: + for _, x, y in xy_offsets: + candidates.append([float(x), float(y), float(z)]) + + n_xy = len(xy_offsets) + print(f" 网格: {n_xy}点/层 x {len(heights)}层 = {len(candidates)} 个候选") + print(f" 中心: ({cx:.1f}, {cy:.1f}), X间距={x_spacing:.1f}m, Y间距={y_spacing:.1f}m") + for i, z in enumerate(heights): + print(f" 第{i+1}层: Z={z:.2f}m") + return candidates + + +def _build_26_directions(): + """26 方向球面采样（mathutils.Vector）""" + dirs = [] + for i in range(16): + a = i * (2 * math.pi / 16) + dirs.append(Vector((math.cos(a), math.sin(a), 0.0))) + elev = math.pi / 4 + for i in range(5): + a = i * (2 * math.pi / 5) + dirs.append(Vector((math.cos(a) * math.cos(elev), + math.sin(a) * math.cos(elev), + math.sin(elev)))) + for i in range(5): + a = i * (2 * math.pi / 5) + dirs.append(Vector((math.cos(a) * math.cos(elev), + math.sin(a) * math.cos(elev), + -math.sin(elev)))) + return dirs + + +def raycast_6layer_filter(candidates, room_height, min_wall_dist=1.0): + """7 层过滤 — 直接用 Blender scene.ray_cast（不需要 trimesh/GLB） + + 第 1 层: 室内检测（朝上朝下必须 hit） + 第 2 层: 穿模检测（≥2 方向 < 0.2m） + 第 3 层: 角落检测（>50% 水平方向 < 1.0m） + 第 4 层: 包裹检测（hit_rate≥90% + cv<0.30 + max<8m） + 第 5 层: 墙面间距（最近水平方向 < 0.3m → Blender 渲染会穿模） + 第 6 层: 视野质量（<35% 方向有有效命中 → 太空旷或太闭塞） + 第 7 层: 窄缝检测（对向方向距离之和 < 1.5m → 两面墙夹着）★ 新增 + + 性能: 用第 1~4 层同样的 26 方向数据，第 5~7 层零额外射线开销 + """ + scene = bpy.context.scene + depsgraph = bpy.context.evaluated_depsgraph_get() + + N = len(candidates) + max_up = max(5.0, room_height) + max_down = max(3.0, room_height) + dir_up = Vector((0, 0, 1)) + dir_down = Vector((0, 0, -1)) + DIRS_26 = _build_26_directions() + n26 = len(DIRS_26) + + # 第 5 层阈值: 最近水平墙面距离 + MIN_WALL_CLEARANCE = 0.3 # Blender 渲染安全距离 + + # 第 6 层阈值: 有效视野比例 + VIEW_GOOD_MIN = 0.5 # 有效命中距离下限 + VIEW_GOOD_MAX = 20.0 # 有效命中距离上限 + VIEW_GOOD_RATIO = 0.35 # 至少 35% 方向有有效命中 + + # 第 7 层阈值: 窄缝检测（对向距离之和） + MIN_SLIT_WIDTH = 1.5 # 对向墙距之和 < 1.5m → 窄缝 + + passed = [] + stats = {"无天花板": 0, "无地板": 0, "穿模": 0, "角落": 0, + "包裹": 0, "贴墙": 0, "视野差": 0, "窄缝": 0} + + t0 = time.time() + log_interval = max(1, N // 10) + + for idx, pos in enumerate(candidates): + if idx % log_interval == 0 and idx > 0: + print(f" 过滤进度: {idx}/{N} ({idx*100//N}%)", flush=True) + + origin = Vector(pos) + + # ---- 第 1 层: 室内检测（朝上朝下各 1 条射线）---- + hit_up, loc_up, *_ = scene.ray_cast(depsgraph, origin, dir_up) + if not hit_up or (loc_up - origin).length > max_up: + stats["无天花板"] += 1 + continue + + hit_dn, loc_dn, *_ = scene.ray_cast(depsgraph, origin, dir_down) + if not hit_dn or (loc_dn - origin).length > max_down: + stats["无地板"] += 1 + continue + + # ---- 第 2~6 层: 26 方向球面采样 ---- + dists = [] + for d in DIRS_26: + hit, loc, *_ = scene.ray_cast(depsgraph, origin, d) + dists.append((loc - origin).length if hit else float('inf')) + + # 第 2 层: 穿模（≥2 方向 < 0.2m → 在物体内部） + n_close = sum(1 for d in dists if d < 0.2) + if n_close >= 2: + stats["穿模"] += 1 + continue + + # 第 3 层: 角落（水平 16 方向中 > 一半 < 1.0m） + n_wall = sum(1 for d in dists[:16] if d < min_wall_dist) + if n_wall > 8: + stats["角落"] += 1 + continue + + # 第 4 层: 包裹（hit_rate≥90% + CV<0.30 + max<8m） + finite = [d for d in dists if d < float('inf')] + hit_rate = len(finite) / n26 + if hit_rate >= 0.90 and len(finite) >= 2: + mean_d = sum(finite) / len(finite) + max_d = max(finite) + if mean_d > 0: + var = sum((d - mean_d) ** 2 for d in finite) / len(finite) + cv = var ** 0.5 / mean_d + if cv < 0.30 and max_d < 8.0: + stats["包裹"] += 1 + continue + + # 第 5 层: 墙面间距（水平 16 方向最近 hit < 0.3m → 贴墙）★ 新增 + horiz_finite = [d for d in dists[:16] if d < float('inf')] + if horiz_finite and min(horiz_finite) < MIN_WALL_CLEARANCE: + stats["贴墙"] += 1 + continue + + # 第 6 层: 视野质量（有效方向太少 → 视野差） + n_good = sum(1 for d in dists + if VIEW_GOOD_MIN <= d <= VIEW_GOOD_MAX) + good_ratio = n_good / n26 + if good_ratio < VIEW_GOOD_RATIO: + stats["视野差"] += 1 + continue + + # 第 7 层: 窄缝检测（对向水平方向距离之和 < 1.5m → 两面墙夹着） + # 水平 16 方向中，方向 i 和方向 i+8 是对向的（0°↔180°, 22.5°↔202.5°...） + in_slit = False + for i in range(8): + d_fwd = dists[i] if dists[i] < float('inf') else 999 + d_bwd = dists[i + 8] if dists[i + 8] < float('inf') else 999 + if d_fwd + d_bwd < MIN_SLIT_WIDTH: + in_slit = True + break + if in_slit: + stats["窄缝"] += 1 + continue + + passed.append(pos) + + dt = time.time() - t0 + print(f" 过滤统计 ({dt:.1f}s): 总计={N}, 通过={len(passed)}") + for k, v in stats.items(): + print(f" ❌ {k}: {v} ({v * 100 // max(N, 1)}%)") + print(f" 阈值: 天花板<{max_up:.1f}m, 地板<{max_down:.1f}m, " + f"穿模<0.2m, 角落<{min_wall_dist:.1f}m, " + f"包裹: hit≥90%+cv<0.3+max<8m, " + f"贴墙<{MIN_WALL_CLEARANCE}m, " + f"视野: ≥{VIEW_GOOD_RATIO:.0%}方向 {VIEW_GOOD_MIN}-{VIEW_GOOD_MAX}m, " + f"窄缝<{MIN_SLIT_WIDTH}m") + + if len(passed) < 5 and N > 20: + print(f" [诊断] 通过率低 ({len(passed)}/{N})") + + return passed + + +def setup_erp_camera(): + """创建 ERP 全景相机""" + for obj in list(bpy.context.scene.objects): + if obj.type == 'CAMERA': + bpy.data.objects.remove(obj, do_unlink=True) + + cam_data = bpy.data.cameras.new("ERP_Camera") + cam_data.type = 'PANO' + if hasattr(cam_data, 'panorama_type'): + cam_data.panorama_type = 'EQUIRECTANGULAR' + if hasattr(cam_data, 'cycles'): + cam_data.cycles.panorama_type = 'EQUIRECTANGULAR' + + cam_obj = bpy.data.objects.new("ERP_Camera", cam_data) + bpy.context.scene.collection.objects.link(cam_obj) + bpy.context.scene.camera = cam_obj + print(f" 创建 ERP 相机: {cam_obj.name}") + return cam_obj + + +def enable_gpu(): + try: + prefs = bpy.context.preferences.addons['cycles'].preferences + for dt in ['OPTIX', 'CUDA']: + try: + prefs.compute_device_type = dt + prefs.get_devices() + gpus = [d for d in prefs.devices if d.type == dt] + if gpus: + for d in prefs.devices: + d.use = (d.type == dt) + bpy.context.scene.cycles.device = 'GPU' + print(f" GPU 渲染: {gpus[0].name} ({dt})") + return True + except Exception: + continue + print(" [WARN] 无可用 GPU，使用 CPU 渲染") + bpy.context.scene.cycles.device = 'CPU' + except Exception as e: + print(f" [ERROR] GPU 设置异常: {e}") + return False + + +def setup_render_settings(resolution, engine, samples, exposure): + scene = bpy.context.scene + scene.render.engine = engine + scene.render.resolution_x = resolution[0] + scene.render.resolution_y = resolution[1] + scene.render.resolution_percentage = 100 + scene.render.image_settings.file_format = 'PNG' + scene.render.image_settings.color_mode = 'RGB' + scene.render.image_settings.color_depth = '8' + scene.view_settings.exposure = exposure + # AgX（Blender 4+默认）对室内场景会严重压暗；改用 Standard 线性映射， + # 颜色准确且更亮，曝光完全由 exposure 参数控制。 + scene.view_settings.view_transform = 'Standard' + scene.view_settings.look = 'None' + + if engine == 'CYCLES': + scene.cycles.samples = samples + scene.cycles.use_denoising = True + scene.cycles.max_bounces = 12 + scene.cycles.diffuse_bounces = 4 + scene.cycles.glossy_bounces = 4 + scene.cycles.transmission_bounces = 12 + scene.cycles.transparent_max_bounces = 8 + enable_gpu() + + print(f" 渲染设置: {engine} {resolution[0]}x{resolution[1]} " + f"samples={samples} exposure={exposure} view_transform=Standard") + + +def _world_has_effective_light(world) -> bool: + """判断 World 节点是否能产生有效的环境光（Strength > 0.05）。 + GLB 导入的场景通常有一个 World 对象，但 Background Strength 可能为 0。 + """ + if world is None: + return False + if not world.use_nodes or world.node_tree is None: + # 没用节点系统：用旧 API 的纯色环境，认为有效 + return True + for node in world.node_tree.nodes: + if node.type == 'BACKGROUND': + strength = node.inputs.get('Strength') + if strength is not None: + val = strength.default_value + # 如果有链接（HDR 贴图等），视为有效 + if strength.is_linked or float(val) > 0.05: + return True + return False + + +def setup_lighting(): + """仅在场景缺乏有效光照时补一个均匀环境光。 + - 有可见灯光对象 → 保留原始 + - World 有有效 Background Strength → 保留原始 + - 否则：注入默认环境光（Strength=1.0） + """ + scene = bpy.context.scene + + has_lights = any(obj.type == 'LIGHT' for obj in bpy.data.objects if obj.visible_get()) + has_world = _world_has_effective_light(scene.world) + + if has_lights or has_world: + print(" [光照] 保留场景原始光照") + return + + print(" [光照] 场景无有效灯光，注入均匀环境光 (Strength=1.0)") + world = scene.world + if world is None: + world = bpy.data.worlds.new("World") + scene.world = world + world.use_nodes = True + nodes = world.node_tree.nodes + links = world.node_tree.links + nodes.clear() + bg = nodes.new('ShaderNodeBackground') + bg.inputs['Color'].default_value = (1.0, 1.0, 1.0, 1.0) + bg.inputs['Strength'].default_value = 1.0 + out = nodes.new('ShaderNodeOutputWorld') + links.new(bg.outputs['Background'], out.inputs['Surface']) + + +def setup_depth_pass(): + """配置 compositor 深度输出（Blender 5.0 API）""" + scene = bpy.context.scene + bpy.context.view_layer.use_pass_z = True + + tree = bpy.data.node_groups.new("DepthComp", "CompositorNodeTree") + scene.compositing_node_group = tree + nodes = tree.nodes + links = tree.links + + rl = nodes.new('CompositorNodeRLayers') + rl.location = (0, 300) + + group_out = nodes.new('NodeGroupOutput') + group_out.location = (400, 300) + tree.interface.new_socket(name="Image", in_out="OUTPUT", + socket_type="NodeSocketColor") + links.new(rl.outputs['Image'], group_out.inputs['Image']) + + fo = nodes.new('CompositorNodeOutputFile') + fo.location = (400, 0) + fo.directory = "" + fo.format.media_type = 'IMAGE' + fo.format.file_format = 'OPEN_EXR' + fo.format.color_depth = '32' + fo.format.exr_codec = 'ZIP' + fo.file_output_items.clear() + fo.file_output_items.new('FLOAT', "depth") + links.new(rl.outputs['Depth'], fo.inputs['depth']) + + print(f" 深度 pass 已配置") + return fo + + +# ===================================================================== +# 渲染 + 深度转换 + 位姿保存（同进程，只移动相机） +# ===================================================================== + +def convert_depth_exr_to_npy(exr_path, npy_path): + """EXR → NPY（Blender 内置 API，不依赖 OpenEXR 库）""" + img = bpy.data.images.load(exr_path) + w, h = img.size[0], img.size[1] + pixels = np.array(img.pixels[:]).reshape(h, w, -1) + depth = np.flipud(pixels[:, :, 0]) + + unit_scale = bpy.context.scene.unit_settings.scale_length + depth_m = depth * unit_scale + depth_m[(depth_m > 1000.0) | (depth_m <= 0)] = 0.0 + + np.save(npy_path, depth_m.astype(np.float32)) + bpy.data.images.remove(img) + try: + os.remove(exr_path) + except OSError: + pass + + +def render_frame_inprocess(cam_obj, frame_id, camera_pos, camera_rot, + output_dir, depth_fo): + """同进程渲染一帧，返回 (rgb_path, depth_path, pose_path)""" + cam_obj.location = Vector(camera_pos) + cam_obj.rotation_euler = Euler(camera_rot, 'XYZ') + + base = f"panorama_{frame_id:04d}" + rgb_path = os.path.join(output_dir, f"{base}.png") + depth_npy = os.path.join(output_dir, f"{base}_depth.npy") + pose_path = os.path.join(output_dir, f"pose_{frame_id:04d}.json") + + bpy.context.scene.render.filepath = rgb_path + + abs_dir = os.path.abspath(output_dir) + depth_fo.directory = abs_dir + depth_fo.file_name = base + "_" + depth_exr = os.path.join(abs_dir, base + "_depth.exr") + + bpy.context.scene.frame_set(frame_id) + bpy.ops.render.render(write_still=True) + + # 深度转换 + if os.path.exists(depth_exr): + convert_depth_exr_to_npy(depth_exr, depth_npy) + else: + import glob + hits = glob.glob(os.path.join(abs_dir, f"*{base}*depth*.exr")) + if hits: + convert_depth_exr_to_npy(hits[0], depth_npy) + else: + print(f" [WARN] 未找到深度 EXR: {depth_exr}") + depth_npy = None + + # 位姿（与 render_erp_blender.py save_pose 完全一致的格式） + save_pose(cam_obj, pose_path, frame_id) + + return rgb_path, depth_npy, pose_path + + +def save_pose(camera_object, output_path, frame_id): + """保存位姿（绝对位姿，cam_to_world，兼容 ERPT） + + 格式与 render_erp_blender.py 的 save_pose 完全一致： + R_cw_erpt = T @ R_obj_blender @ M + """ + unit_scale = bpy.context.scene.unit_settings.scale_length + + abs_pos_b = list(camera_object.location) + abs_quat_b = camera_object.rotation_euler.to_quaternion() + + # Blender(X右,Y前,Z上) → 统一(X右,Y上,Z前) + abs_pos_u = [ + abs_pos_b[0] * unit_scale, # X + abs_pos_b[2] * unit_scale, # Y_unified = Z_blender + abs_pos_b[1] * unit_scale, # Z_unified = Y_blender + ] + + R_obj = abs_quat_b.to_matrix() + T = Matrix([[1, 0, 0], [0, 0, 1], [0, 1, 0]]) + M = Matrix([[1, 0, 0], [0, 1, 0], [0, 0, -1]]) + R_cw = T @ R_obj @ M + q = R_cw.to_quaternion() + + pose_data = { + "frame_id": frame_id, + "position": abs_pos_u, + "rotation_quaternion": [q.w, q.x, q.y, q.z], + "camera_type": "erp_ray", + "coordinate_system": "right-handed, Y-up, Z-forward (cam_to_world)", + "render_method": "blender_cycles", + } + with open(output_path, 'w') as f: + json.dump(pose_data, f, indent=2) + + +# ===================================================================== +# 选帧核心（向量化，内嵌） +# ===================================================================== + +def build_ray_directions(H=WARP_H, W=WARP_W): + """向量化构建 ERP 射线方向（Z-up）""" + i = np.arange(H, dtype=np.float64) + j = np.arange(W, dtype=np.float64) + phi = np.pi / 2 - np.pi * (i + 0.5) / H + theta = 2 * np.pi * (j + 0.5) / W + phi, theta = np.meshgrid(phi, theta, indexing='ij') + return np.stack([ + np.cos(phi) * np.cos(theta), + np.cos(phi) * np.sin(theta), + np.sin(phi), + ], axis=-1) + + +_ray_dirs_cache = {} + + +def get_ray_dirs(H=WARP_H, W=WARP_W): + if (H, W) not in _ray_dirs_cache: + _ray_dirs_cache[(H, W)] = build_ray_directions(H, W) + return _ray_dirs_cache[(H, W)] + + +def depth_to_3d_points(position, depth, ray_dirs, max_depth=None): + valid = depth > 0 + if max_depth is not None: + valid &= (depth <= max_depth) + if not np.any(valid): + return np.empty((0, 3), dtype=np.float64) + pos = np.array(position, dtype=np.float64) + return (pos + ray_dirs * depth[..., np.newaxis])[valid] + + +def project_points_to_coverage(pts, tgt_pos, H=WARP_H, W=WARP_W): + """把累积点云投影到候选位置的全景图，返回覆盖 mask。""" + if len(pts) == 0: + return np.zeros((H, W), dtype=bool) + tgt = np.array(tgt_pos, dtype=np.float64) + vecs = pts - tgt + x, y, z = vecs[:, 0], vecs[:, 1], vecs[:, 2] + r_xy = np.sqrt(x ** 2 + y ** 2) + phi = np.arctan2(z, r_xy) + theta = np.arctan2(y, x) % (2 * np.pi) + vi = np.clip(((np.pi / 2 - phi) / np.pi * H).astype(np.int32), 0, H - 1) + uj = np.clip((theta / (2 * np.pi) * W).astype(np.int32), 0, W - 1) + cov = np.zeros((H, W), dtype=bool) + cov[vi, uj] = True + pad = cov.copy() + pad[1:, :] |= cov[:-1, :] + pad[:-1, :] |= cov[1:, :] + pad[:, 1:] |= cov[:, :-1] + pad[:, :-1] |= cov[:, 1:] + return pad + + +# ---- GPU 加速（延迟初始化，Phase 2 第一次选帧时检测）---- +_GPU_BACKEND = None +_gpu_lib = None +_gpu_checked = False + +def _init_gpu(): + """延迟初始化 GPU，避免模块加载时显存冲突""" + global _GPU_BACKEND, _gpu_lib, _gpu_checked + if _gpu_checked: + return + _gpu_checked = True + + try: + import torch + if torch.cuda.is_available(): + _GPU_BACKEND = "torch" + _gpu_lib = torch + print(f"[GPU] torch {torch.__version__} (CUDA)，选帧将使用 GPU 加速") + return + except ImportError: + pass + + try: + import cupy as cp + try: + cp.get_default_memory_pool().free_all_blocks() + cp.get_default_pinned_memory_pool().free_all_blocks() + except Exception: + pass + cp.zeros(1) + _GPU_BACKEND = "cupy" + _gpu_lib = cp + print(f"[GPU] cupy {cp.__version__}，选帧将使用 GPU 加速") + return + except Exception as e: + print(f"[Warning] cupy 初始化失败: {e}") + + print("[CPU] 未检测到 torch/cupy，选帧使用 CPU") + + +def _batch_coverage_gpu(pts_np, candidate_positions, remaining_indices, H, W): + """GPU 批量投影：逐候选在 GPU 上算覆盖数 + + 返回: dict[ci] -> covered_pixels (int) + """ + total_px = H * W + results = {} + + if _GPU_BACKEND == "torch": + import torch + device = torch.device("cuda") + pts_gpu = torch.from_numpy(pts_np).double().to(device) + PI = torch.pi + TWO_PI = 2 * torch.pi + + for ci in remaining_indices: + tgt = torch.tensor(candidate_positions[ci], dtype=torch.float64, device=device) + vecs = pts_gpu - tgt + x, y, z = vecs[:, 0], vecs[:, 1], vecs[:, 2] + r_xy = torch.sqrt(x ** 2 + y ** 2) + phi = torch.atan2(z, r_xy) + theta = torch.atan2(y, x) % TWO_PI + vi = torch.clamp(((PI / 2 - phi) / PI * H).long(), 0, H - 1) + uj = torch.clamp((theta / TWO_PI * W).long(), 0, W - 1) + + flat = vi * W + uj + cov = torch.zeros(total_px, dtype=torch.bool, device=device) + cov[flat] = True + cov_2d = cov.view(H, W) + pad = cov_2d.clone() + pad[1:, :] |= cov_2d[:-1, :] + pad[:-1, :] |= cov_2d[1:, :] + pad[:, 1:] |= cov_2d[:, :-1] + pad[:, :-1] |= cov_2d[:, 1:] + results[ci] = int(pad.sum().item()) + + elif _GPU_BACKEND == "cupy": + import cupy as cp + pts_gpu = cp.asarray(pts_np, dtype=cp.float64) + PI = cp.pi + TWO_PI = 2 * cp.pi + + for ci in remaining_indices: + tgt = cp.array(candidate_positions[ci], dtype=cp.float64) + vecs = pts_gpu - tgt + x, y, z = vecs[:, 0], vecs[:, 1], vecs[:, 2] + r_xy = cp.sqrt(x ** 2 + y ** 2) + phi = cp.arctan2(z, r_xy) + theta = cp.arctan2(y, x) % TWO_PI + vi = cp.clip(((PI / 2 - phi) / PI * H).astype(cp.int32), 0, H - 1) + uj = cp.clip((theta / TWO_PI * W).astype(cp.int32), 0, W - 1) + + flat = vi * W + uj + cov = cp.zeros(total_px, dtype=cp.bool_) + cov[flat] = True + cov_2d = cov.reshape(H, W) + pad = cov_2d.copy() + pad[1:, :] |= cov_2d[:-1, :] + pad[:-1, :] |= cov_2d[1:, :] + pad[:, 1:] |= cov_2d[:, :-1] + pad[:, :-1] |= cov_2d[:, 1:] + results[ci] = int(cp.sum(pad)) + + return results + + +def trim_depth(new_depth, new_pos, existing_pts, ray_dirs): + H, W = new_depth.shape + n_orig = int(np.sum(new_depth > 0)) + if len(existing_pts) == 0: + return new_depth.copy(), n_orig, n_orig + cov = project_points_to_coverage(existing_pts, new_pos, H, W) + trimmed = new_depth.copy() + trimmed[cov] = 0 + return trimmed, n_orig, int(np.sum(trimmed > 0)) + + +def load_depth_downsampled(path, H=WARP_H, W=WARP_W): + d = np.load(path).astype(np.float32) + d = np.nan_to_num(d, nan=0.0) + if d.shape == (H, W): + return d + try: + import cv2 + return cv2.resize(d, (W, H), interpolation=cv2.INTER_AREA) + except ImportError: + h, w = d.shape + bh, bw = h // H, w // W + if bh < 1 or bw < 1: + r = np.zeros((H, W), dtype=np.float32) + r[:min(h, H), :min(w, W)] = d[:min(h, H), :min(w, W)] + return r + return d[:bh * H, :bw * W].reshape(H, bh, W, bw).mean(axis=(1, 3)) + + +def select_next_frame(candidates, selected_idx, selected_pos, + all_pts, reachable=None): + """选下一帧：纯贪心，选 score 最高的候选 + + reachable: set of candidate indices，可达候选集合。 + None = 不限制。 + cupy 可用时自动 GPU 加速。 + """ + n = len(candidates) + H, W = WARP_H, WARP_W + total_px = H * W + overlap_penalty = DEFAULT_OVERLAP_PENALTY + + remaining = [] + for i in range(n): + if i in selected_idx: + continue + if reachable is not None and i not in reachable: + continue + remaining.append(i) + + if not remaining: + return -1, 0.0, -999.0, 0 + + # ---- GPU 路径 ---- + _init_gpu() + if _GPU_BACKEND and len(all_pts) > 0: + covered_map = _batch_coverage_gpu(all_pts, candidates, remaining, H, W) + scores = {} + for ci in remaining: + covered = covered_map.get(ci, 0) + new_r = (total_px - covered) / total_px + ovl_r = covered / total_px + scores[ci] = { + "gain": new_r, + "overlap": ovl_r, + "score": new_r - overlap_penalty * ovl_r, + } + else: + # ---- CPU 路径 ---- + scores = {} + for ci in remaining: + cov = project_points_to_coverage(all_pts, candidates[ci], H, W) + covered = int(np.sum(cov)) + new_r = (total_px - covered) / total_px + ovl_r = covered / total_px + scores[ci] = { + "gain": new_r, + "overlap": ovl_r, + "score": new_r - overlap_penalty * ovl_r, + } + + best_ci, best_sc, best_g = -1, -999.0, 0.0 + for ci in remaining: + if scores[ci]["score"] > best_sc: + best_sc = scores[ci]["score"] + best_ci = ci + best_g = scores[ci]["gain"] + + return best_ci, best_g, best_sc, len(remaining) + + +def compute_max_depth(candidates): + pos_arr = np.array(candidates) + diag = float(np.linalg.norm(pos_arr.max(0) - pos_arr.min(0))) + return diag * 1.5 + + +# ===================================================================== +# Phase 2: 边渲边选主循环 +# ===================================================================== + +def run_phase2(cam_obj, candidates, mesh_center, output_dir, + max_frames, resolution, depth_fo, args): + + ray_dirs = get_ray_dirs(WARP_H, WARP_W) + max_depth = compute_max_depth(candidates) + + scene_diag = float(np.linalg.norm( + np.array(candidates).max(0) - np.array(candidates).min(0))) + + selected_idx = set() + selected_pos = [] + all_pts = np.empty((0, 3), dtype=np.float64) + pts_chunks = [] + results = [] + + # 可达性 + reachable = set() + + stop_score = args.stop_score + stop_delta = args.stop_delta + min_frames = args.min_frames + + # actual gain 历史 + ACTUAL_GAIN_WINDOW = 3 + ACTUAL_GAIN_FLOOR = args.stop_gain + actual_gain_history = [] + delta_history = [] + consecutive_skips = 0 + MAX_CONSECUTIVE_SKIPS = 3 + + # ======== 楼层分组（候选按 Z 聚类）======== + z_vals = sorted(set(round(c[2], 2) for c in candidates)) + floors = [[z_vals[0]]] + for z in z_vals[1:]: + if z - floors[-1][-1] > 1.0: + floors.append([z]) + else: + floors[-1].append(z) + + # 每个候选标记楼层（找 Z 最近的楼层） + n_floors = len(floors) + floor_mids = [sum(f) / len(f) for f in floors] # 每层的 Z 中心 + candidate_floor = [] + for c in candidates: + cz = c[2] + fi = min(range(n_floors), key=lambda i: abs(cz - floor_mids[i])) + candidate_floor.append(fi) + + current_floor = 0 + + # 当前楼层的候选索引集合 + def floor_set(fi): + return set(i for i, f in enumerate(candidate_floor) if f == fi) + + floor_names = [f"楼层{i+1}(Z={min(f):.1f}~{max(f):.1f})" for i, f in enumerate(floors)] + + print(f"\n{'='*60}") + print(f"[Phase 2] 边渲边选 (候选={len(candidates)}, 最多={max_frames}帧)") + print(f"{'='*60}") + print(f" 停止条件:") + print(f" - 连续 {ACTUAL_GAIN_WINDOW} 帧 actual_gain < {ACTUAL_GAIN_FLOOR:.0%}") + print(f" - predicted gain < {ACTUAL_GAIN_FLOOR:.0%} 且 score < {stop_score}") + print(f" - (至少 {min_frames} 帧后才检查)") + print(f" {n_floors} 个楼层: {floor_names}") + print(f" 高度层: {['%.2f' % z for z in z_vals]}") + print(f" 选帧策略: 楼层顺序 + 层内全局最优 (可达优先)") + + t_total = time.time() + + # 时间统计 + time_select = 0.0 + time_render = 0.0 + time_depth = 0.0 + time_reach = 0.0 + + for frame_count in range(max_frames): + + # ======== 选位置 ======== + t_sel = time.time() + if frame_count == 0: + # F0: XY 取第一楼层候选的几何中心，Z 取高度层中心 + floor0_candidates = [(i, c) for i, c in enumerate(candidates) + if candidate_floor[i] == 0] + if floor0_candidates: + f0_pts = np.array([c for _, c in floor0_candidates]) + xy_center = f0_pts[:, :2].mean(axis=0) # XY 几何中心 + floor0_zs = sorted(set(c[2] for _, c in floor0_candidates)) + z_target = min(floor0_zs) + 1.2 # 楼板高度 + 1.7m ≈ 人眼高度 + target = np.array([xy_center[0], xy_center[1], z_target]) + dists_to_target = [np.linalg.norm(np.array(c) - target) + for _, c in floor0_candidates] + best_idx = int(np.argmin(dists_to_target)) + ci = floor0_candidates[best_idx][0] + else: + mc = np.array(mesh_center, dtype=np.float64) + ci = int(np.argmin([np.linalg.norm(np.array(c) - mc) + for c in candidates])) + gain, score = 1.0, 1.0 + print(f"\n F{frame_count}: 选候选[{ci}] " + f"(楼层中心, Z={candidates[ci][2]:.2f}m) " + f"[{floor_names[current_floor]}]") + else: + # ---- 当前楼层内全局最优（所有高度自由竞争）---- + cur_floor_ids = floor_set(current_floor) + # 限制 reachable 到当前楼层 + floor_reachable = reachable & cur_floor_ids if reachable else set() + + ci, gain, score, n_remain = select_next_frame( + candidates, selected_idx, selected_pos, all_pts, + reachable=floor_reachable if floor_reachable else cur_floor_ids) + + expand = False + if ci < 0 or score < stop_score: + # 可达的不够好 → 当前楼层全局（含不可达） + ci2, gain2, score2, n2 = select_next_frame( + candidates, selected_idx, selected_pos, all_pts, + reachable=cur_floor_ids) + if ci2 >= 0 and (ci < 0 or score2 > score): + ci, gain, score, n_remain = ci2, gain2, score2, n2 + expand = True + + if ci < 0 or (score < stop_score and gain < ACTUAL_GAIN_FLOOR): + # 当前楼层拍满 → 换下一楼层 + if ci >= 0: + reason = f"predicted gain={gain:.1%} score={score:.3f}" + else: + reason = "无可选候选" + current_floor += 1 + if current_floor < n_floors: + print(f"\n F{frame_count}: {reason}" + f" → {floor_names[current_floor-1]} 拍满," + f" 切换到 {floor_names[current_floor]}") + continue + else: + print(f"\n F{frame_count}: {reason}" + f" → 所有楼层拍满，停止") + break + + tag = "[扩展]" if expand else "" + print(f"\n F{frame_count}: 选候选[{ci}] " + f"gain={gain:.1%} score={score:.3f} 剩余={n_remain}" + f" [Z={candidates[ci][2]:.2f} {floor_names[current_floor]}" + f" 可达={len(floor_reachable)}]{tag}") + + pos = candidates[ci] + selected_idx.add(ci) + selected_pos.append(pos) + dt_sel = time.time() - t_sel + time_select += dt_sel + if frame_count > 0: + print(f" [选帧 {dt_sel:.1f}s]") + + # ======== 渲染 ======== + cam_rot = get_camera_rot(args.rotation_type, frame_count) + print(f" 位置: [{pos[0]:.2f}, {pos[1]:.2f}, {pos[2]:.2f}]") + print(f" 渲染...", end="", flush=True) + t_r = time.time() + + rgb_path, depth_path, pose_path = render_frame_inprocess( + cam_obj, frame_count, pos, cam_rot, output_dir, depth_fo) + dt_r = time.time() - t_r + time_render += dt_r + print(f" {dt_r:.1f}s") + + # ======== depth → 3D 点云 ======== + t_dep = time.time() + actual_gain = 1.0 + delta_ratio = 1.0 + + if depth_path and os.path.exists(depth_path): + depth = load_depth_downsampled(depth_path, WARP_H, WARP_W) + total_px = WARP_H * WARP_W + n_valid = int(np.sum(depth > 0)) + valid_ratio = n_valid / total_px + + if frame_count == 0: + new_pts = depth_to_3d_points(pos, depth, ray_dirs, max_depth) + pts_chunks.append(new_pts) + all_pts = new_pts + actual_gain = valid_ratio + print(f" depth: {n_valid}px ({valid_ratio:.0%} 有效)" + f" → {len(new_pts)} 个 3D 点 (全部)") + else: + # ---- 质量检查 ---- + MIN_VALID_RATIO = 0.30 + if valid_ratio < MIN_VALID_RATIO: + print(f" depth: {n_valid}px ({valid_ratio:.0%} 有效)" + f" < {MIN_VALID_RATIO:.0%} → 室外/空壳，跳过此帧") + results.append({ + "frame_id": frame_count, + "candidate_idx": ci, + "position": pos, + "gain": float(gain), + "actual_gain": 0.0, + "delta_ratio": 0.0, + "score": float(score), + "skipped": True, + "skip_reason": f"valid_ratio={valid_ratio:.1%}", + }) + for fp in [rgb_path, depth_path]: + if fp and os.path.exists(fp): + try: + os.remove(fp) + except OSError: + pass + consecutive_skips += 1 + if consecutive_skips >= MAX_CONSECUTIVE_SKIPS: + # 连续空壳 → 当前楼层可能有问题，换层 + current_floor += 1 + consecutive_skips = 0 + if current_floor < n_floors: + print(f" 连续 {MAX_CONSECUTIVE_SKIPS} 帧室外/空壳" + f" → 切换到 {floor_names[current_floor]}") + else: + print(f" 连续 {MAX_CONSECUTIVE_SKIPS} 帧室外/空壳" + f" → 所有楼层完成，停止") + break + time_depth += time.time() - t_dep + continue + + trimmed, n_orig, n_new = trim_depth( + depth, pos, all_pts, ray_dirs) + new_pts = depth_to_3d_points(pos, trimmed, ray_dirs, max_depth) + pts_chunks.append(new_pts) + all_pts = np.concatenate(pts_chunks) + actual_gain = n_new / total_px + delta_ratio = (len(new_pts) / len(all_pts) + if len(all_pts) > 0 else 1.0) + print(f" depth: {n_valid}px ({valid_ratio:.0%} 有效)" + f" → trim → {n_new}px 新增" + f" → {len(new_pts)} 个新 3D 点 (delta)") + print(f" 累积点云: {len(all_pts)}") + print(f" 实际gain: {actual_gain:.1%}, " + f"点云增量: {delta_ratio:.1%}") + consecutive_skips = 0 + else: + print(f" [Error] 无 depth 文件！") + break + + results.append({ + "frame_id": frame_count, + "candidate_idx": ci, + "position": pos, + "gain": float(gain), + "actual_gain": float(actual_gain), + "delta_ratio": float(delta_ratio), + "score": float(score), + }) + time_depth += time.time() - t_dep + + # ======== 更新可达性 ======== + if IN_BLENDER: + t_reach = time.time() + scene = bpy.context.scene + depsgraph = bpy.context.evaluated_depsgraph_get() + n_new_reachable = 0 + for ci_check in range(len(candidates)): + if ci_check in selected_idx or ci_check in reachable: + continue + origin = Vector(pos) + target = Vector(candidates[ci_check]) + direction = (target - origin).normalized() + dist_to_target = (target - origin).length + + if dist_to_target < 0.1: + reachable.add(ci_check) + n_new_reachable += 1 + continue + + hit, loc, *_ = scene.ray_cast(depsgraph, origin, direction) + if not hit or (loc - origin).length >= dist_to_target * 0.95: + reachable.add(ci_check) + n_new_reachable += 1 + + dt_reach = time.time() - t_reach + time_reach += dt_reach + print(f" [可达性] 新增 {n_new_reachable} 个可达候选, " + f"总可达 {len(reachable)} / {len(candidates)} " + f"({dt_reach:.1f}s)") + + # ======== 停止条件 ======== + if frame_count > 0: + actual_gain_history.append(actual_gain) + delta_history.append(delta_ratio) + + if frame_count > 0 and frame_count >= min_frames: + if len(actual_gain_history) >= ACTUAL_GAIN_WINDOW: + recent_gain = actual_gain_history[-ACTUAL_GAIN_WINDOW:] + recent_delta = delta_history[-ACTUAL_GAIN_WINDOW:] + gain_exhausted = all(g < ACTUAL_GAIN_FLOOR for g in recent_gain) + delta_exhausted = all(d < stop_delta for d in recent_delta) + + if gain_exhausted or delta_exhausted: + avg_g = sum(recent_gain) / len(recent_gain) + avg_d = sum(recent_delta) / len(recent_delta) + reason = "" + if gain_exhausted: + reason += f"actual_gain < {ACTUAL_GAIN_FLOOR:.0%} (平均 {avg_g:.1%})" + if delta_exhausted: + if reason: + reason += " + " + reason += f"delta < {stop_delta:.1%} (平均 {avg_d:.1%})" + # 当前楼层拍满 → 换层 + current_floor += 1 + if current_floor < n_floors: + print(f" 连续 {ACTUAL_GAIN_WINDOW} 帧 {reason}" + f" → {floor_names[current_floor-1]} 拍满," + f" 切换到 {floor_names[current_floor]}") + else: + print(f" 连续 {ACTUAL_GAIN_WINDOW} 帧 {reason}" + f" → 所有楼层拍满，停止") + break + + # ======== 补帧：确保总帧数满足 4n+1 ======== + while len(results) > 1 and (len(results) - 1) % 4 != 0: + need = 4 - (len(results) - 1) % 4 + frame_count = results[-1]["frame_id"] + 1 + if frame_count >= max_frames + 3: + break + print(f"\n [补帧] 当前 {len(results)} 帧，不满足 4n+1，需补 {need} 帧") + + ci, gain, score, n_remain = select_next_frame( + candidates, selected_idx, selected_pos, all_pts, reachable=None) + if ci < 0: + print(f" 无可选候选，无法补帧") + break + + pos = candidates[ci] + selected_idx.add(ci) + selected_pos.append(pos) + + cam_rot = get_camera_rot(args.rotation_type, frame_count) + print(f" 补帧 F{frame_count}: 候选[{ci}] Z={pos[2]:.2f}m" + f" gain={gain:.1%} score={score:.3f}") + print(f" 渲染...", end="", flush=True) + t_r = time.time() + rgb_path, depth_path, pose_path = render_frame_inprocess( + cam_obj, frame_count, pos, cam_rot, output_dir, depth_fo) + dt_r = time.time() - t_r + time_render += dt_r + print(f" {dt_r:.1f}s") + + actual_gain = 0.0 + delta_ratio = 0.0 + if depth_path and os.path.exists(depth_path): + depth = load_depth_downsampled(depth_path, WARP_H, WARP_W) + total_px = WARP_H * WARP_W + trimmed, n_orig, n_new = trim_depth(depth, pos, all_pts, ray_dirs) + new_pts = depth_to_3d_points(pos, trimmed, ray_dirs, max_depth) + pts_chunks.append(new_pts) + all_pts = np.concatenate(pts_chunks) + actual_gain = n_new / total_px + delta_ratio = len(new_pts) / len(all_pts) if len(all_pts) > 0 else 0 + print(f" depth: {n_new}px 新增, gain={actual_gain:.1%}") + + results.append({ + "frame_id": frame_count, + "candidate_idx": ci, + "position": pos, + "gain": float(gain), + "actual_gain": float(actual_gain), + "delta_ratio": float(delta_ratio), + "score": float(score), + "supplementary": True, + }) + + if len(results) > 1: + is_4n1 = (len(results) - 1) % 4 == 0 + print(f"\n 帧数检查: {len(results)} 帧" + f" {'✓ 满足 4n+1' if is_4n1 else '✗ 不满足 4n+1'}") + + dt = time.time() - t_total + time_other = dt - time_select - time_render - time_depth - time_reach + print(f"\n {'─'*50}") + print(f" 共 {len(results)} 帧, {dt:.1f}s ({dt/60:.1f}min)") + print(f" 耗时分布:") + print(f" 选帧: {time_select:.1f}s ({time_select/max(dt,1)*100:.0f}%)" + f" — 点云投影评估候选") + print(f" 渲染: {time_render:.1f}s ({time_render/max(dt,1)*100:.0f}%)" + f" — Blender Cycles GPU") + print(f" 深度: {time_depth:.1f}s ({time_depth/max(dt,1)*100:.0f}%)" + f" — depth→点云+trim") + print(f" 可达性: {time_reach:.1f}s ({time_reach/max(dt,1)*100:.0f}%)" + f" — raycast 扫描") + if time_other > 1: + print(f" 其他: {time_other:.1f}s ({time_other/max(dt,1)*100:.0f}%)") + + return results + + +# ===================================================================== +# 自动曝光 +# ===================================================================== + +def auto_adjust_exposure(cam_obj, test_pos, output_dir, depth_fo, initial_exposure): + """F0 位置低采样快速渲一帧，分析亮度，自动调整 exposure。 + + 目标：有效像素平均亮度 ≈ 120/255。 + 过曝 (>200): 降 EV + 欠曝 (<40): 升 EV + 正常 (40~200): 不动 + """ + TARGET_MEAN = 120.0 + scene = bpy.context.scene + original_samples = scene.cycles.samples + + # 低采样快速测试 + scene.cycles.samples = 16 + test_path = os.path.join(output_dir, "_exposure_test.png") + scene.render.filepath = test_path + + cam_obj.location = Vector(test_pos) + cam_obj.rotation_euler = Euler((math.pi / 2, 0, 0), 'XYZ') + + print(f"\n[自动曝光] 测试渲染 (16 samples, exposure={initial_exposure:.1f})...", + end="", flush=True) + t0 = time.time() + bpy.ops.render.render(write_still=True) + print(f" {time.time() - t0:.1f}s") + + # 分析亮度 + img = bpy.data.images.load(test_path) + w, h = img.size[0], img.size[1] + pixels = np.array(img.pixels[:]).reshape(h, w, -1) + rgb = pixels[:, :, :3] + brightness = (0.299 * rgb[:,:,0] + 0.587 * rgb[:,:,1] + 0.114 * rgb[:,:,2]) * 255 + + # 只看非纯黑像素（排除天空/无效区域） + valid_mask = brightness > 1.0 + n_valid = int(np.sum(valid_mask)) + if n_valid > 0: + mean_b = float(np.mean(brightness[valid_mask])) + # 过曝比例（亮度 > 250 的像素占比） + overexposed = float(np.sum(brightness[valid_mask] > 250)) / n_valid + # 欠曝比例（亮度 < 10 的像素占比） + underexposed = float(np.sum(brightness[valid_mask] < 10)) / n_valid + else: + mean_b = 0.0 + overexposed = 0.0 + underexposed = 1.0 + + bpy.data.images.remove(img) + try: + os.remove(test_path) + except OSError: + pass + + print(f" 亮度分析: 平均={mean_b:.0f}/255, " + f"过曝={overexposed:.0%}, 欠曝={underexposed:.0%}, " + f"有效像素={n_valid}/{h*w}") + + # 调整 + new_exposure = initial_exposure + if mean_b < 1.0: + new_exposure = initial_exposure + 4.0 + print(f" [严重欠曝] exposure: {initial_exposure:.1f} → {new_exposure:.1f} (+4.0 EV)") + elif mean_b < 40: + ev_adj = min(4.0, math.log2(TARGET_MEAN / max(mean_b, 1.0))) + new_exposure = initial_exposure + ev_adj + 1.0 # 额外 +1 + print(f" [欠曝] exposure: {initial_exposure:.1f} → {new_exposure:.1f} (+{ev_adj:.1f} EV)") + elif mean_b > 200: + ev_adj = max(-4.0, math.log2(TARGET_MEAN / mean_b)) + new_exposure = initial_exposure + ev_adj + print(f" [过曝] exposure: {initial_exposure:.1f} → {new_exposure:.1f} ({ev_adj:.1f} EV)") + elif overexposed > 0.3: + # 平均还行但大面积过曝 + new_exposure = initial_exposure - 1.5 + print(f" [局部过曝 {overexposed:.0%}] exposure: {initial_exposure:.1f} → {new_exposure:.1f} (-1.5 EV)") + else: + print(f" [正常] 曝光无需调整") + + # 限幅 + new_exposure = max(-2.0, min(12.0, new_exposure)) + + scene.view_settings.exposure = new_exposure + scene.cycles.samples = original_samples + return new_exposure + + +# ===================================================================== +# 有效天花板检测（忽略塔尖/天线等异常高点） +# ===================================================================== + +def _detect_effective_ceiling(bmin, bmax, floor_z, ceiling_z_raw): + """用 raycast 从多个 XY 采样点往上打，统计天花板高度的 75% 分位数。 + + 塔尖、天线等只有少量采样点能 hit 到，被分位数过滤掉。 + """ + scene = bpy.context.scene + depsgraph = bpy.context.evaluated_depsgraph_get() + dir_up = Vector((0, 0, 1)) + + cx = (bmin[0] + bmax[0]) / 2 + cy = (bmin[1] + bmax[1]) / 2 + x_range = bmax[0] - bmin[0] + y_range = bmax[1] - bmin[1] + + # 5x5 网格采样 + ceil_hits = [] + for ix in range(5): + for iy in range(5): + x = bmin[0] + x_range * (ix + 0.5) / 5 + y = bmin[1] + y_range * (iy + 0.5) / 5 + origin = Vector((x, y, floor_z + 0.5)) + hit, loc, *_ = scene.ray_cast(depsgraph, origin, dir_up) + if hit: + ceil_hits.append(loc.z) + + if not ceil_hits: + print(f" [天花板] 无 hit，使用 AABB: {ceiling_z_raw:.2f}m") + return ceiling_z_raw + + ceil_hits.sort() + # 75% 分位数：忽略最高的 25%（塔尖/天线） + p75_idx = int(len(ceil_hits) * 0.75) + effective_ceil = ceil_hits[min(p75_idx, len(ceil_hits) - 1)] + + # 至少保留 AABB 高度的合理范围（不能比中位数还低太多） + median_ceil = ceil_hits[len(ceil_hits) // 2] + effective_ceil = max(effective_ceil, median_ceil) + + # 不能比最低的 hit 还低（安全下限） + effective_ceil = max(effective_ceil, floor_z + 2.5) + + if effective_ceil < ceiling_z_raw - 1.0: + print(f" [天花板] AABB={ceiling_z_raw:.2f}m → 有效={effective_ceil:.2f}m" + f" (忽略 {ceiling_z_raw - effective_ceil:.1f}m 塔尖/天线)") + else: + print(f" [天花板] {effective_ceil:.2f}m") + + return effective_ceil + + +# ===================================================================== +# Blender 模式主函数 +# ===================================================================== + +def main_blender(): + args = parse_args_blender() + + # 统一 scene_path + if args.blend: + scene_path = os.path.abspath(args.blend) + else: + scene_path = os.path.abspath(args.glb) + + output_dir = os.path.abspath(args.output_dir) + resolution = tuple(int(x) for x in args.resolution.split(",")) + os.makedirs(output_dir, exist_ok=True) + sel_dir = os.path.join(output_dir, "frame_selection") + os.makedirs(sel_dir, exist_ok=True) + + scene_ext = Path(scene_path).suffix.lower() + + print("=" * 60) + print("ERPT Blend Pipeline v5（单进程边渲边选）") + print("=" * 60) + print(f" Scene: {scene_path} [{scene_ext}]") + print(f" Output: {output_dir}") + print(f" Max frames: {args.num_frames}") + print(f" Resolution: {resolution[0]}x{resolution[1]}") + t_start = time.time() + + # ===== Phase 0: 加载场景 ===== + bmin, bmax = load_scene(scene_path) + + # ===== 渲染设置（只做一次） ===== + print(f"\n[Setup] 渲染配置") + cam_obj = setup_erp_camera() + setup_render_settings(resolution, args.engine, args.samples, args.exposure) + setup_lighting() + depth_fo = setup_depth_pass() + + # ===== Phase 1: 撒点 + 过滤 ===== + print(f"\n{'='*60}") + print("[Phase 1] 多层撒点 + 4层过滤") + print(f"{'='*60}") + + floor_z_raw, ceiling_z_raw = bmin[2], bmax[2] + + # 有效天花板检测：用 raycast 忽略塔尖等异常高点 + ceiling_z = _detect_effective_ceiling(bmin, bmax, floor_z_raw, ceiling_z_raw) + floor_z = floor_z_raw + + heights = compute_camera_heights(floor_z, ceiling_z, args.camera_height, + bmin=bmin, bmax=bmax) + print(f" 场景 Z 范围: {floor_z:.2f} ~ {ceiling_z:.2f}m (总高 {ceiling_z - floor_z:.2f}m)") + print(f" 相机层数: {len(heights)}") + for i, z in enumerate(heights): + print(f" 第{i+1}层: Z={z:.2f}m (离地 {z - floor_z:.2f}m)") + + x_range = bmax[0] - bmin[0] + y_range = bmax[1] - bmin[1] + n_layers = len(heights) + scene_diag = math.sqrt(x_range ** 2 + y_range ** 2) + + x_sp = max(0.5, x_range / 20) + y_sp = max(0.5, y_range / 20) + nx = max(1, int((x_range - 2 * MARGIN) / args.grid_spacing)) + ny = max(1, int((y_range - 2 * MARGIN) / args.grid_spacing)) + total_user = nx * ny * n_layers + + if total_user <= 10000: + x_sp = args.grid_spacing + y_sp = args.grid_spacing + print(f" 间距: {args.grid_spacing}m (候选≈{total_user}个)") + else: + nx_auto = max(1, int((x_range - 2 * MARGIN) / x_sp)) + ny_auto = max(1, int((y_range - 2 * MARGIN) / y_sp)) + total_auto = nx_auto * ny_auto * n_layers + print(f" [自适应] 场景 {x_range:.0f}x{y_range:.0f}m, " + f"X间距={x_sp:.1f}m, Y间距={y_sp:.1f}m " + f"(候选≈{total_auto})") + + candidates = generate_candidate_grid(bmin, bmax, x_sp, y_sp, heights) + if not candidates: + print(" [Error] 没有候选点") + sys.exit(1) + + room_height = ceiling_z - floor_z + candidates = raycast_6layer_filter(candidates, room_height) + if not candidates: + print(" [Warning] 全部被过滤，使用 mesh 中心") + cx = (bmin[0] + bmax[0]) / 2 + cy = (bmin[1] + bmax[1]) / 2 + candidates = [[cx, cy, heights[0]]] + + np.save(os.path.join(sel_dir, "candidates_filtered.npy"), + np.array(candidates)) + + # ===== 自动曝光：用候选中心点快速测试 ===== + mesh_center = [(bmin[0] + bmax[0]) / 2, + (bmin[1] + bmax[1]) / 2, + (bmin[2] + bmax[2]) / 2] + # 选最靠近中心的候选作为测试点 + mc = np.array(mesh_center) + test_dists = [np.linalg.norm(np.array(c) - mc) for c in candidates] + test_pos = candidates[int(np.argmin(test_dists))] + final_exposure = auto_adjust_exposure(cam_obj, test_pos, output_dir, depth_fo, args.exposure) + + # ===== Phase 2: 边渲边选 ===== + results = run_phase2( + cam_obj, candidates, mesh_center, output_dir, + args.num_frames, resolution, depth_fo, args) + + # ===== 保存选帧摘要 ===== + summary = { + "scene": os.path.basename(scene_path), + "scene_format": scene_ext, + "total_frames": len(results), + "candidates_count": len(candidates), + "frames": [{ + "frame_id": r["frame_id"], + "position": r["position"], + "gain": r["gain"], + "actual_gain": r["actual_gain"], + "delta_ratio": r["delta_ratio"], + "score": r["score"], + } for r in results], + } + with open(os.path.join(sel_dir, "selected_frames.json"), "w") as f: + json.dump(summary, f, indent=2, ensure_ascii=False) + + dt = time.time() - t_start + print(f"\n{'='*60}") + print(f"完成! {len(results)} 帧, {dt:.1f}s ({dt/60:.1f}min)") + print(f"{'='*60}") + print(f"输出目录: {output_dir}/") + for r in results: + fid = r["frame_id"] + print(f" panorama_{fid:04d}.png + _depth.npy + pose_{fid:04d}.json") + + +# ===================================================================== +# 入口 +# ===================================================================== + +if __name__ == "__main__": + if IN_BLENDER: + main_blender() + else: + main_python() diff --git a/pipelines/run_full_pipeline.py b/pipelines/run_full_pipeline.py new file mode 100644 index 0000000000000000000000000000000000000000..e96c76289fd75537a420e6eba3f0154ea19a4c94 --- /dev/null +++ b/pipelines/run_full_pipeline.py @@ -0,0 +1,1036 @@ +#!/usr/bin/env python3 +""" +全流程 Pipeline: .blend/.glb/.gltf/.ply → 边渲边选 → ERPT Warp + +支持六种模式: + +1. 单 Blend 场景: + python run_full_pipeline.py \ + --blender /path/to/blender \ + --blend /path/to/scene.blend \ + --scene-name my_scene \ + --output-root ./dataset + +2. 批量 Blend（扫描 input-dir 下所有 .blend）: + python run_full_pipeline.py \ + --blender /path/to/blender \ + --input-dir /path/to/blend_files/ \ + --output-root ./dataset + +3. 单 GLB/GLTF 场景: + python run_full_pipeline.py \ + --blender /path/to/blender \ + --glb /path/to/scene.glb \ + --scene-name my_scene \ + --output-root ./dataset + +4. 批量 GLB（扫描 input-dir 下所有 .glb/.gltf）: + python run_full_pipeline.py \ + --blender /path/to/blender \ + --input-dir /path/to/glb_files/ \ + --output-root ./dataset + +5. 单 PLY 场景（无需 Blender）: + python run_full_pipeline.py \ + --ply /path/to/scene.ply \ + --scene-name my_scene \ + --output-root ./dataset + +6. 批量 PLY（扫描 input-dir 下所有 .ply）: + python run_full_pipeline.py \ + --input-dir /path/to/ply_files/ \ + --output-root ./dataset + + 加 --dry-run 预览要跑哪些场景 + 已跑完的场景自动跳过（--no-skip-done 强制重跑） +""" + +import argparse +import json +import os +import shutil +import subprocess +import sys +import time +from pathlib import Path + + +def run_step1_blend_pipeline( + blender_exe: str, + scene_path: str, + temp_dir: str, + num_frames: int, + resolution: str, + samples: int, + engine: str, + exposure: float, + grid_spacing: float, + camera_height, + stop_gain: float, + stop_score: float, + stop_delta: float, + min_frames: int, + rotation_type: str = "random_yaw", + gain_curve: bool = True, + scene_flag: str = "--blend", +) -> int: + """步骤 1 (Blend/GLB): 调 run_blend_pipeline.py 边渲边选。 + scene_flag: "--blend" 或 "--glb" + """ + script = Path(__file__).parent / "run_blend_pipeline.py" + if not script.exists(): + raise FileNotFoundError(f"找不到 run_blend_pipeline.py: {script}") + + cmd = [ + sys.executable, str(script), + "--blender", blender_exe, + scene_flag, scene_path, + "--output-dir", temp_dir, + "--num-frames", str(num_frames), + "--render-depth", + "--resolution", resolution, + "--samples", str(samples), + "--engine", engine, + "--exposure", str(exposure), + "--grid-spacing", str(grid_spacing), + "--stop-gain", str(stop_gain), + "--stop-score", str(stop_score), + "--stop-delta", str(stop_delta), + "--min-frames", str(min_frames), + "--rotation-type", rotation_type, + ] + if camera_height is not None: + cmd += ["--camera-height", str(camera_height)] + if not gain_curve: + cmd += ["--no-gain-curve"] + + print(f"\n{'='*60}") + print("[Step 1] 边渲边选 (Blender Cycles)") + print(f"{'='*60}") + + proc = subprocess.run(cmd, text=True) + if proc.returncode != 0: + print(f" [Error] run_blend_pipeline 退出码: {proc.returncode}") + return proc.returncode + + n = sum(1 for f in Path(temp_dir).glob("panorama_*.png")) + print(f" 渲染完成: {n} 帧") + return 0 + + +def run_step1_ply_pipeline( + ply_path: str, + temp_dir: str, + num_frames: int, + resolution: str, + grid_spacing: float, + camera_height, + stop_gain: float, + stop_score: float, + stop_delta: float, + min_frames: int, + rotation_type: str = "random_yaw", + point_size: float = 2.0, + z_up: bool = True, +) -> int: + """步骤 1 (PLY): 调 run_ply_pipeline.py 边渲边选（无需 Blender）""" + script = Path(__file__).parent / "run_ply_pipeline.py" + if not script.exists(): + raise FileNotFoundError(f"找不到 run_ply_pipeline.py: {script}") + + cmd = [ + sys.executable, str(script), + "--ply", ply_path, + "--output-dir", temp_dir, + "--num-frames", str(num_frames), + "--resolution", resolution, + "--grid-spacing", str(grid_spacing), + "--stop-gain", str(stop_gain), + "--stop-score", str(stop_score), + "--stop-delta", str(stop_delta), + "--min-frames", str(min_frames), + "--rotation-type", rotation_type, + "--point-size", str(point_size), + ] + if camera_height is not None: + cmd += ["--camera-height", str(camera_height)] + if not z_up: + cmd += ["--no-z-up"] + + print(f"\n{'='*60}") + print("[Step 1] 边渲边选 (PLY 点云)") + print(f"{'='*60}") + + proc = subprocess.run(cmd, text=True) + if proc.returncode != 0: + print(f" [Error] run_ply_pipeline 退出码: {proc.returncode}") + return proc.returncode + + n = sum(1 for f in Path(temp_dir).glob("panorama_*.png")) + print(f" 渲染完成: {n} 帧") + return 0 + + +def run_step1_hm3d_pipeline( + blender_exe: str, + scene_path: str, + temp_dir: str, + num_frames: int, + resolution: str, + samples: int, + engine: str, + exposure: float, + grid_spacing: float, + camera_height, + stop_gain: float, + stop_score: float, + stop_delta: float, + min_frames: int, + rotation_type: str = "random_yaw", + gain_curve: bool = True, +) -> int: + """步骤 1 (HM3D GLB): 调 run_hm3d_pipeline.py 边渲边选。""" + script = Path(__file__).parent / "run_hm3d_pipeline.py" + if not script.exists(): + raise FileNotFoundError(f"找不到 run_hm3d_pipeline.py: {script}") + + cmd = [ + sys.executable, str(script), + "--blender", blender_exe, + "--glb", scene_path, + "--output-dir", temp_dir, + "--num-frames", str(num_frames), + "--render-depth", + "--resolution", resolution, + "--samples", str(samples), + "--engine", engine, + "--exposure", str(exposure), + "--grid-spacing", str(grid_spacing), + "--stop-gain", str(stop_gain), + "--stop-score", str(stop_score), + "--stop-delta", str(stop_delta), + "--min-frames", str(min_frames), + "--rotation-type", rotation_type, + "--hm3d", "True", + ] + if camera_height is not None: + cmd += ["--camera-height", str(camera_height)] + if not gain_curve: + cmd += ["--no-gain-curve"] + + print(f"\n{'='*60}") + print("[Step 1] 边渲边选 (HM3D GLB)") + print(f"{'='*60}") + + proc = subprocess.run(cmd, text=True) + if proc.returncode != 0: + print(f" [Error] run_hm3d_pipeline 退出码: {proc.returncode}") + return proc.returncode + + n = sum(1 for f in Path(temp_dir).rglob("panorama_*.png")) + print(f" 渲染完成: {n} 帧") + return 0 + + +def run_step2_organize_hm3d(temp_dir: str, scene_dir: str) -> int: + """步骤 2 (HM3D): 整理多空间目录结构 + + temp_dir 里有: + frame_selection/ + space_00/ (panorama_*.png, *_depth.npy, pose_*.json) + space_01/ + ... + + 整理成（每个 space 一个独立目录）: + scene_dir/space_00/input/ → 中心帧 RGB + depth + 所有 pose + scene_dir/space_00/output/ → 所有帧 RGB + depth（GT 真值） + scene_dir/space_01/input/ + scene_dir/space_01/output/ + ... + scene_dir/frame_selection/ → 选帧信息 + """ + temp = Path(temp_dir) + + print(f"\n{'='*60}") + print("[Step 2] 整理目录结构 (HM3D 多空间)") + print(f"{'='*60}") + + space_dirs = sorted( + [d for d in temp.iterdir() if d.is_dir() and d.name.startswith("space_")] + ) + if not space_dirs: + print(" [Error] 没有找到 space_XX 目录") + return 1 + + print(f" 共 {len(space_dirs)} 个空间") + + for space_d in space_dirs: + space_name = space_d.name + + rgb_files = sorted(space_d.glob("panorama_*.png")) + if not rgb_files: + print(f" {space_name}: 无渲染结果，跳过") + continue + + n_frames = len(rgb_files) + out_space_dir = Path(scene_dir) / space_name + inp_dir = out_space_dir / "input" + out_dir = out_space_dir / "output" + inp_dir.mkdir(parents=True, exist_ok=True) + out_dir.mkdir(parents=True, exist_ok=True) + + for rgb_path in rgb_files: + shutil.copy2(str(rgb_path), str(out_dir / rgb_path.name)) + depth_path = space_d / rgb_path.name.replace(".png", "_depth.npy") + if depth_path.exists(): + shutil.copy2(str(depth_path), str(out_dir / depth_path.name)) + + center_rgb = space_d / "panorama_0000.png" + center_depth = space_d / "panorama_0000_depth.npy" + if center_rgb.exists(): + shutil.copy2(str(center_rgb), str(inp_dir / center_rgb.name)) + if center_depth.exists(): + shutil.copy2(str(center_depth), str(inp_dir / center_depth.name)) + + n_pose = 0 + for pose_path in sorted(space_d.glob("pose_*.json")): + shutil.copy2(str(pose_path), str(inp_dir / pose_path.name)) + n_pose += 1 + + print(f" {space_name}: {n_frames} 帧 → output/, 中心帧 + {n_pose} pose → input/") + + sel_dir = Path(scene_dir) / "frame_selection" + sel_dir.mkdir(parents=True, exist_ok=True) + + sel_json = temp / "frame_selection" / "selected_frames.json" + if sel_json.exists(): + shutil.copy2(str(sel_json), str(sel_dir / "selected_frames.json")) + + cand_npy = temp / "frame_selection" / "candidates_filtered.npy" + if cand_npy.exists(): + shutil.copy2(str(cand_npy), str(sel_dir / "candidates_filtered.npy")) + + return 0 + + +def run_step2_organize(temp_dir: str, scene_dir: str) -> int: + """步骤 2: 整理目录结构 + + temp_dir 里有: + panorama_0000.png, panorama_0000_depth.npy, pose_0000.json, ... + + 整理成: + scene_dir/input/ → 中心帧 RGB + depth + 所有 pose（供 ERPT warp 使用） + scene_dir/output/ → 所有帧 RGB + depth（GT 真值） + """ + temp = Path(temp_dir) + inp_dir = Path(scene_dir) / "input" + out_dir = Path(scene_dir) / "output" + inp_dir.mkdir(parents=True, exist_ok=True) + out_dir.mkdir(parents=True, exist_ok=True) + + print(f"\n{'='*60}") + print("[Step 2] 整理目录结构") + print(f"{'='*60}") + + # 找所有帧 + rgb_files = sorted(temp.glob("panorama_*.png")) + if not rgb_files: + print(" [Error] 没有找到渲染的全景图") + return 1 + + n_frames = len(rgb_files) + print(f" 共 {n_frames} 帧") + + # output/: 复制所有帧的 RGB + depth（GT 真值） + for rgb_path in rgb_files: + shutil.copy2(str(rgb_path), str(out_dir / rgb_path.name)) + # depth + depth_path = temp / rgb_path.name.replace(".png", "_depth.npy") + if depth_path.exists(): + shutil.copy2(str(depth_path), str(out_dir / depth_path.name)) + + print(f" output/: {n_frames} 帧 RGB + depth") + + # input/: 中心帧 RGB + depth + 所有 pose + center_rgb = temp / "panorama_0000.png" + center_depth = temp / "panorama_0000_depth.npy" + + if center_rgb.exists(): + shutil.copy2(str(center_rgb), str(inp_dir / center_rgb.name)) + if center_depth.exists(): + shutil.copy2(str(center_depth), str(inp_dir / center_depth.name)) + + # 所有 pose + n_pose = 0 + for pose_path in sorted(temp.glob("pose_*.json")): + shutil.copy2(str(pose_path), str(inp_dir / pose_path.name)) + n_pose += 1 + + print(f" input/: 中心帧 + {n_pose} 个 pose") + + # 复制选帧信息（供参考） + sel_dir = inp_dir / "frame_selection" + sel_dir.mkdir(parents=True, exist_ok=True) + + sel_json = temp / "frame_selection" / "selected_frames.json" + if sel_json.exists(): + shutil.copy2(str(sel_json), str(sel_dir / "selected_frames.json")) + + cand_npy = temp / "frame_selection" / "candidates_filtered.npy" + if cand_npy.exists(): + shutil.copy2(str(cand_npy), str(sel_dir / "candidates_filtered.npy")) + + # 增益曲线（从 selected_frames.json 读数据，用 PIL 画） + if sel_json.exists(): + try: + draw_gain_curve(str(sel_dir / "selected_frames.json"), + str(sel_dir / "gain_curve.jpg")) + print(f" 增益曲线: {sel_dir}/gain_curve.jpg") + except Exception as e: + print(f" [跳过] 画增益曲线失败: {e}") + + return 0 + + +def draw_gain_curve(json_path, output_path): + """画增益曲线（优先 matplotlib，fallback PIL）""" + with open(json_path) as f: + data = json.load(f) + + frames = [fr for fr in data["frames"] if not fr.get("skipped")] + if len(frames) < 2: + return + + fids = [fr["frame_id"] for fr in frames] + pred_gains = [fr["gain"] for fr in frames] + actual_gains = [fr["actual_gain"] for fr in frames] + scores = [fr["score"] for fr in frames] + deltas = [fr["delta_ratio"] for fr in frames] + + try: + import matplotlib + matplotlib.use('Agg') + import matplotlib.pyplot as plt + + fig, (ax1, ax2) = plt.subplots(2, 1, figsize=(10, 6), sharex=True) + + ax1.plot(fids, pred_gains, 'o-', color='#2196F3', label='predicted', markersize=3, linewidth=1.5) + ax1.plot(fids, actual_gains, 'o-', color='#FF9800', label='actual', markersize=3, linewidth=1.5) + ax1.axhline(y=0.05, color='red', linestyle='--', alpha=0.5, label='stop_gain=5%') + ax1.set_ylabel('gain') + ax1.set_ylim(-0.05, 1.05) + ax1.legend(loc='upper right', fontsize=9) + ax1.set_title(f'Gain Curve ({len(frames)} frames)', fontsize=11) + ax1.grid(True, alpha=0.3) + # 标注首末值 + ax1.annotate(f'{actual_gains[0]:.0%}', (fids[0], actual_gains[0]), + textcoords="offset points", xytext=(5, 5), fontsize=7, color='#FF9800') + ax1.annotate(f'{actual_gains[-1]:.0%}', (fids[-1], actual_gains[-1]), + textcoords="offset points", xytext=(-25, 5), fontsize=7, color='#FF9800') + + ax2.plot(fids, scores, 'D-', color='#4CAF50', label='score', markersize=3, linewidth=1.5) + ax2.plot(fids, deltas, 's-', color='#9C27B0', label='delta', markersize=2, linewidth=1.2) + ax2.axhline(y=-0.33, color='red', linestyle='--', alpha=0.5, label='stop_score=-0.33') + ax2.axhline(y=0.01, color='#9C27B0', linestyle=':', alpha=0.4, label='stop_delta=1%') + ax2.set_ylabel('value') + ax2.set_xlabel('frame') + ax2.legend(loc='upper right', fontsize=9) + ax2.grid(True, alpha=0.3) + # 标注首末值 + ax2.annotate(f'{deltas[0]:.1%}', (fids[0], deltas[0]), + textcoords="offset points", xytext=(5, 5), fontsize=7, color='#9C27B0') + ax2.annotate(f'{deltas[-1]:.1%}', (fids[-1], deltas[-1]), + textcoords="offset points", xytext=(-25, -10), fontsize=7, color='#9C27B0') + + plt.tight_layout() + plt.savefig(output_path, dpi=150, bbox_inches='tight') + plt.close() + return + + except ImportError: + pass + + # ---- fallback: PIL ---- + try: + from PIL import Image, ImageDraw, ImageFont + + W, H = 800, 500 + ML, MR, MT, MB = 50, 20, 30, 25 + MID = H // 2 + pw = W - ML - MR + + img = Image.new("RGB", (W, H), "white") + draw = ImageDraw.Draw(img) + try: + font = ImageFont.truetype("/usr/share/fonts/truetype/dejavu/DejaVuSans.ttf", 9) + except Exception: + font = ImageFont.load_default() + + n = len(frames) + + def px(i, v, y0, y1, vmin, vmax): + x = ML + int(i / max(n-1,1) * pw) + y = y0 + int((1 - (v-vmin)/(vmax-vmin)) * (y1-y0)) + return x, max(y0, min(y1, y)) + + def line(pts, color, y0, y1, vmin, vmax): + for j in range(len(pts)-1): + draw.line([px(j,pts[j],y0,y1,vmin,vmax), px(j+1,pts[j+1],y0,y1,vmin,vmax)], fill=color, width=2) + + line(pred_gains, "#2196F3", MT, MID-5, 0, 1.05) + line(actual_gains, "#FF9800", MT, MID-5, 0, 1.05) + line(scores, "#4CAF50", MID+10, H-MB, -0.6, 1.05) + line(deltas, "#9C27B0", MID+10, H-MB, -0.6, 1.05) + + draw.text((ML, MT-12), f"Gain ({n} frames)", fill="black", font=font) + draw.text((ML, MID+2), "Score / Delta", fill="black", font=font) + img.save(output_path, quality=90) + + except ImportError: + pass + + +def run_step3_erpt_warp_hm3d(scene_dir: str, device: str = "cuda") -> int: + """步骤 3 (HM3D): 对每个空间调 run_pipeline.py 执行 ERPT warp + + 遍历 scene_dir/space_XX/input/，对帧数 >= 2 的空间生成 warp 文件 + """ + script = Path(__file__).parent / "run_pipeline.py" + if not script.exists(): + raise FileNotFoundError(f"找不到 run_pipeline.py: {script}") + + print(f"\n{'='*60}") + print("[Step 3] ERPT Warp (HM3D 多空间)") + print(f"{'='*60}") + + scene_path = Path(scene_dir) + space_dirs = sorted( + [d for d in scene_path.iterdir() + if d.is_dir() and d.name.startswith("space_")] + ) + + if not space_dirs: + print(" [Error] 没有找到 space_XX 目录") + return 1 + + total_ret = 0 + n_warped = 0 + n_skipped = 0 + + for space_d in space_dirs: + inp_dir = space_d / "input" + if not inp_dir.exists(): + continue + + n_poses = len(list(inp_dir.glob("pose_*.json"))) + if n_poses < 2: + print(f" {space_d.name}: {n_poses} pose，跳过 warp") + n_skipped += 1 + continue + + print(f"\n [{space_d.name}] ERPT Warp ({n_poses} poses)...") + + cmd = [ + sys.executable, str(script), + "--stage", "warp_only", + "--data_dir", str(inp_dir), + "--output_dir", str(inp_dir), + "--device", device, + "--center_frame", "0", + ] + + proc = subprocess.run(cmd, text=True) + if proc.returncode != 0: + print(f" [Error] {space_d.name} warp 失败 (退出码: {proc.returncode})") + total_ret = proc.returncode + continue + + warp_rgb_dir = inp_dir / "warp_rgb" + warp_depth_dir = inp_dir / "warp_depth" + keep_suffixes = ("_rgb.png", "_mask.png", "_depth_range.npy") + + n_moved = 0 + for subdir in [warp_rgb_dir, warp_depth_dir]: + if subdir.exists(): + for f in subdir.iterdir(): + if f.is_file() and any(f.name.endswith(s) for s in keep_suffixes): + shutil.move(str(f), str(inp_dir / f.name)) + n_moved += 1 + shutil.rmtree(str(subdir), ignore_errors=True) + + n_warped += 1 + print(f" warp 文件: {n_moved} 个") + + print(f"\n Warp 完成: {n_warped} 个空间, 跳过 {n_skipped} 个") + return total_ret + + +def run_step3_erpt_warp(scene_dir: str, device: str = "cuda") -> int: + """步骤 3: 调 run_pipeline.py 执行 ERPT warp + + 读取 scene_dir/input/ 里的中心帧 + pose → 生成 warp 文件 + warp 文件直接写到 input/ 目录 + """ + script = Path(__file__).parent / "run_pipeline.py" + if not script.exists(): + raise FileNotFoundError(f"找不到 run_pipeline.py: {script}") + + inp_dir = Path(scene_dir) / "input" + + print(f"\n{'='*60}") + print("[Step 3] ERPT Warp") + print(f"{'='*60}") + + cmd = [ + sys.executable, str(script), + "--stage", "warp_only", + "--data_dir", str(inp_dir), + "--output_dir", str(inp_dir), + "--device", device, + "--center_frame", "0", + ] + + proc = subprocess.run(cmd, text=True) + if proc.returncode != 0: + print(f" [Error] run_pipeline 退出码: {proc.returncode}") + return proc.returncode + + # 把 warp 子目录里需要的文件提到 input/ 根目录 + # 只保留: _rgb.png, _mask.png, _depth_range.npy + warp_rgb_dir = inp_dir / "warp_rgb" + warp_depth_dir = inp_dir / "warp_depth" + keep_suffixes = ("_rgb.png", "_mask.png", "_depth_range.npy") + + n_moved = 0 + for subdir in [warp_rgb_dir, warp_depth_dir]: + if subdir.exists(): + for f in subdir.iterdir(): + if f.is_file() and any(f.name.endswith(s) for s in keep_suffixes): + shutil.move(str(f), str(inp_dir / f.name)) + n_moved += 1 + # 删除整个子目录（包含不需要的 flow/weight_sum/comparison 等） + shutil.rmtree(str(subdir), ignore_errors=True) + + print(f" warp 文件已移到 input/: {n_moved} 个") + return 0 + + +def is_already_done(output_root, scene_name): + """检查是否已经跑完""" + sel_path = os.path.join( + output_root, scene_name, "input", "frame_selection", + "selected_frames.json") + if not os.path.exists(sel_path): + # 也检查 input/ 下直接放的 + sel_path = os.path.join(output_root, scene_name, "input", + "selected_frames.json") + if not os.path.exists(sel_path): + return False + try: + with open(sel_path) as f: + data = json.load(f) + return data.get("total_frames", 0) > 0 + except Exception: + return False + + +def find_glb_files(input_dir): + """递归查找所有 .glb / .gltf 文件，返回 [(glb_path, scene_name), ...] + + scene_name 取文件名（不含扩展名），或第一级子目录名（如有子目录）。 + """ + input_dir = os.path.abspath(input_dir) + glb_files = [] + for root, dirs, files in os.walk(input_dir): + for f in files: + if f.lower().endswith(".glb") or f.lower().endswith(".gltf"): + glb_path = os.path.join(root, f) + rel = os.path.relpath(root, input_dir) + if rel == ".": + scene_name = os.path.splitext(f)[0] + else: + scene_name = rel.split(os.sep)[0] + glb_files.append((glb_path, scene_name)) + glb_files.sort(key=lambda x: x[1]) + return glb_files + + +def find_blend_files(input_dir): + """递归查找所有 .blend 文件，返回 [(blend_path, scene_name), ...] + + scene_name 取 input_dir 下的第一级子目录名（scene_indoor_XXXX）， + 不管 .blend 文件嵌套了几层。 + + 例如: + input_dir = /path/to/dataset/indoor + .blend 在 /path/to/dataset/indoor/scene_indoor_0001/1407m1/xxx.blend + → scene_name = scene_indoor_0001 + """ + input_dir = os.path.abspath(input_dir) + blend_files = [] + for root, dirs, files in os.walk(input_dir): + for f in files: + if f.endswith(".blend"): + blend_path = os.path.join(root, f) + rel = os.path.relpath(root, input_dir) + scene_name = rel.split(os.sep)[0] + blend_files.append((blend_path, scene_name)) + blend_files.sort(key=lambda x: x[1]) + return blend_files + + +def find_ply_files(input_dir): + """递归查找所有 .ply 文件，返回 [(ply_path, scene_name), ...] + + scene_name 取文件名（不含扩展名），或第一级子目录名（如有子目录）。 + """ + input_dir = os.path.abspath(input_dir) + ply_files = [] + for root, dirs, files in os.walk(input_dir): + for f in files: + if f.lower().endswith(".ply"): + ply_path = os.path.join(root, f) + rel = os.path.relpath(root, input_dir) + if rel == ".": + scene_name = os.path.splitext(f)[0] + else: + scene_name = rel.split(os.sep)[0] + ply_files.append((ply_path, scene_name)) + ply_files.sort(key=lambda x: x[1]) + return ply_files + + +def run_single_scene(args, scene_path, scene_name, scene_type="blend"): + """跑单个场景，返回 0=成功 / 非0=失败 + + scene_type: "blend" | "glb" | "hm3d" | "ply" + """ + output_root = str(Path(args.output_root).resolve()) + scene_dir = os.path.join(output_root, scene_name) + temp_dir = os.path.join(scene_dir, "_render_temp") + os.makedirs(scene_dir, exist_ok=True) + + type_labels = { + "blend": ".blend (Blender Cycles)", + "glb": ".glb/.gltf (Blender Cycles)", + "hm3d": ".glb/.gltf (HM3D 渲染)", + "ply": ".ply (点云渲染)", + } + type_label = type_labels.get(scene_type, scene_type) + print("=" * 60) + print(f"全流程 Pipeline: {type_label} → 边渲边选 → ERPT Warp") + print("=" * 60) + print(f" Scene: {scene_name}") + print(f" Input: {scene_path}") + print(f" Output: {scene_dir}/") + t_start = time.time() + + # Step 1 + if scene_type == "hm3d": + ret = run_step1_hm3d_pipeline( + blender_exe=args.blender, + scene_path=scene_path, + temp_dir=temp_dir, + num_frames=args.num_frames, + resolution=args.resolution, + samples=args.samples, + engine=args.engine, + exposure=args.exposure, + grid_spacing=args.grid_spacing, + camera_height=args.camera_height, + stop_gain=args.stop_gain, + stop_score=args.stop_score, + stop_delta=args.stop_delta, + min_frames=args.min_frames, + rotation_type=args.rotation_type, + gain_curve=getattr(args, "gain_curve", True), + ) + elif scene_type in ("blend", "glb"): + scene_flag = "--blend" if scene_type == "blend" else "--glb" + ret = run_step1_blend_pipeline( + blender_exe=args.blender, + scene_path=scene_path, + temp_dir=temp_dir, + num_frames=args.num_frames, + resolution=args.resolution, + samples=args.samples, + engine=args.engine, + exposure=args.exposure, + grid_spacing=args.grid_spacing, + camera_height=args.camera_height, + stop_gain=args.stop_gain, + stop_score=args.stop_score, + stop_delta=args.stop_delta, + min_frames=args.min_frames, + rotation_type=args.rotation_type, + gain_curve=getattr(args, "gain_curve", True), + scene_flag=scene_flag, + ) + else: + ret = run_step1_ply_pipeline( + ply_path=scene_path, + temp_dir=temp_dir, + num_frames=args.num_frames, + resolution=args.resolution, + grid_spacing=args.grid_spacing, + camera_height=args.camera_height, + stop_gain=args.stop_gain, + stop_score=args.stop_score, + stop_delta=args.stop_delta, + min_frames=args.min_frames, + rotation_type=args.rotation_type, + point_size=getattr(args, "point_size", 2.0), + z_up=getattr(args, "z_up", True), + ) + + if ret != 0: + print(f"[Error] Step 1 失败") + return ret + + # Step 2 + if scene_type == "hm3d": + ret = run_step2_organize_hm3d(temp_dir, scene_dir) + else: + ret = run_step2_organize(temp_dir, scene_dir) + if ret != 0: + print(f"[Error] Step 2 失败") + return ret + + # Step 3 + if not args.skip_warp: + if scene_type == "hm3d": + ret = run_step3_erpt_warp_hm3d(scene_dir, device=args.device) + else: + ret = run_step3_erpt_warp(scene_dir, device=args.device) + if ret != 0: + print(f"[Error] Step 3 失败") + + # 清理 + if os.path.exists(temp_dir): + shutil.rmtree(temp_dir, ignore_errors=True) + + dt = time.time() - t_start + print(f"\n{'='*60}") + print(f"完成! {scene_name}, {dt:.1f}s ({dt/60:.1f}min)") + print(f"{'='*60}") + return 0 + + +def run_single(args): + """单场景模式（blend、glb、hm3d 或 ply）""" + if args.ply: + ply_path = str(Path(args.ply).resolve()) + scene_name = args.scene_name or Path(args.ply).stem + ret = run_single_scene(args, ply_path, scene_name, scene_type="ply") + elif args.hm3d: + glb_path = str(Path(args.hm3d).resolve()) + scene_name = args.scene_name or Path(args.hm3d).stem + ret = run_single_scene(args, glb_path, scene_name, scene_type="hm3d") + elif args.glb: + glb_path = str(Path(args.glb).resolve()) + scene_name = args.scene_name or Path(args.glb).stem + ret = run_single_scene(args, glb_path, scene_name, scene_type="glb") + else: + blend_path = str(Path(args.blend).resolve()) + scene_name = args.scene_name or Path(args.blend).stem + ret = run_single_scene(args, blend_path, scene_name, scene_type="blend") + if ret != 0: + sys.exit(1) + + +def run_batch(args): + """批量模式（自动检测 .blend / .glb / .gltf / .ply）""" + input_dir_abs = os.path.abspath(args.input_dir) + if not os.path.isdir(input_dir_abs): + print(f"[Error] --input-dir 目录不存在: {input_dir_abs}") + print(f" (原始参数: {args.input_dir})") + sys.exit(1) + + # 没有 --blender → 只能跑 PLY + if not getattr(args, "blender", None): + scene_files = find_ply_files(args.input_dir) + scene_type = "ply" + ext_label = ".ply" + else: + # 有 blender：优先 .blend，其次 .glb/.gltf (HM3D)，最后 .ply + scene_files = find_blend_files(args.input_dir) + scene_type = "blend" + ext_label = ".blend" + if not scene_files: + scene_files = find_glb_files(args.input_dir) + scene_type = "hm3d" # 默认使用 HM3D 渲染管线 + ext_label = ".glb/.gltf (HM3D)" + if not scene_files: + scene_files = find_ply_files(args.input_dir) + scene_type = "ply" + ext_label = ".ply" + + if not scene_files: + print(f"[Error] 在 {args.input_dir} 下没找到 {ext_label} 文件") + sys.exit(1) + + output_root = str(Path(args.output_root).resolve()) + + print(f"{'='*60}") + print(f"批量处理模式 ({ext_label})") + print(f"{'='*60}") + print(f" 输入目录: {args.input_dir}") + print(f" 输出目录: {output_root}") + print(f" 找到 {len(scene_files)} 个 {ext_label} 文件") + # input(f" 按 Enter 键继续，或 Ctrl+C 取消...") + + to_run = [] + skipped = [] + for scene_path, scene_name in scene_files: + if args.skip_done and is_already_done(output_root, scene_name): + skipped.append((scene_path, scene_name)) + else: + to_run.append((scene_path, scene_name)) + + if skipped: + print(f" 跳过 {len(skipped)} 个已完成:") + for _, sn in skipped: + print(f" ✓ {sn}") + + print(f" 待处理 {len(to_run)} 个:") + for bp, sn in to_run: + print(f" → {sn} ({os.path.basename(bp)})") + + if args.dry_run: + print(f"\n[Dry run] 不实际运行") + return + + if not to_run: + print(f"\n全部已完成!") + return + + t_all = time.time() + success = [] + failed = [] + + for idx, (scene_path, scene_name) in enumerate(to_run): + print(f"\n{'='*60}") + print(f"[{idx+1}/{len(to_run)}] {scene_name}") + print(f"{'='*60}") + + t_scene = time.time() + try: + ret = run_single_scene(args, scene_path, scene_name, scene_type) + dt = time.time() - t_scene + if ret == 0: + success.append((scene_name, dt)) + print(f"\n ✓ {scene_name} ({dt:.0f}s)") + else: + failed.append((scene_name, f"exit code {ret}")) + print(f"\n ✗ {scene_name} 失败 ({dt:.0f}s)") + except Exception as e: + dt = time.time() - t_scene + failed.append((scene_name, str(e))) + print(f"\n ✗ {scene_name} 异常: {e} ({dt:.0f}s)") + + dt_all = time.time() - t_all + print(f"\n{'='*60}") + print(f"批量处理完成") + print(f"{'='*60}") + print(f" 总耗时: {dt_all:.0f}s ({dt_all/60:.1f}min = {dt_all/3600:.1f}h)") + print(f" 成功: {len(success)} 个") + for sn, dt in success: + print(f" ✓ {sn} ({dt:.0f}s)") + if failed: + print(f" 失败: {len(failed)} 个") + for sn, reason in failed: + print(f" ✗ {sn}: {reason}") + if skipped: + print(f" 跳过: {len(skipped)} 个 (已完成)") + + +def main(): + parser = argparse.ArgumentParser( + description="全流程: .blend/.glb/.ply → 边渲边选 → ERPT Warp" + ) + + # 输入（四种模式互斥） + input_group = parser.add_mutually_exclusive_group() + input_group.add_argument("--blend", type=str, default=None, + help=".blend 场景文件路径（单 Blend 场景模式）") + input_group.add_argument("--glb", type=str, default=None, + help=".glb / .gltf 场景文件路径（单 GLB 场景模式）") + input_group.add_argument("--hm3d", type=str, default=None, + help=".glb / .gltf 场景文件路径（单 HM3D 场景模式）") + input_group.add_argument("--ply", type=str, default=None, + help=".ply 场景文件路径（单 PLY 场景模式）") + + parser.add_argument("--input-dir", type=str, default=None, + help="包含场景文件的根目录（批量模式，自动检测 .blend/.glb/.ply）") + parser.add_argument("--scene-name", type=str, default=None, + help="场景名（默认从文件名提取）") + parser.add_argument("--output-root", type=str, default="./dataset", + help="输出根目录（默认 ./dataset）") + + # Blender 参数（仅 Blend/GLB/HM3D 模式需要） + parser.add_argument("--blender", type=str, default=None, + help="Blender 可执行文件路径（Blend/GLB/HM3D 模式必须）") + parser.add_argument("--samples", type=int, default=128) + parser.add_argument("--engine", type=str, default="CYCLES") + parser.add_argument("--exposure", type=float, default=0.0) + parser.add_argument("--gain-curve", action="store_true", default=True, + help="画增益曲线 (默认开启)") + parser.add_argument("--no-gain-curve", dest="gain_curve", action="store_false") + + # PLY 参数（仅 PLY 模式） + parser.add_argument("--point-size", type=float, default=2.0, + help="点云渲染点径（像素），PLY 模式有效（默认 2.0）") + parser.add_argument("--z-up", action="store_true", default=True, + help="PLY 坐标系为 Z-up（默认 True）") + parser.add_argument("--no-z-up", dest="z_up", action="store_false", + help="PLY 坐标系为 Y-up（已是 ERPT_native，不转换）") + + # 通用渲染参数 + parser.add_argument("--num-frames", type=int, default=30) + parser.add_argument("--resolution", type=str, default="2048,1024") + + # 选帧参数 + parser.add_argument("--grid-spacing", type=float, default=0.5) + parser.add_argument("--camera-height", type=float, default=None) + parser.add_argument("--stop-gain", type=float, default=0.08) + parser.add_argument("--stop-score", type=float, default=-0.3) + parser.add_argument("--stop-delta", type=float, default=0.08) + parser.add_argument("--min-frames", type=int, default=5) + parser.add_argument("--rotation-type", type=str, default="random_yaw", + choices=["none", "rotate_x_90", "rotate_x_180", + "rotate_z_90", "random_yaw"]) + + # ERPT 参数 + parser.add_argument("--device", type=str, default="cuda") + parser.add_argument("--skip-warp", action="store_true", + help="只做步骤 1+2，跳过 ERPT warp") + + # 批量模式参数 + parser.add_argument("--skip-done", action="store_true", default=True, + help="跳过已跑完的场景（默认开启）") + parser.add_argument("--no-skip-done", action="store_true", + help="强制重跑所有场景") + parser.add_argument("--dry-run", action="store_true", + help="只列出要跑的场景，不实际运行") + + args = parser.parse_args() + + if args.no_skip_done: + args.skip_done = False + + # 校验 Blend/GLB/HM3D 模式必须提供 --blender + if (args.blend or args.glb or args.hm3d) and not args.blender: + parser.error("--blend / --glb / --hm3d 模式必须同时提供 --blender 可执行文件路径") + + # 模式判定 + if args.input_dir: + run_batch(args) + elif args.blend or args.glb or args.hm3d or args.ply: + run_single(args) + else: + parser.error("必须指定 --blend / --glb / --hm3d / --ply（单场景）或 --input-dir（批量）") + + +if __name__ == "__main__": + main() diff --git a/pipelines/run_hm3d_pipeline.py b/pipelines/run_hm3d_pipeline.py new file mode 100644 index 0000000000000000000000000000000000000000..dbed7deeabafbf767fe1868245cc3010df457873 --- /dev/null +++ b/pipelines/run_hm3d_pipeline.py @@ -0,0 +1,2561 @@ +#!/usr/bin/env python3 +""" +Blend 全流程 Pipeline v5（单 Blender 进程） + +v3 → v4 改进: + - Phase 0+1+2 全部在一个 Blender 进程内完成 + - 不再导出 GLB（用 Blender scene.ray_cast 替代 trimesh） + - 不再每帧重启 Blender（同进程内移动相机 + 渲染） + - 去掉 trimesh 外部依赖 + +v5 → v6 改进: + - 新增 GLB/GLTF 格式支持（--glb 参数） + - --blend / --glb 二选一，支持 .blend .glb .gltf 三种格式 + - GLB 导入后与 .blend 流程完全统一 + +对外接口 100% 兼容 v3/v5: + - 命令行参数完全一致（新增 --glb 为可选补充） + - 输出文件名完全一致（panorama_XXXX.png / _depth.npy / pose_XXXX.json） + - run_full_pipeline.py 零改动 + +双模式运行: + 1) python run_blend_pipeline.py --blender X --blend Y ... + python run_blend_pipeline.py --blender X --glb Y ... + → 检测到 --blender → 启动 blender --python THIS_FILE -- --blend/--glb Y ... + 2) Blender 内部自动进入 in-process 模式 + → Phase 0 (边界) + Phase 1 (撒点+过滤) + Phase 2 (边渲边选) +""" + +# ===================================================================== +# 检测运行环境 +# ===================================================================== +try: + import bpy + from mathutils import Vector, Euler, Matrix + IN_BLENDER = True +except ImportError: + IN_BLENDER = False + +import argparse +import json +import math +import os +import subprocess +import sys +import time +import random as _random +from pathlib import Path + +import numpy as np + + +# ===================================================================== +# 常量 +# ===================================================================== + +WARP_H = 128 +WARP_W = 256 +MARGIN = 0.5 # 距墙最小安全距离（防穿模） + +DEFAULT_STOP_GAIN = 0.08 +DEFAULT_OVERLAP_PENALTY = 0.5 +DEFAULT_MIN_DIST = 0.6 +DEFAULT_MIN_FRAMES = 5 + +ROTATION_TYPES = { + "none": [0.0, 0.0, 0.0], + "rotate_x_90": [math.pi / 2, 0.0, 0.0], + "rotate_x_180": [math.pi, 0.0, 0.0], + "rotate_z_90": [0.0, 0.0, math.pi / 2], +} + + +def get_camera_rot(rotation_type: str, frame_id: int): + if rotation_type == "random_yaw": + yaw = 0.0 if frame_id == 0 else _random.uniform(0, 2 * math.pi) + return [math.pi / 2, 0.0, yaw] + return list(ROTATION_TYPES[rotation_type]) + + +####################################################################### +# 渲染设置 +####################################################################### +def is_room_structure(obj_name): + """ + 判断对象是否是房间结构（墙面、地板、天花板） + + 房间结构的常见命名模式： + 1. None.obj - 标准3D-Front房间结构 + 2. geometry_N - 无纹理的通用几何体 + 3. 纯数字.obj (如 12670.obj) - 数字ID命名的结构 + """ + name_lower = obj_name.lower() + + # 模式1: 包含 "none" + if 'none' in name_lower: + return True + + # 模式2: 以 "geometry_" 开头 + if name_lower.startswith('geometry_') or name_lower.startswith('geometry.'): + return True + + # 模式3: 纯数字命名 (如 "12670.obj", "7319.obj") + base_name = obj_name.replace('.obj', '').replace('.OBJ', '') + if base_name.isdigit(): + return True + + return False + + +def create_wood_floor_material(nodes, links): + """创建木地板程序化材质（Emission模式，显示原始颜色）""" + # 使用Emission材质，直接发光，不受光照影响 + emission = nodes.new('ShaderNodeEmission') + emission.name = "FloorEmission" + + # 木纹噪波纹理 + noise = nodes.new('ShaderNodeTexNoise') + noise.inputs['Scale'].default_value = 20.0 + noise.inputs['Detail'].default_value = 8.0 + noise.inputs['Roughness'].default_value = 0.6 + noise.location = (-600, 200) + + # 波浪纹理（模拟木纹条纹） + wave = nodes.new('ShaderNodeTexWave') + wave.wave_type = 'BANDS' + wave.bands_direction = 'X' + wave.inputs['Scale'].default_value = 3.0 + wave.inputs['Distortion'].default_value = 5.0 + wave.inputs['Detail'].default_value = 3.0 + wave.location = (-600, 0) + + # 颜色渐变（木材颜色） + color_ramp = nodes.new('ShaderNodeValToRGB') + color_ramp.color_ramp.elements[0].color = (0.15, 0.08, 0.04, 1.0) # 深棕色 + color_ramp.color_ramp.elements[1].color = (0.35, 0.20, 0.10, 1.0) # 浅棕色 + color_ramp.location = (-400, 100) + + # 混合噪波和波浪 + mix_rgb = nodes.new('ShaderNodeMix') + mix_rgb.data_type = 'RGBA' + mix_rgb.inputs['Factor'].default_value = 0.5 + mix_rgb.location = (-400, 0) + + links.new(noise.outputs['Fac'], mix_rgb.inputs['A']) + links.new(wave.outputs['Fac'], mix_rgb.inputs['B']) + links.new(mix_rgb.outputs['Result'], color_ramp.inputs['Fac']) + + # 连接到Emission材质（直接显示颜色，不受光照影响） + links.new(color_ramp.outputs['Color'], emission.inputs['Color']) + emission.inputs['Strength'].default_value = 1.0 # Emission强度（材质预览模式，避免过曝） + + return emission + + +def create_brick_wall_material(nodes, links): + """创建砖墙程序化材质（Emission模式，显示原始颜色）""" + # 使用Emission材质，直接发光，不受光照影响 + emission = nodes.new('ShaderNodeEmission') + emission.name = "BrickWallEmission" + + # 使用纹理坐标 + tex_coord = nodes.new('ShaderNodeTexCoord') + tex_coord.location = (-800, 0) + + # 缩放映射（控制砖块大小） + mapping = nodes.new('ShaderNodeMapping') + mapping.inputs['Scale'].default_value = (4.0, 8.0, 1.0) # X方向砖块较宽 + mapping.location = (-600, 0) + links.new(tex_coord.outputs['Generated'], mapping.inputs['Vector']) + + # 砖块纹理 + brick = nodes.new('ShaderNodeTexBrick') + brick.inputs['Color1'].default_value = (0.6, 0.3, 0.2, 1.0) # 砖红色 + brick.inputs['Color2'].default_value = (0.5, 0.25, 0.15, 1.0) # 深砖红色 + brick.inputs['Mortar'].default_value = (0.85, 0.85, 0.8, 1.0) # 灰白色砂浆 + brick.inputs['Scale'].default_value = 3.0 + brick.inputs['Mortar Size'].default_value = 0.02 + brick.inputs['Mortar Smooth'].default_value = 0.1 + brick.inputs['Bias'].default_value = 0.0 + brick.inputs['Brick Width'].default_value = 0.5 + brick.inputs['Row Height'].default_value = 0.25 + brick.location = (-400, 0) + links.new(mapping.outputs['Vector'], brick.inputs['Vector']) + + # 添加细微噪波增加真实感 + noise = nodes.new('ShaderNodeTexNoise') + noise.inputs['Scale'].default_value = 50.0 + noise.inputs['Detail'].default_value = 3.0 + noise.location = (-400, -200) + links.new(mapping.outputs['Vector'], noise.inputs['Vector']) + + # 混合砖块颜色和噪波 + mix_color = nodes.new('ShaderNodeMix') + mix_color.data_type = 'RGBA' + mix_color.inputs['Factor'].default_value = 0.1 + mix_color.location = (-200, 0) + links.new(brick.outputs['Color'], mix_color.inputs['A']) + links.new(noise.outputs['Color'], mix_color.inputs['B']) + + # 连接到Emission材质（直接显示颜色，不受光照影响） + links.new(mix_color.outputs['Result'], emission.inputs['Color']) + emission.inputs['Strength'].default_value = 2.0 # Emission强度（材质预览模式，避免过曝） + + return emission + + +def create_grid_ceiling_material(nodes, links): + """创建网格天花板程序化材质（Emission模式，显示原始颜色）""" + # 使用Emission材质，直接发光，不受光照影响 + emission = nodes.new('ShaderNodeEmission') + emission.name = "GridCeilingEmission" + + # 使用纹理坐标 + tex_coord = nodes.new('ShaderNodeTexCoord') + tex_coord.location = (-800, -400) + + # 缩放映射 + mapping = nodes.new('ShaderNodeMapping') + mapping.inputs['Scale'].default_value = (5.0, 5.0, 1.0) + mapping.location = (-600, -400) + links.new(tex_coord.outputs['Generated'], mapping.inputs['Vector']) + + # 分离XY坐标 + separate = nodes.new('ShaderNodeSeparateXYZ') + separate.location = (-400, -400) + links.new(mapping.outputs['Vector'], separate.inputs['Vector']) + + # X方向网格线（使用正弦波） + math_sin_x = nodes.new('ShaderNodeMath') + math_sin_x.operation = 'SINE' + math_sin_x.location = (-200, -350) + + math_mul_x = nodes.new('ShaderNodeMath') + math_mul_x.operation = 'MULTIPLY' + math_mul_x.inputs[1].default_value = 6.28 # 2*PI + math_mul_x.location = (-300, -350) + links.new(separate.outputs['X'], math_mul_x.inputs[0]) + links.new(math_mul_x.outputs['Value'], math_sin_x.inputs[0]) + + # Y方向网格线 + math_sin_y = nodes.new('ShaderNodeMath') + math_sin_y.operation = 'SINE' + math_sin_y.location = (-200, -500) + + math_mul_y = nodes.new('ShaderNodeMath') + math_mul_y.operation = 'MULTIPLY' + math_mul_y.inputs[1].default_value = 6.28 + math_mul_y.location = (-300, -500) + links.new(separate.outputs['Y'], math_mul_y.inputs[0]) + links.new(math_mul_y.outputs['Value'], math_sin_y.inputs[0]) + + # 取绝对值使线条清晰 + abs_x = nodes.new('ShaderNodeMath') + abs_x.operation = 'ABSOLUTE' + abs_x.location = (-100, -350) + links.new(math_sin_x.outputs['Value'], abs_x.inputs[0]) + + abs_y = nodes.new('ShaderNodeMath') + abs_y.operation = 'ABSOLUTE' + abs_y.location = (-100, -500) + links.new(math_sin_y.outputs['Value'], abs_y.inputs[0]) + + # 合并X和Y网格（取最小值形成网格交叉） + math_min = nodes.new('ShaderNodeMath') + math_min.operation = 'MINIMUM' + math_min.location = (0, -425) + links.new(abs_x.outputs['Value'], math_min.inputs[0]) + links.new(abs_y.outputs['Value'], math_min.inputs[1]) + + # 颜色渐变：网格线深色，格子浅色 + color_ramp = nodes.new('ShaderNodeValToRGB') + color_ramp.color_ramp.elements[0].color = (0.3, 0.3, 0.35, 1.0) # 深灰色网格线 + color_ramp.color_ramp.elements[0].position = 0.0 + color_ramp.color_ramp.elements[1].color = (0.95, 0.95, 0.95, 1.0) # 白色格子 + color_ramp.color_ramp.elements[1].position = 0.15 + color_ramp.location = (150, -425) + links.new(math_min.outputs['Value'], color_ramp.inputs['Fac']) + + # 连接到Emission材质（直接显示颜色，不受光照影响） + links.new(color_ramp.outputs['Color'], emission.inputs['Color']) + emission.inputs['Strength'].default_value = 2.0 # Emission强度（材质预览模式，避免过曝） + + return emission + + +def convert_to_emission_material(obj): + """将现有材质转换为Emission材质（材质预览模式）""" + if not obj.data.materials or len(obj.data.materials) == 0: + # 如果没有材质，直接应用房间材质 + apply_room_material(obj) + return + + # 获取现有材质 + existing_mat = obj.data.materials[0] + if existing_mat is None: + apply_room_material(obj) + return + + # 如果材质已经有节点，尝试提取Base Color并转换为Emission + if existing_mat.use_nodes: + nodes = existing_mat.node_tree.nodes + links = existing_mat.node_tree.links + + # 查找Principled BSDF节点 + bsdf_node = None + for node in nodes: + if node.type == 'BSDF_PRINCIPLED': + bsdf_node = node + break + + if bsdf_node and 'Base Color' in bsdf_node.inputs: + # 找到Base Color输入 + base_color_input = bsdf_node.inputs['Base Color'] + + # 创建Emission节点 + emission = nodes.new('ShaderNodeEmission') + emission.name = "Emission" + emission.location = bsdf_node.location + + # 获取Base Color的值或连接 + if base_color_input.is_linked: + # 如果有连接，连接到Emission + color_source = base_color_input.links[0].from_node + color_output = base_color_input.links[0].from_socket + links.new(color_output, emission.inputs['Color']) + else: + # 如果没有连接，使用默认值 + emission.inputs['Color'].default_value = base_color_input.default_value + + emission.inputs['Strength'].default_value = 1.0 # Emission强度（材质预览模式，避免过曝） + + # 找到输出节点并连接 + output_node = None + for node in nodes: + if node.type == 'OUTPUT_MATERIAL': + output_node = node + break + + if output_node: + # 断开原有连接 + if output_node.inputs['Surface'].is_linked: + for link in output_node.inputs['Surface'].links: + existing_mat.node_tree.links.remove(link) + # 连接Emission + links.new(emission.outputs['Emission'], output_node.inputs['Surface']) + print(f"[INFO] 已将材质转换为Emission: {obj.name}") + return + + # 如果无法转换，直接应用房间材质 + apply_room_material(obj) + + +def apply_procedural_textures(objects): + """为所有对象添加Emission材质（材质预览模式：显示原始颜色，不受光照影响）""" + applied_count = 0 + for obj in objects: + if obj.type != 'MESH': + continue + + # 检查对象是否有材质，或者材质是否为空 + has_material = obj.data.materials and len(obj.data.materials) > 0 and obj.data.materials[0] is not None + + # 为所有对象应用Emission材质（材质预览模式） + # 这样所有对象都会显示原始颜色，不受光照影响 + if not has_material or is_room_structure(obj.name): + # 没有材质或者是房间结构：应用Emission材质 + print(f"[INFO] 为对象添加Emission材质: {obj.name}") + apply_room_material(obj) + applied_count += 1 + else: + # 有材质：也转换为Emission材质（确保所有对象都使用Emission模式） + print(f"[INFO] 将对象材质转换为Emission: {obj.name}") + convert_to_emission_material(obj) + applied_count += 1 + + if applied_count == 0: + print("[WARN] 未找到需要添加材质的对象") + else: + print(f"[INFO] 共为 {applied_count} 个对象添加了Emission材质（材质预览模式）") + + +def apply_room_material(obj): + """为房间结构应用程序化材质（墙面、地板、天花板）""" + # 创建新材质 + mat = bpy.data.materials.new(name="RoomProceduralMaterial") + mat.use_nodes = True + + nodes = mat.node_tree.nodes + links = mat.node_tree.links + + # 清除默认节点 + nodes.clear() + + # 创建输出节点 + output = nodes.new('ShaderNodeOutputMaterial') + output.location = (800, 0) + + # 使用几何节点获取法线 + geometry = nodes.new('ShaderNodeNewGeometry') + geometry.location = (-600, 0) + + # 分离法线的Z分量 + separate_xyz = nodes.new('ShaderNodeSeparateXYZ') + separate_xyz.location = (-400, 0) + links.new(geometry.outputs['Normal'], separate_xyz.inputs['Vector']) + + # === 判断天花板（法线Z < -0.5，朝下的面） === + ceiling_check = nodes.new('ShaderNodeMath') + ceiling_check.operation = 'LESS_THAN' + ceiling_check.inputs[1].default_value = -0.5 + ceiling_check.location = (-200, 100) + links.new(separate_xyz.outputs['Z'], ceiling_check.inputs[0]) + + # === 判断地板（法线Z > 0.5，朝上的面） === + floor_check = nodes.new('ShaderNodeMath') + floor_check.operation = 'GREATER_THAN' + floor_check.inputs[1].default_value = 0.5 + floor_check.location = (-200, -100) + links.new(separate_xyz.outputs['Z'], floor_check.inputs[0]) + + # === 创建三种材质 === + floor_shader = create_wood_floor_material(nodes, links) + floor_shader.location = (0, 300) + + wall_shader = create_brick_wall_material(nodes, links) # 砖墙材质 + wall_shader.location = (0, 0) + + ceiling_shader = create_grid_ceiling_material(nodes, links) # 网格天花板 + ceiling_shader.location = (0, -300) + + # === 混合着色器：先混合地板和墙面 === + mix_floor_wall = nodes.new('ShaderNodeMixShader') + mix_floor_wall.location = (300, 100) + links.new(floor_check.outputs['Value'], mix_floor_wall.inputs['Fac']) + links.new(wall_shader.outputs['Emission'], mix_floor_wall.inputs[1]) # Emission材质输出 + links.new(floor_shader.outputs['Emission'], mix_floor_wall.inputs[2]) # Emission材质输出 + + # === 混合着色器：再混合天花板 === + mix_final = nodes.new('ShaderNodeMixShader') + mix_final.location = (500, 0) + links.new(ceiling_check.outputs['Value'], mix_final.inputs['Fac']) + links.new(mix_floor_wall.outputs['Shader'], mix_final.inputs[1]) + links.new(ceiling_shader.outputs['Emission'], mix_final.inputs[2]) # Emission材质输出 + + # 连接输出 + links.new(mix_final.outputs['Shader'], output.inputs['Surface']) + + # 应用材质到对象 + if obj.data.materials: + obj.data.materials[0] = mat + else: + obj.data.materials.append(mat) + + print(f"[INFO] Emission材质已应用（地板+砖墙+网格天花板，材质预览模式）") + + +# ===================================================================== +# 参数解析（兼容两种模式） +# ===================================================================== + +def parse_args_python(): + """Python 模式: 需要 --blender""" + parser = argparse.ArgumentParser(description="Blend Pipeline v5（边渲边选）") + parser.add_argument("--blender", type=str, required=True) + scene_grp = parser.add_mutually_exclusive_group(required=True) + scene_grp.add_argument("--blend", type=str, default=None, + help=".blend 场景文件路径") + scene_grp.add_argument("--glb", type=str, default=None, + help=".glb / .gltf 场景文件路径") + # parser.add_argument("--exposure_rate", type=float, default=0.5, help="多次曝光时，前后两次曝光的差距阈值") + # parser.add_argument("--exposure_count", type=int, default=5, help="最大曝光次数") + parser.add_argument("--output-dir", type=str, required=True) + parser.add_argument("--num-frames", type=int, default=30) + parser.add_argument("--render-depth", action="store_true") + parser.add_argument("--resolution", type=str, default="2048,1024") + parser.add_argument("--samples", type=int, default=128) + parser.add_argument("--engine", type=str, default="CYCLES") + parser.add_argument("--exposure", type=float, default=0.0) + parser.add_argument("--grid-spacing", type=float, default=0.5) + parser.add_argument("--camera-height", type=float, default=None) + parser.add_argument("--stop-gain", type=float, default=DEFAULT_STOP_GAIN) + parser.add_argument("--stop-score", type=float, default=-0.3) + parser.add_argument("--stop-delta", type=float, default=0.08) + parser.add_argument("--min-frames", type=int, default=DEFAULT_MIN_FRAMES) + parser.add_argument("--rotation-type", type=str, default="random_yaw", + choices=["none", "rotate_x_90", "rotate_x_180", + "rotate_z_90", "random_yaw"]) + parser.add_argument("--gain-curve", action="store_true", default=True) + parser.add_argument("--no-gain-curve", dest="gain_curve", action="store_false") + parser.add_argument("--hm3d", type=bool, default=False, help="是否启用 HM3D 数据集的房间搜索和场景加载逻辑") + return parser.parse_args() + + +def parse_args_blender(): + """Blender 模式: 不需要 --blender""" + argv = sys.argv + if "--" in argv: + argv = argv[argv.index("--") + 1:] + else: + argv = [] + parser = argparse.ArgumentParser() + scene_grp = parser.add_mutually_exclusive_group(required=True) + scene_grp.add_argument("--blend", type=str, default=None, + help=".blend 场景文件路径") + scene_grp.add_argument("--glb", type=str, default=None, + help=".glb / .gltf 场景文件路径") + # parser.add_argument("--exposure_rate", type=float, default=0.5, help="多次曝光时，前后两次曝光的差距阈值") + # parser.add_argument("--exposure_count", type=int, default=5, help="最大曝光次数") + parser.add_argument("--output-dir", type=str, required=True) + parser.add_argument("--num-frames", type=int, default=30) + parser.add_argument("--resolution", type=str, default="2048,1024") + parser.add_argument("--samples", type=int, default=128) + parser.add_argument("--engine", type=str, default="CYCLES") + parser.add_argument("--exposure", type=float, default=0.0) + parser.add_argument("--grid-spacing", type=float, default=0.5) + parser.add_argument("--camera-height", type=float, default=None) + parser.add_argument("--stop-gain", type=float, default=DEFAULT_STOP_GAIN) + parser.add_argument("--stop-score", type=float, default=-0.3) + parser.add_argument("--stop-delta", type=float, default=0.08) + parser.add_argument("--min-frames", type=int, default=DEFAULT_MIN_FRAMES) + parser.add_argument("--rotation-type", type=str, default="random_yaw", + choices=["none", "rotate_x_90", "rotate_x_180", + "rotate_z_90", "random_yaw"]) + parser.add_argument("--gain-curve", action="store_true", default=True) + parser.add_argument("--no-gain-curve", dest="gain_curve", action="store_false") + parser.add_argument("--rooms", type=str, default=None, help="HM3D 房间信息的 JSON 字符串") + return parser.parse_args(argv) + +############################### +# +# 房间搜索相关工具函数 +# +############################### +def load_semantic_info(mesh_path): + """ + 加载语义信息（包装函数） + + Args: + mesh_path: GLB文件路径 + + Returns: + (room_to_objects, semantic_file_path): + - room_to_objects: {room_id: [object_ids]} 字典，如果不存在则返回None + - semantic_file_path: 使用的语义文件路径，如果不存在则返回None + """ + from tools.semantic_utils import load_semantic_info as load_semantic_info_util + return load_semantic_info_util(mesh_path) + + +def get_scene_bounds(mesh_path, room_id=None, room_to_objects=None): + """ + 获取场景边界框（使用trimesh） + + Args: + mesh_path: mesh文件路径 + room_id: 房间ID（可选），如果提供则只计算该房间的边界框 + room_to_objects: 房间到对象的映射 {room_id: [object_ids]}（可选） + + Returns: + bounds_min, bounds_max: 边界框的最小和最大坐标 + """ + try: + import trimesh + import re + + scene_or_mesh = trimesh.load(mesh_path, process=False) + + # 如果指定了房间ID，需要过滤对象 + object_ids_to_include = None + if room_id is not None and room_to_objects is not None: + object_ids_to_include = set(room_to_objects.get(room_id, [])) + if not object_ids_to_include: + # 如果房间没有对象，返回默认边界框 + return np.array([-1, -1, -1]), np.array([1, 1, 1]) + + if isinstance(scene_or_mesh, trimesh.Scene): + # 合并所有几何体的顶点 + all_vertices = [] + for name, geom in scene_or_mesh.geometry.items(): + if isinstance(geom, trimesh.Trimesh): + # 如果指定了房间ID，检查对象是否属于该房间 + if object_ids_to_include is not None: + # HM3D的GLB中，对象名称格式为 "chunkXXX_..." + # chunk编号+1对应semantic.txt中的对象ID + obj_id = None + + # 方法1: 尝试从chunk编号提取（chunk000 -> 对象ID 1） + match = re.search(r'chunk(\d+)', name) + if match: + chunk_num = int(match.group(1)) + obj_id = chunk_num + 1 + + # 方法2: 如果名称是纯数字，直接使用 + if obj_id is None: + try: + obj_id = int(name) + except (ValueError, TypeError): + pass + + # 如果无法提取对象ID，或者对象ID不在该房间中，跳过 + if obj_id is None or obj_id not in object_ids_to_include: + continue + + # 获取变换矩阵 + for node_name in scene_or_mesh.graph.nodes_geometry: + if scene_or_mesh.graph[node_name][1] == name: + transform = scene_or_mesh.graph[node_name][0] + vertices = np.dot(geom.vertices, transform[:3, :3].T) + transform[:3, 3] + all_vertices.append(vertices) + break + + if all_vertices: + all_vertices = np.vstack(all_vertices) + bounds_min = all_vertices.min(axis=0) + bounds_max = all_vertices.max(axis=0) + else: + bounds_min = np.array([-1, -1, -1]) + bounds_max = np.array([1, 1, 1]) + else: + bounds_min = scene_or_mesh.bounds[0] + bounds_max = scene_or_mesh.bounds[1] + + return bounds_min, bounds_max + + except ImportError: + print("[WARN] trimesh未安装，使用默认边界框") + return np.array([-1, -1, -1]), np.array([1, 1, 1]) + +def get_valid_object_ids(mesh_path): + """ + 获取GLB文件中所有有效的对象ID + + Args: + mesh_path: mesh文件路径 + + Returns: + valid_obj_ids: 有效对象ID的集合 + """ + try: + import trimesh + import re + + valid_obj_ids = set() + scene_or_mesh = trimesh.load(mesh_path, process=False) + + if isinstance(scene_or_mesh, trimesh.Scene): + for name, geom in scene_or_mesh.geometry.items(): + if isinstance(geom, trimesh.Trimesh): + # 从chunk编号提取对象ID + match = re.search(r'chunk(\d+)', name) + if match: + chunk_num = int(match.group(1)) + obj_id = chunk_num + 1 + valid_obj_ids.add(obj_id) + else: + # 如果名称是纯数字，直接使用 + try: + obj_id = int(name) + valid_obj_ids.add(obj_id) + except (ValueError, TypeError): + pass + + return valid_obj_ids + except Exception as e: + print(f"[WARN] 获取有效对象ID失败: {e}") + return set() + +def get_valid_object_ids(mesh_path): + """ + 获取GLB文件中所有有效的对象ID + + Args: + mesh_path: mesh文件路径 + + Returns: + valid_obj_ids: 有效对象ID的集合 + """ + try: + import trimesh + import re + + valid_obj_ids = set() + scene_or_mesh = trimesh.load(mesh_path, process=False) + + if isinstance(scene_or_mesh, trimesh.Scene): + for name, geom in scene_or_mesh.geometry.items(): + if isinstance(geom, trimesh.Trimesh): + # 从chunk编号提取对象ID + match = re.search(r'chunk(\d+)', name) + if match: + chunk_num = int(match.group(1)) + obj_id = chunk_num + 1 + valid_obj_ids.add(obj_id) + else: + # 如果名称是纯数字，直接使用 + try: + obj_id = int(name) + valid_obj_ids.add(obj_id) + except (ValueError, TypeError): + pass + + return valid_obj_ids + except Exception as e: + print(f"[WARN] 获取有效对象ID失败: {e}") + return set() + + +def detect_rooms(mesh_path, room_to_objects=None, use_navmesh=True): + """ + 检测场景中的所有房间，计算每个房间的边界框和几何中心 + + 优先使用NavMesh方法，如果NavMesh不可用则使用语义方法 + + Args: + mesh_path: mesh文件路径 + room_to_objects: 房间到对象的映射 {room_id: [object_ids]}（可选） + use_navmesh: 是否优先使用NavMesh方法 + + Returns: + rooms: 房间列表，每个元素包含 {"room_id": int, "bounds_min": array, "bounds_max": array, "center": array, "source": str} + """ + rooms = [] + + # 尝试使用NavMesh方法 + from tools.navmesh_utils import extract_spaces_from_glb, find_navmesh_file, navmesh_to_3d_spaces + if use_navmesh: + navmesh_path = find_navmesh_file(mesh_path) + if navmesh_path: + print(f" [INFO] 找到NavMesh文件: {navmesh_path}") + print(f" [INFO] 使用NavMesh方法识别空间...") + + # 使用NavMesh结合语义信息提取空间（启用空间聚类） + navmesh_spaces = navmesh_to_3d_spaces( + navmesh_path, + mesh_path=mesh_path, + room_to_objects=room_to_objects, + use_clustering=True # 启用空间聚类，识别所有独立空间 + ) + + if navmesh_spaces: + print(f" [INFO] NavMesh方法识别到 {len(navmesh_spaces)} 个空间") + # 转换格式以保持兼容性 + for space in navmesh_spaces: + rooms.append({ + "room_id": int(space["space_id"]), + "bounds_min": space["bounds_min"].tolist(), + "bounds_max": space["bounds_max"].tolist(), + "center": space["center"].tolist(), + "object_count": space.get("object_count", 0), + "source": space.get("source", "navmesh") + }) + return rooms + else: + print(f" [WARN] NavMesh方法未识别到空间，回退到GLB聚类方法") + else: + print(f" [INFO] 未找到NavMesh文件，尝试直接从GLB文件进行空间聚类...") + + # 尝试直接从GLB文件进行空间聚类（不依赖NavMesh和语义信息） + print(f" [INFO] 使用GLB空间聚类方法...") + glb_spaces = extract_spaces_from_glb(mesh_path, room_to_objects, use_clustering=True) + + if glb_spaces: + print(f" [INFO] GLB聚类方法识别到 {len(glb_spaces)} 个空间") + for space in glb_spaces: + rooms.append({ + "room_id": int(space["space_id"]), + "bounds_min": space["bounds_min"].tolist(), + "bounds_max": space["bounds_max"].tolist(), + "center": space["center"].tolist(), + "object_count": space.get("object_count", 0), + "source": space.get("source", "navmesh") + }) + return rooms + else: + print(f" [WARN] GLB聚类方法未识别到空间，回退到语义方法") + + # 回退到语义方法 + if not room_to_objects: + return rooms + + # 获取GLB中有效的对象ID + valid_obj_ids = get_valid_object_ids(mesh_path) + + # 过滤掉无效的对象ID + filtered_room_to_objects = {} + for room_id, obj_ids in room_to_objects.items(): + valid_ids = [obj_id for obj_id in obj_ids if obj_id in valid_obj_ids] + if valid_ids: + filtered_room_to_objects[room_id] = valid_ids + + if not filtered_room_to_objects: + return rooms + + print(f" 过滤后有效房间数: {len(filtered_room_to_objects)}/{len(room_to_objects)}") + + for room_id in sorted(filtered_room_to_objects.keys()): + # 使用过滤后的对象ID获取边界框 + bounds_min, bounds_max = get_scene_bounds( + mesh_path, + room_id=room_id, + room_to_objects=filtered_room_to_objects + ) + + # 计算几何中心（trimesh Y-up坐标系） + center = (bounds_min + bounds_max) / 2 + + # 检查边界框是否有效（不是默认值，且有合理的尺寸） + if not np.allclose(bounds_min, [-1, -1, -1]) and not np.allclose(bounds_max, [1, 1, 1]): + size = bounds_max - bounds_min + # 检查房间是否有合理的尺寸（至少0.1米） + if np.all(size > 0.1): + rooms.append({ + "room_id": room_id, + "bounds_min": bounds_min, + "bounds_max": bounds_max, + "center": center, + "object_count": len(filtered_room_to_objects[room_id]), + "source": "semantic" + }) + + return rooms + + +# ##################################################################### +# +# Python 模式入口: 启动单个 Blender 进程 +# +# ##################################################################### +def main_python(): + """Python 调用入口 → 启动一个 Blender 进程执行本脚本""" + args = parse_args_python() + + # 判断场景格式 + if args.blend: + scene_path = str(Path(args.blend).resolve()) + scene_flag = "--blend" + scene_label = f"Blend: {scene_path}" + else: + scene_path = str(Path(args.glb).resolve()) + scene_flag = "--glb" + scene_label = f"GLB: {scene_path}" + + output_dir = str(Path(args.output_dir).resolve()) + os.makedirs(output_dir, exist_ok=True) + + this_script = str(Path(__file__).resolve()) + + # 构建 Blender 命令（把参数透传，去掉 --blender 和 --render-depth） + cmd = [ + args.blender, "--background", + "--python", this_script, + "--", + scene_flag, scene_path, + "--output-dir", output_dir, + "--num-frames", str(args.num_frames), + "--resolution", args.resolution, + "--samples", str(args.samples), + "--engine", args.engine, + "--exposure", str(args.exposure), + "--grid-spacing", str(args.grid_spacing), + "--stop-gain", str(args.stop_gain), + "--stop-score", str(args.stop_score), + "--stop-delta", str(args.stop_delta), + "--min-frames", str(args.min_frames), + "--rotation-type", args.rotation_type, + # "--exposure-rate", args.exposure_rate, + # "--exposure-count", args.exposure_count + ] + if args.camera_height is not None: + cmd += ["--camera-height", str(args.camera_height)] + if not args.gain_curve: + cmd += ["--no-gain-curve"] + + # [TODO] 如果是hm3d数据集，进行房间搜索并通过添加 `--rooms` 参数传递房间信息（json字符串）给 Blender 内部 + # Blender 内部根据房间列表加载对应的场景并进行渲染。 + if args.hm3d: + # 记得在 Blender 内部解析 `--rooms` 参数，加载对应的场景并进行渲染。 + # print("\n[INFO] 加载语义信息...") + room_to_objects, semantic_file_path = load_semantic_info(args.glb) + rooms = detect_rooms(args.glb, room_to_objects=room_to_objects, use_navmesh=True) + # 如果NavMesh方法未识别到空间，且语义信息可用，使用纯语义方法 + if len(rooms) == 0 and room_to_objects and semantic_file_path: + print(f" [INFO] NavMesh方法未识别到空间，使用语义方法...") + print(f" 找到语义文件: {semantic_file_path}") + print(f" 检测到 {len(room_to_objects)} 个房间") + rooms = detect_rooms(args.glb, room_to_objects=room_to_objects, use_navmesh=False) + print(f" 有效房间数: {len(rooms)}") + elif len(rooms) > 0: + print(f" [INFO] 成功识别到 {len(rooms)} 个空间") + # 统计空间来源 + sources = {} + for room in rooms: + source = room.get("source", "unknown") + sources[source] = sources.get(source, 0) + 1 + print(f" 空间来源: {sources}") + # print("*"*60, json.dumps({"rooms": rooms}), sep="\n") + # exit(0) + print(f" 房间数量: {len(rooms)}") + # input("\n按Enter键继续...") + cmd += ["--rooms", json.dumps({"rooms": rooms})] + # print("\n".join(cmd)) + # exit() + # pass + print("=" * 60) + print("ERPT Blend Pipeline v5（单进程边渲边选）") + print("=" * 60) + print(f" {scene_label}") + print(f" Output: {output_dir}") + print(f" Max frames: {args.num_frames}") + + # 不设 timeout — 大场景渲染时间不可预测 + proc = subprocess.run(cmd, text=True) + sys.exit(proc.returncode) + + +# ##################################################################### +# +# Blender 模式: Phase 0 + 1 + 2 全部在 Blender 内部执行 +# +# ##################################################################### + +# ===================================================================== +# Phase 0: 加载场景 + 获取边界 +# ===================================================================== + +def load_scene(mesh_path): + """导入mesh文件""" + ext = os.path.splitext(mesh_path)[1].lower() + + if ext in ['.glb', '.gltf']: + bpy.ops.import_scene.gltf(filepath=mesh_path) + elif ext == '.obj': + bpy.ops.wm.obj_import(filepath=mesh_path) + elif ext == '.fbx': + bpy.ops.import_scene.fbx(filepath=mesh_path) + elif ext == '.ply': + bpy.ops.wm.ply_import(filepath=mesh_path) + else: + raise ValueError(f"不支持的文件格式: {ext}") + + print(f"[INFO] 导入mesh: {mesh_path}") + + # 获取导入的对象 + imported_objects = [obj for obj in bpy.context.selected_objects] + print(f"[INFO] 导入了 {len(imported_objects)} 个对象") + + # 为房间结构添加程序化纹理 + apply_procedural_textures(imported_objects) + + return imported_objects + + +# ===================================================================== +# Phase 1: 撒点 + 4 层 Blender ray_cast 过滤 +# ===================================================================== + +def compute_camera_heights(floor_z, ceiling_z, manual_height=None, bmin=None, bmax=None): + """计算相机高度层 + + 策略: + - 手动指定 → 只用该高度 + - 多层建筑 → 每层铺固定高度 [0.5, 0.8, 1.2, 1.7, 2.1] + 动态顶层 + - 单层高空间 → 2.5m 以下用固定高度，2.5m 以上阶梯递增: + +1.0m, +1.5m, +2.0m, +2.5m, +3.0m ...（间距逐步放大） + 最后加动态顶层（天花板 -0.5m） + """ + CEIL_CLEARANCE = 0.3 # 最高高度：离天花板 0.3m（保留 2.1m 层） + FIXED_HEIGHTS = [0.5, 0.8, 1.2, 1.7, 2.1] # 2.5m 以下的固定高度 + + if manual_height is not None: + return [manual_height] + + room_h = ceiling_z - floor_z + if room_h <= 0: + return [floor_z + 1.5] + + def _stepped_heights_for_floor(fz, local_ceil): + """单层高度计算：固定 + 阶梯递增 + 动态顶层""" + heights = [] + local_h = local_ceil - fz + + # 2.5m 以下: 固定高度 + for eye_h in FIXED_HEIGHTS: + z = fz + eye_h + if z < local_ceil - CEIL_CLEARANCE: + heights.append(z) + + # 2.5m 以上: 阶梯递增（间距从 1.0m 逐步增大到 3.0m） + if local_h > 3.0: # 层高 > 3m 才加中间高度 + cur_h = FIXED_HEIGHTS[-1] # 从 2.1m 开始 + step = 1.0 # 初始步长 1.0m + MAX_STEP = 3.0 # 最大步长 3.0m + STEP_GROW = 0.5 # 每次步长增加 0.5m + + while True: + cur_h += step + z = fz + cur_h + if z >= local_ceil - CEIL_CLEARANCE: + break + heights.append(z) + step = min(step + STEP_GROW, MAX_STEP) + + # 动态顶层：天花板 - 0.5m（如果比最高已有高度至少高 0.5m） + top_z = local_ceil - CEIL_CLEARANCE + if heights: + if top_z > max(heights) + 0.5: + heights.append(top_z) + elif top_z > fz + 0.5: + heights.append(top_z) + + return heights + + # 先尝试用 Blender raycast 探测楼板 + try: + floors = _detect_floor_levels(floor_z, ceiling_z, bmin, bmax) + if floors: + print(f" [楼层检测] 发现 {len(floors)} 个楼层: " + f"{[f'{z:.2f}m' for z in floors]}") + heights = [] + for idx, fz in enumerate(floors): + # 每层的天花板 = 下一层楼板 或 全局天花板 + if idx + 1 < len(floors): + local_ceil = floors[idx + 1] + else: + local_ceil = ceiling_z + heights.extend(_stepped_heights_for_floor(fz, local_ceil)) + + if heights: + result = sorted(set(round(h, 2) for h in heights)) + # 打印高度分布 + for h in result: + rel = h - floors[0] + print(f" 高度 Z={h:.2f}m (离地 {rel:.2f}m)") + return result + else: + print(f" [楼层检测] 未检测到楼板，使用启发式") + except Exception as e: + print(f" [楼层检测] 异常: {e}，使用启发式") + + # fallback: 简单启发式（同样用阶梯递增） + h_list = _stepped_heights_for_floor(floor_z, ceiling_z) + return sorted(set(round(h, 2) for h in h_list)) if h_list else [floor_z + 1.5] + + +def _detect_floor_levels(floor_z, ceiling_z, bmin=None, bmax=None): + """用 raycast 从上往下扫描，检测楼板位置 + + 在 XY 平面采样若干点，每个点从顶部往下打射线，收集 hit 的 Z 坐标。 + 对 Z 坐标做聚类（间距 > 1.5m 算不同楼层），得到各楼层地面高度。 + + 关键改进: + 1. 采样范围按场景大小缩放（不只中心 ±2m） + 2. 检测到楼板后验证上方有天花板（排除屋顶外表面） + """ + scene = bpy.context.scene + depsgraph = bpy.context.evaluated_depsgraph_get() + dir_down = Vector((0, 0, -1)) + dir_up = Vector((0, 0, 1)) + + # 用场景 AABB 的 XY 中心和范围 + if bmin is not None and bmax is not None: + cx = (bmin[0] + bmax[0]) / 2 + cy = (bmin[1] + bmax[1]) / 2 + # 采样范围: 场景 XY 的 1/4 跨度，至少 2m，最多 20m + rx = min(20.0, max(2.0, (bmax[0] - bmin[0]) * 0.25)) + ry = min(20.0, max(2.0, (bmax[1] - bmin[1]) * 0.25)) + else: + cx, cy = 0.0, 0.0 + rx, ry = 2.0, 2.0 + + hit_zs = [] + # 3x3 网格采样，按场景大小缩放 + offsets = [] + for fx in [-1, 0, 1]: + for fy in [-1, 0, 1]: + offsets.append((fx * rx, fy * ry)) + + for dx, dy in offsets: + origin = Vector((cx + dx, cy + dy, ceiling_z + 1.0)) + # 多次向下 raycast（穿透式：命中后从命中点下方继续） + cur_z = ceiling_z + 1.0 + for _ in range(10): # 最多穿 10 层 + hit, loc, norm, *_ = scene.ray_cast( + depsgraph, Vector((cx + dx, cy + dy, cur_z)), dir_down) + if not hit: + break + # 法线朝上（Z 分量 > 0.5）→ 这是地板/楼板表面 + if norm.z > 0.5: + hit_zs.append((loc.z, cx + dx, cy + dy)) + cur_z = loc.z - 0.05 # 穿过这个表面继续往下 + + if not hit_zs: + return [] + + # 聚类: 排序后间距 > 1.5m 算不同楼层 + hit_zs.sort(key=lambda t: t[0]) + clusters = [[hit_zs[0]]] + for item in hit_zs[1:]: + if item[0] - clusters[-1][-1][0] > 1.5: + clusters.append([item]) + else: + clusters[-1].append(item) + + # 每个 cluster 验证: 楼板上方是否有天花板 + MAX_CEILING_DIST = 30.0 # 最高天花板距离（超过说明是露天/屋顶外表面） + floors = [] + for c in clusters: + fz = sorted(c, key=lambda t: t[0])[len(c) // 2][0] + if not (floor_z - 0.5 <= fz <= ceiling_z - 1.0): + continue + + # 验证: 从该楼板上方 1m 处往上打射线，检查是否有天花板 + n_has_ceiling = 0 + n_tested = 0 + for _, px, py in c: + test_origin = Vector((px, py, fz + 1.0)) + hit_ceil, loc_ceil, norm_ceil, *_ = scene.ray_cast( + depsgraph, test_origin, dir_up) + n_tested += 1 + if hit_ceil and (loc_ceil.z - fz) < MAX_CEILING_DIST: + n_has_ceiling += 1 + + # 过半采样点上方有天花板 → 真正的楼板 + if n_tested > 0 and n_has_ceiling / n_tested >= 0.5: + floors.append(fz) + else: + print(f" [楼层检测] Z={fz:.2f}m 上方无天花板" + f"（{n_has_ceiling}/{n_tested}），排除（可能是屋顶外表面）") + + return sorted(floors) + + +def generate_candidate_grid(bmin, bmax, x_spacing, y_spacing, heights): + cx = (bmin[0] + bmax[0]) / 2 + cy = (bmin[1] + bmax[1]) / 2 + x_half = int((bmax[0] - cx - MARGIN) / x_spacing) + y_half = int((bmax[1] - cy - MARGIN) / y_spacing) + + xy_offsets = [] + for ix in range(-x_half, x_half + 1): + for iy in range(-y_half, y_half + 1): + x = cx + ix * x_spacing + y = cy + iy * y_spacing + if bmin[0] + MARGIN <= x <= bmax[0] - MARGIN and \ + bmin[1] + MARGIN <= y <= bmax[1] - MARGIN: + xy_offsets.append((ix * ix + iy * iy, x, y)) + xy_offsets.sort(key=lambda t: t[0]) + + candidates = [] + for z in heights: + for _, x, y in xy_offsets: + candidates.append([float(x), float(y), float(z)]) + + n_xy = len(xy_offsets) + print(f" 网格: {n_xy}点/层 x {len(heights)}层 = {len(candidates)} 个候选") + print(f" 中心: ({cx:.1f}, {cy:.1f}), X间距={x_spacing:.1f}m, Y间距={y_spacing:.1f}m") + for i, z in enumerate(heights): + print(f" 第{i+1}层: Z={z:.2f}m") + return candidates + + +def _build_26_directions(): + """26 方向球面采样（mathutils.Vector）""" + dirs = [] + for i in range(16): + a = i * (2 * math.pi / 16) + dirs.append(Vector((math.cos(a), math.sin(a), 0.0))) + elev = math.pi / 4 + for i in range(5): + a = i * (2 * math.pi / 5) + dirs.append(Vector((math.cos(a) * math.cos(elev), + math.sin(a) * math.cos(elev), + math.sin(elev)))) + for i in range(5): + a = i * (2 * math.pi / 5) + dirs.append(Vector((math.cos(a) * math.cos(elev), + math.sin(a) * math.cos(elev), + -math.sin(elev)))) + return dirs + + +def raycast_6layer_filter(candidates, room_height, min_wall_dist=1.0): + """7 层过滤 — 直接用 Blender scene.ray_cast（不需要 trimesh/GLB） + + 第 1 层: 室内检测（朝上朝下必须 hit） + 第 2 层: 穿模检测（≥2 方向 < 0.2m） + 第 3 层: 角落检测（>50% 水平方向 < 1.0m） + 第 4 层: 包裹检测（hit_rate≥90% + cv<0.30 + max<8m） + 第 5 层: 墙面间距（最近水平方向 < 0.3m → Blender 渲染会穿模） + 第 6 层: 视野质量（<35% 方向有有效命中 → 太空旷或太闭塞） + 第 7 层: 窄缝检测（对向方向距离之和 < 1.5m → 两面墙夹着）★ 新增 + + 性能: 用第 1~4 层同样的 26 方向数据，第 5~7 层零额外射线开销 + """ + scene = bpy.context.scene + depsgraph = bpy.context.evaluated_depsgraph_get() + + N = len(candidates) + max_up = max(5.0, room_height) + max_down = max(3.0, room_height) + dir_up = Vector((0, 0, 1)) + dir_down = Vector((0, 0, -1)) + DIRS_26 = _build_26_directions() + n26 = len(DIRS_26) + + # 第 5 层阈值: 最近水平墙面距离 + MIN_WALL_CLEARANCE = 0.3 # Blender 渲染安全距离 + + # 第 6 层阈值: 有效视野比例 + VIEW_GOOD_MIN = 0.5 # 有效命中距离下限 + VIEW_GOOD_MAX = 20.0 # 有效命中距离上限 + VIEW_GOOD_RATIO = 0.35 # 至少 35% 方向有有效命中 + + # 第 7 层阈值: 窄缝检测（对向距离之和） + MIN_SLIT_WIDTH = 1.5 # 对向墙距之和 < 1.5m → 窄缝 + + passed = [] + stats = {"无天花板": 0, "无地板": 0, "穿模": 0, "角落": 0, + "包裹": 0, "贴墙": 0, "视野差": 0, "窄缝": 0} + + t0 = time.time() + log_interval = max(1, N // 10) + + for idx, pos in enumerate(candidates): + if idx % log_interval == 0 and idx > 0: + print(f" 过滤进度: {idx}/{N} ({idx*100//N}%)", flush=True) + + origin = Vector(pos) + + # ---- 第 1 层: 室内检测（朝上朝下各 1 条射线）---- + hit_up, loc_up, *_ = scene.ray_cast(depsgraph, origin, dir_up) + if not hit_up or (loc_up - origin).length > max_up: + stats["无天花板"] += 1 + continue + + hit_dn, loc_dn, *_ = scene.ray_cast(depsgraph, origin, dir_down) + if not hit_dn or (loc_dn - origin).length > max_down: + stats["无地板"] += 1 + continue + + # ---- 第 2~6 层: 26 方向球面采样 ---- + dists = [] + for d in DIRS_26: + hit, loc, *_ = scene.ray_cast(depsgraph, origin, d) + dists.append((loc - origin).length if hit else float('inf')) + + # 第 2 层: 穿模（≥2 方向 < 0.2m → 在物体内部） + n_close = sum(1 for d in dists if d < 0.2) + if n_close >= 2: + stats["穿模"] += 1 + continue + + # 第 3 层: 角落（水平 16 方向中 > 一半 < 1.0m） + n_wall = sum(1 for d in dists[:16] if d < min_wall_dist) + if n_wall > 8: + stats["角落"] += 1 + continue + + # 第 4 层: 包裹（hit_rate≥90% + CV<0.30 + max<8m） + finite = [d for d in dists if d < float('inf')] + hit_rate = len(finite) / n26 + if hit_rate >= 0.90 and len(finite) >= 2: + mean_d = sum(finite) / len(finite) + max_d = max(finite) + if mean_d > 0: + var = sum((d - mean_d) ** 2 for d in finite) / len(finite) + cv = var ** 0.5 / mean_d + if cv < 0.30 and max_d < 8.0: + stats["包裹"] += 1 + continue + + # 第 5 层: 墙面间距（水平 16 方向最近 hit < 0.3m → 贴墙）★ 新增 + horiz_finite = [d for d in dists[:16] if d < float('inf')] + if horiz_finite and min(horiz_finite) < MIN_WALL_CLEARANCE: + stats["贴墙"] += 1 + continue + + # 第 6 层: 视野质量（有效方向太少 → 视野差） + n_good = sum(1 for d in dists + if VIEW_GOOD_MIN <= d <= VIEW_GOOD_MAX) + good_ratio = n_good / n26 + if good_ratio < VIEW_GOOD_RATIO: + stats["视野差"] += 1 + continue + + # 第 7 层: 窄缝检测（对向水平方向距离之和 < 1.5m → 两面墙夹着） + # 水平 16 方向中，方向 i 和方向 i+8 是对向的（0°↔180°, 22.5°↔202.5°...） + in_slit = False + for i in range(8): + d_fwd = dists[i] if dists[i] < float('inf') else 999 + d_bwd = dists[i + 8] if dists[i + 8] < float('inf') else 999 + if d_fwd + d_bwd < MIN_SLIT_WIDTH: + in_slit = True + break + if in_slit: + stats["窄缝"] += 1 + continue + + passed.append(pos) + + dt = time.time() - t0 + print(f" 过滤统计 ({dt:.1f}s): 总计={N}, 通过={len(passed)}") + for k, v in stats.items(): + print(f" ❌ {k}: {v} ({v * 100 // max(N, 1)}%)") + print(f" 阈值: 天花板<{max_up:.1f}m, 地板<{max_down:.1f}m, " + f"穿模<0.2m, 角落<{min_wall_dist:.1f}m, " + f"包裹: hit≥90%+cv<0.3+max<8m, " + f"贴墙<{MIN_WALL_CLEARANCE}m, " + f"视野: ≥{VIEW_GOOD_RATIO:.0%}方向 {VIEW_GOOD_MIN}-{VIEW_GOOD_MAX}m, " + f"窄缝<{MIN_SLIT_WIDTH}m") + + if len(passed) < 5 and N > 20: + print(f" [诊断] 通过率低 ({len(passed)}/{N})") + + return passed + + +def setup_erp_camera(): + """创建 ERP 全景相机""" + for obj in list(bpy.context.scene.objects): + if obj.type == 'CAMERA': + bpy.data.objects.remove(obj, do_unlink=True) + + cam_data = bpy.data.cameras.new("ERP_Camera") + cam_data.type = 'PANO' + if hasattr(cam_data, 'panorama_type'): + cam_data.panorama_type = 'EQUIRECTANGULAR' + if hasattr(cam_data, 'cycles'): + cam_data.cycles.panorama_type = 'EQUIRECTANGULAR' + + cam_obj = bpy.data.objects.new("ERP_Camera", cam_data) + bpy.context.scene.collection.objects.link(cam_obj) + bpy.context.scene.camera = cam_obj + print(f" 创建 ERP 相机: {cam_obj.name}") + return cam_obj + + +def enable_gpu(): + try: + prefs = bpy.context.preferences.addons['cycles'].preferences + for dt in ['OPTIX', 'CUDA']: + try: + prefs.compute_device_type = dt + prefs.get_devices() + gpus = [d for d in prefs.devices if d.type == dt] + if gpus: + for d in prefs.devices: + d.use = (d.type == dt) + bpy.context.scene.cycles.device = 'GPU' + print(f" GPU 渲染: {gpus[0].name} ({dt})") + return True + except Exception: + continue + print(" [WARN] 无可用 GPU，使用 CPU 渲染") + bpy.context.scene.cycles.device = 'CPU' + except Exception as e: + print(f" [ERROR] GPU 设置异常: {e}") + return False + + +def setup_render_settings(resolution, engine, samples, exposure): + scene = bpy.context.scene + scene.render.engine = engine + scene.render.resolution_x = resolution[0] + scene.render.resolution_y = resolution[1] + scene.render.resolution_percentage = 100 + scene.render.image_settings.file_format = 'PNG' + scene.render.image_settings.color_mode = 'RGB' + scene.render.image_settings.color_depth = '8' + # 取消曝光，使用强环境光 + # scene.view_settings.exposure = exposure + # AgX（Blender 4+默认）对室内场景会严重压暗；改用 Standard 线性映射， + # 颜色准确且更亮，曝光完全由 exposure 参数控制。 + # scene.view_settings.view_transform = 'Standard' + # scene.view_settings.look = 'None' + + if engine == 'CYCLES': + scene.cycles.samples = samples + scene.cycles.use_denoising = True + scene.cycles.max_bounces = 4 + scene.cycles.diffuse_bounces = 2 + scene.cycles.glossy_bounces = 2 + scene.cycles.transmission_bounces = 2 + scene.cycles.transparent_max_bounces = 8 + enable_gpu() + + print(f" 渲染设置: {engine} {resolution[0]}x{resolution[1]} " + f"samples={samples} exposure={exposure} view_transform=Standard") + + +def _world_has_effective_light(world) -> bool: + """判断 World 节点是否能产生有效的环境光（Strength > 0.05）。 + GLB 导入的场景通常有一个 World 对象，但 Background Strength 可能为 0。 + """ + if world is None: + return False + if not world.use_nodes or world.node_tree is None: + # 没用节点系统：用旧 API 的纯色环境，认为有效 + return True + for node in world.node_tree.nodes: + if node.type == 'BACKGROUND': + strength = node.inputs.get('Strength') + if strength is not None: + val = strength.default_value + # 如果有链接（HDR 贴图等），视为有效 + if strength.is_linked or float(val) > 0.05: + return True + return False + + +def setup_lighting(camera_position=None, scene_bounds=None): + """ + 设置照明（材质预览模式：仅使用强环境光，无其他光源，显示材质原始颜色和亮度） + + Args: + camera_position: 相机位置 (x, y, z)（未使用） + scene_bounds: 场景边界 (min, max)（未使用） + """ + scene = bpy.context.scene + + # 添加环境光（材质预览模式） + world = bpy.data.worlds.new("World") + scene.world = world + world.use_nodes = True + + # 获取节点树 + nodes = world.node_tree.nodes + links = world.node_tree.links + + # 清除默认节点 + nodes.clear() + + # 创建背景节点 - 使用非常强的环境光（类似材质预览模式） + # 只使用环境光，无其他光源，确保材质显示原始颜色和亮度，无明暗变化 + background = nodes.new('ShaderNodeBackground') + background.inputs['Color'].default_value = (1.0, 1.0, 1.0, 1.0) # 白色背景 + background.inputs['Strength'].default_value = 1.0 # 环境光强度（材质预览模式，避免过曝） + + # 创建输出节点 + output = nodes.new('ShaderNodeOutputWorld') + + # 连接节点 + links.new(background.outputs['Background'], output.inputs['Surface']) + + # === 不添加任何其他光源 === + # 只使用环境光，确保整个场景光照完全均匀，无距离衰减，无明暗变化 + # 这样材质会显示其原始颜色和亮度，就像Blender材质预览模式一样 + + print("[INFO] 设置照明完成（材质预览模式：仅强环境光，无其他光源，显示材质原始颜色和亮度）") + + +def setup_depth_pass(): + """ + 设置深度渲染 pass（Blender 5.0+ API） + + 在 Blender 中启用 Z pass，用于获取深度信息。 + 使用 Blender 5.0 新的 compositing_node_group API。 + """ + scene = bpy.context.scene + + # 启用 View Layer 的 Z pass + view_layer = bpy.context.view_layer + view_layer.use_pass_z = True + + # Blender 5.0: scene.node_tree 已移除，改用 compositing_node_group + # 创建新的 CompositorNodeTree 并赋给场景 + tree = bpy.data.node_groups.new("DepthCompositor", "CompositorNodeTree") + scene.compositing_node_group = tree + nodes = tree.nodes + links = tree.links + + # 创建 Render Layers 节点 + render_layers = nodes.new('CompositorNodeRLayers') + render_layers.location = (0, 300) + + # Blender 5.0: 用 NodeGroupOutput 替代 CompositorNodeComposite + output = nodes.new('NodeGroupOutput') + output.location = (400, 300) + tree.interface.new_socket(name="Image", in_out="OUTPUT", socket_type="NodeSocketColor") + + # 连接 RGB 输出 + links.new(render_layers.outputs['Image'], output.inputs['Image']) + + # 创建 File Output 节点（用于深度 EXR） + file_output = nodes.new('CompositorNodeOutputFile') + file_output.location = (400, 0) + file_output.directory = "" # 稍后在渲染时设置（Blender 5.0: 替代 base_path） + file_output.format.media_type = 'IMAGE' # Blender 5.0: 必须先设 media_type + file_output.format.file_format = 'OPEN_EXR' + file_output.format.color_depth = '32' + file_output.format.exr_codec = 'ZIP' + + # Blender 5.0: file_output_items 替代 file_slots + file_output.file_output_items.clear() + file_output.file_output_items.new('FLOAT', "depth") + + # 连接深度输出 + links.new(render_layers.outputs['Depth'], file_output.inputs['depth']) + + print("[INFO] 深度 pass 已启用（Blender 5.0 API）") + + return file_output + + +# ===================================================================== +# 渲染 + 深度转换 + 位姿保存（同进程，只移动相机） +# ===================================================================== + +def convert_depth_exr_to_npy(exr_path, npy_path): + """EXR → NPY（Blender 内置 API，不依赖 OpenEXR 库）""" + img = bpy.data.images.load(exr_path) + w, h = img.size[0], img.size[1] + pixels = np.array(img.pixels[:]).reshape(h, w, -1) + depth = np.flipud(pixels[:, :, 0]) + + unit_scale = bpy.context.scene.unit_settings.scale_length + depth_m = depth * unit_scale + depth_m[(depth_m > 1000.0) | (depth_m <= 0)] = 0.0 + + np.save(npy_path, depth_m.astype(np.float32)) + bpy.data.images.remove(img) + try: + os.remove(exr_path) + except OSError: + pass + + +def render_frame_inprocess(cam_obj, frame_id, camera_pos, camera_rot, + output_dir, depth_fo): + """同进程渲染一帧，返回 (rgb_path, depth_path, pose_path)""" + cam_obj.location = Vector(camera_pos) + cam_obj.rotation_euler = Euler(camera_rot, 'XYZ') + + base = f"panorama_{frame_id:04d}" + rgb_path = os.path.join(output_dir, f"{base}.png") + depth_npy = os.path.join(output_dir, f"{base}_depth.npy") + pose_path = os.path.join(output_dir, f"pose_{frame_id:04d}.json") + + bpy.context.scene.render.filepath = rgb_path + + abs_dir = os.path.abspath(output_dir) + depth_fo.directory = abs_dir + depth_fo.file_name = base + "_" + depth_exr = os.path.join(abs_dir, base + "_depth.exr") + + bpy.context.scene.frame_set(frame_id) + bpy.ops.render.render(write_still=True) + + # 深度转换 + if os.path.exists(depth_exr): + convert_depth_exr_to_npy(depth_exr, depth_npy) + else: + import glob + hits = glob.glob(os.path.join(abs_dir, f"*{base}*depth*.exr")) + if hits: + convert_depth_exr_to_npy(hits[0], depth_npy) + else: + print(f" [WARN] 未找到深度 EXR: {depth_exr}") + depth_npy = None + + # 位姿（与 render_erp_blender.py save_pose 完全一致的格式） + save_pose(cam_obj, pose_path, frame_id) + + return rgb_path, depth_npy, pose_path + + +def save_pose(camera_object, output_path, frame_id): + """保存位姿（绝对位姿，cam_to_world，兼容 ERPT） + + 格式与 render_erp_blender.py 的 save_pose 完全一致： + R_cw_erpt = T @ R_obj_blender @ M + """ + unit_scale = bpy.context.scene.unit_settings.scale_length + + abs_pos_b = list(camera_object.location) + abs_quat_b = camera_object.rotation_euler.to_quaternion() + + # Blender(X右,Y前,Z上) → 统一(X右,Y上,Z前) + abs_pos_u = [ + abs_pos_b[0] * unit_scale, # X + abs_pos_b[2] * unit_scale, # Y_unified = Z_blender + abs_pos_b[1] * unit_scale, # Z_unified = Y_blender + ] + + R_obj = abs_quat_b.to_matrix() + T = Matrix([[1, 0, 0], [0, 0, 1], [0, 1, 0]]) + M = Matrix([[1, 0, 0], [0, 1, 0], [0, 0, -1]]) + R_cw = T @ R_obj @ M + q = R_cw.to_quaternion() + + pose_data = { + "frame_id": frame_id, + "position": abs_pos_u, + "rotation_quaternion": [q.w, q.x, q.y, q.z], + "camera_type": "erp_ray", + "coordinate_system": "right-handed, Y-up, Z-forward (cam_to_world)", + "render_method": "blender_cycles", + } + with open(output_path, 'w') as f: + json.dump(pose_data, f, indent=2) + + +# ===================================================================== +# 选帧核心（向量化，内嵌） +# ===================================================================== + +def build_ray_directions(H=WARP_H, W=WARP_W): + """向量化构建 ERP 射线方向（Z-up）""" + i = np.arange(H, dtype=np.float64) + j = np.arange(W, dtype=np.float64) + phi = np.pi / 2 - np.pi * (i + 0.5) / H + theta = 2 * np.pi * (j + 0.5) / W + phi, theta = np.meshgrid(phi, theta, indexing='ij') + return np.stack([ + np.cos(phi) * np.cos(theta), + np.cos(phi) * np.sin(theta), + np.sin(phi), + ], axis=-1) + + +_ray_dirs_cache = {} + + +def get_ray_dirs(H=WARP_H, W=WARP_W): + if (H, W) not in _ray_dirs_cache: + _ray_dirs_cache[(H, W)] = build_ray_directions(H, W) + return _ray_dirs_cache[(H, W)] + + +def depth_to_3d_points(position, depth, ray_dirs, max_depth=None): + valid = depth > 0 + if max_depth is not None: + valid &= (depth <= max_depth) + if not np.any(valid): + return np.empty((0, 3), dtype=np.float64) + pos = np.array(position, dtype=np.float64) + return (pos + ray_dirs * depth[..., np.newaxis])[valid] + + +def project_points_to_coverage(pts, tgt_pos, H=WARP_H, W=WARP_W): + """把累积点云投影到候选位置的全景图，返回覆盖 mask。""" + if len(pts) == 0: + return np.zeros((H, W), dtype=bool) + tgt = np.array(tgt_pos, dtype=np.float64) + vecs = pts - tgt + x, y, z = vecs[:, 0], vecs[:, 1], vecs[:, 2] + r_xy = np.sqrt(x ** 2 + y ** 2) + phi = np.arctan2(z, r_xy) + theta = np.arctan2(y, x) % (2 * np.pi) + vi = np.clip(((np.pi / 2 - phi) / np.pi * H).astype(np.int32), 0, H - 1) + uj = np.clip((theta / (2 * np.pi) * W).astype(np.int32), 0, W - 1) + cov = np.zeros((H, W), dtype=bool) + cov[vi, uj] = True + pad = cov.copy() + pad[1:, :] |= cov[:-1, :] + pad[:-1, :] |= cov[1:, :] + pad[:, 1:] |= cov[:, :-1] + pad[:, :-1] |= cov[:, 1:] + return pad + + +# ---- GPU 加速（延迟初始化，Phase 2 第一次选帧时检测）---- +_GPU_BACKEND = None +_gpu_lib = None +_gpu_checked = False + +def _init_gpu(): + """延迟初始化 GPU，避免模块加载时显存冲突""" + global _GPU_BACKEND, _gpu_lib, _gpu_checked + if _gpu_checked: + return + _gpu_checked = True + + try: + import torch + if torch.cuda.is_available(): + _GPU_BACKEND = "torch" + _gpu_lib = torch + print(f"[GPU] torch {torch.__version__} (CUDA)，选帧将使用 GPU 加速") + return + except ImportError: + pass + + try: + import cupy as cp + try: + cp.get_default_memory_pool().free_all_blocks() + cp.get_default_pinned_memory_pool().free_all_blocks() + except Exception: + pass + cp.zeros(1) + _GPU_BACKEND = "cupy" + _gpu_lib = cp + print(f"[GPU] cupy {cp.__version__}，选帧将使用 GPU 加速") + return + except Exception as e: + print(f"[Warning] cupy 初始化失败: {e}") + + print("[CPU] 未检测到 torch/cupy，选帧使用 CPU") + + +def _batch_coverage_gpu(pts_np, candidate_positions, remaining_indices, H, W): + """GPU 批量投影：逐候选在 GPU 上算覆盖数 + + 返回: dict[ci] -> covered_pixels (int) + """ + total_px = H * W + results = {} + + if _GPU_BACKEND == "torch": + import torch + device = torch.device("cuda") + pts_gpu = torch.from_numpy(pts_np).double().to(device) + PI = torch.pi + TWO_PI = 2 * torch.pi + + for ci in remaining_indices: + tgt = torch.tensor(candidate_positions[ci], dtype=torch.float64, device=device) + vecs = pts_gpu - tgt + x, y, z = vecs[:, 0], vecs[:, 1], vecs[:, 2] + r_xy = torch.sqrt(x ** 2 + y ** 2) + phi = torch.atan2(z, r_xy) + theta = torch.atan2(y, x) % TWO_PI + vi = torch.clamp(((PI / 2 - phi) / PI * H).long(), 0, H - 1) + uj = torch.clamp((theta / TWO_PI * W).long(), 0, W - 1) + + flat = vi * W + uj + cov = torch.zeros(total_px, dtype=torch.bool, device=device) + cov[flat] = True + cov_2d = cov.view(H, W) + pad = cov_2d.clone() + pad[1:, :] |= cov_2d[:-1, :] + pad[:-1, :] |= cov_2d[1:, :] + pad[:, 1:] |= cov_2d[:, :-1] + pad[:, :-1] |= cov_2d[:, 1:] + results[ci] = int(pad.sum().item()) + + elif _GPU_BACKEND == "cupy": + import cupy as cp + pts_gpu = cp.asarray(pts_np, dtype=cp.float64) + PI = cp.pi + TWO_PI = 2 * cp.pi + + for ci in remaining_indices: + tgt = cp.array(candidate_positions[ci], dtype=cp.float64) + vecs = pts_gpu - tgt + x, y, z = vecs[:, 0], vecs[:, 1], vecs[:, 2] + r_xy = cp.sqrt(x ** 2 + y ** 2) + phi = cp.arctan2(z, r_xy) + theta = cp.arctan2(y, x) % TWO_PI + vi = cp.clip(((PI / 2 - phi) / PI * H).astype(cp.int32), 0, H - 1) + uj = cp.clip((theta / TWO_PI * W).astype(cp.int32), 0, W - 1) + + flat = vi * W + uj + cov = cp.zeros(total_px, dtype=cp.bool_) + cov[flat] = True + cov_2d = cov.reshape(H, W) + pad = cov_2d.copy() + pad[1:, :] |= cov_2d[:-1, :] + pad[:-1, :] |= cov_2d[1:, :] + pad[:, 1:] |= cov_2d[:, :-1] + pad[:, :-1] |= cov_2d[:, 1:] + results[ci] = int(cp.sum(pad)) + + return results + + +def trim_depth(new_depth, new_pos, existing_pts, ray_dirs): + H, W = new_depth.shape + n_orig = int(np.sum(new_depth > 0)) + if len(existing_pts) == 0: + return new_depth.copy(), n_orig, n_orig + cov = project_points_to_coverage(existing_pts, new_pos, H, W) + trimmed = new_depth.copy() + trimmed[cov] = 0 + return trimmed, n_orig, int(np.sum(trimmed > 0)) + + +def load_depth_downsampled(path, H=WARP_H, W=WARP_W): + d = np.load(path).astype(np.float32) + d = np.nan_to_num(d, nan=0.0) + if d.shape == (H, W): + return d + try: + import cv2 + return cv2.resize(d, (W, H), interpolation=cv2.INTER_AREA) + except ImportError: + h, w = d.shape + bh, bw = h // H, w // W + if bh < 1 or bw < 1: + r = np.zeros((H, W), dtype=np.float32) + r[:min(h, H), :min(w, W)] = d[:min(h, H), :min(w, W)] + return r + return d[:bh * H, :bw * W].reshape(H, bh, W, bw).mean(axis=(1, 3)) + + +def select_next_frame(candidates, selected_idx, selected_pos, + all_pts, reachable=None): + """选下一帧：纯贪心，选 score 最高的候选 + + reachable: set of candidate indices，可达候选集合。 + None = 不限制。 + cupy 可用时自动 GPU 加速。 + """ + n = len(candidates) + H, W = WARP_H, WARP_W + total_px = H * W + overlap_penalty = DEFAULT_OVERLAP_PENALTY + + remaining = [] + for i in range(n): + if i in selected_idx: + continue + if reachable is not None and i not in reachable: + continue + remaining.append(i) + + if not remaining: + return -1, 0.0, -999.0, 0 + + # ---- GPU 路径 ---- + _init_gpu() + if _GPU_BACKEND and len(all_pts) > 0: + covered_map = _batch_coverage_gpu(all_pts, candidates, remaining, H, W) + scores = {} + for ci in remaining: + covered = covered_map.get(ci, 0) + new_r = (total_px - covered) / total_px + ovl_r = covered / total_px + scores[ci] = { + "gain": new_r, + "overlap": ovl_r, + "score": new_r - overlap_penalty * ovl_r, + } + else: + # ---- CPU 路径 ---- + scores = {} + for ci in remaining: + cov = project_points_to_coverage(all_pts, candidates[ci], H, W) + covered = int(np.sum(cov)) + new_r = (total_px - covered) / total_px + ovl_r = covered / total_px + scores[ci] = { + "gain": new_r, + "overlap": ovl_r, + "score": new_r - overlap_penalty * ovl_r, + } + + best_ci, best_sc, best_g = -1, -999.0, 0.0 + for ci in remaining: + if scores[ci]["score"] > best_sc: + best_sc = scores[ci]["score"] + best_ci = ci + best_g = scores[ci]["gain"] + + return best_ci, best_g, best_sc, len(remaining) + + +def compute_max_depth(candidates): + pos_arr = np.array(candidates) + diag = float(np.linalg.norm(pos_arr.max(0) - pos_arr.min(0))) + return diag * 1.5 + + +# ===================================================================== +# Phase 2: 边渲边选主循环 +# ===================================================================== + +def run_phase2(cam_obj, candidates, mesh_center, output_dir, + max_frames, resolution, depth_fo, args): + + ray_dirs = get_ray_dirs(WARP_H, WARP_W) + max_depth = compute_max_depth(candidates) + + scene_diag = float(np.linalg.norm( + np.array(candidates).max(0) - np.array(candidates).min(0))) + + selected_idx = set() + selected_pos = [] + all_pts = np.empty((0, 3), dtype=np.float64) + pts_chunks = [] + results = [] + + # 可达性 + reachable = set() + + actual_gain_history = [] + delta_history = [] + + # ======== 楼层分组（候选按 Z 聚类）======== + z_vals = sorted(set(round(c[2], 2) for c in candidates)) + floors = [[z_vals[0]]] + for z in z_vals[1:]: + if z - floors[-1][-1] > 1.0: + floors.append([z]) + else: + floors[-1].append(z) + + # 每个候选标记楼层（找 Z 最近的楼层） + n_floors = len(floors) + floor_mids = [sum(f) / len(f) for f in floors] # 每层的 Z 中心 + candidate_floor = [] + for c in candidates: + cz = c[2] + fi = min(range(n_floors), key=lambda i: abs(cz - floor_mids[i])) + candidate_floor.append(fi) + + current_floor = 0 + + # 当前楼层的候选索引集合 + def floor_set(fi): + return set(i for i, f in enumerate(candidate_floor) if f == fi) + + floor_names = [f"楼层{i+1}(Z={min(f):.1f}~{max(f):.1f})" for i, f in enumerate(floors)] + + print(f"\n{'='*60}") + print(f"[Phase 2] 边渲边选 (候选={len(candidates)}, 固定={max_frames}帧)") + print(f"{'='*60}") + print(f" {n_floors} 个楼层: {floor_names}") + print(f" 高度层: {['%.2f' % z for z in z_vals]}") + print(f" 选帧策略: 楼层顺序 + 层内全局最优 (可达优先, 无提前停止)") + + t_total = time.time() + + # 时间统计 + time_select = 0.0 + time_render = 0.0 + time_depth = 0.0 + time_reach = 0.0 + + for frame_count in range(max_frames): + + # ======== 选位置 ======== + t_sel = time.time() + if frame_count == 0: + # F0: XY 取第一楼层候选的几何中心，Z 取高度层中心 + floor0_candidates = [(i, c) for i, c in enumerate(candidates) + if candidate_floor[i] == 0] + if floor0_candidates: + f0_pts = np.array([c for _, c in floor0_candidates]) + xy_center = f0_pts[:, :2].mean(axis=0) # XY 几何中心 + floor0_zs = sorted(set(c[2] for _, c in floor0_candidates)) + z_target = min(floor0_zs) + 1.2 # 楼板高度 + 1.7m ≈ 人眼高度 + target = np.array([xy_center[0], xy_center[1], z_target]) + dists_to_target = [np.linalg.norm(np.array(c) - target) + for _, c in floor0_candidates] + best_idx = int(np.argmin(dists_to_target)) + ci = floor0_candidates[best_idx][0] + else: + mc = np.array(mesh_center, dtype=np.float64) + ci = int(np.argmin([np.linalg.norm(np.array(c) - mc) + for c in candidates])) + gain, score = 1.0, 1.0 + print(f"\n F{frame_count}: 选候选[{ci}] " + f"(楼层中心, Z={candidates[ci][2]:.2f}m) " + f"[{floor_names[current_floor]}]") + else: + cur_floor_ids = floor_set(current_floor) + floor_reachable = reachable & cur_floor_ids if reachable else set() + + ci, gain, score, n_remain = select_next_frame( + candidates, selected_idx, selected_pos, all_pts, + reachable=floor_reachable if floor_reachable else cur_floor_ids) + + # 当前楼层可达候选不够 → 扩展到当前楼层全局 + if ci < 0: + ci, gain, score, n_remain = select_next_frame( + candidates, selected_idx, selected_pos, all_pts, + reachable=cur_floor_ids) + + # 当前楼层无候选 → 切换楼层 + if ci < 0: + current_floor += 1 + if current_floor < n_floors: + print(f"\n F{frame_count}: {floor_names[current_floor-1]} 候选用尽," + f" 切换到 {floor_names[current_floor]}") + ci, gain, score, n_remain = select_next_frame( + candidates, selected_idx, selected_pos, all_pts, + reachable=floor_set(current_floor)) + if ci < 0: + ci, gain, score, n_remain = select_next_frame( + candidates, selected_idx, selected_pos, all_pts, + reachable=None) + + # 全局无候选 → 无法继续 + if ci < 0: + print(f"\n F{frame_count}: 所有候选已用尽，停止 (已渲染 {len(results)} 帧)") + break + + print(f"\n F{frame_count}: 选候选[{ci}] " + f"gain={gain:.1%} score={score:.3f} 剩余={n_remain}" + f" [Z={candidates[ci][2]:.2f} {floor_names[current_floor]}" + f" 可达={len(floor_reachable)}]") + + pos = candidates[ci] + selected_idx.add(ci) + selected_pos.append(pos) + dt_sel = time.time() - t_sel + time_select += dt_sel + if frame_count > 0: + print(f" [选帧 {dt_sel:.1f}s]") + + # ======== 渲染 ======== + cam_rot = get_camera_rot(args.rotation_type, frame_count) + print(f" 位置: [{pos[0]:.2f}, {pos[1]:.2f}, {pos[2]:.2f}]") + print(f" 渲染...", end="", flush=True) + t_r = time.time() + + rgb_path, depth_path, pose_path = render_frame_inprocess( + cam_obj, frame_count, pos, cam_rot, output_dir, depth_fo) + dt_r = time.time() - t_r + time_render += dt_r + print(f" {dt_r:.1f}s") + + # ======== depth → 3D 点云 ======== + t_dep = time.time() + actual_gain = 1.0 + delta_ratio = 1.0 + + if depth_path and os.path.exists(depth_path): + depth = load_depth_downsampled(depth_path, WARP_H, WARP_W) + total_px = WARP_H * WARP_W + n_valid = int(np.sum(depth > 0)) + valid_ratio = n_valid / total_px + + if frame_count == 0: + new_pts = depth_to_3d_points(pos, depth, ray_dirs, max_depth) + pts_chunks.append(new_pts) + all_pts = new_pts + actual_gain = valid_ratio + print(f" depth: {n_valid}px ({valid_ratio:.0%} 有效)" + f" → {len(new_pts)} 个 3D 点 (全部)") + else: + # ---- 质量检查 ---- + MIN_VALID_RATIO = 0.30 + if valid_ratio < MIN_VALID_RATIO: + print(f" depth: {n_valid}px ({valid_ratio:.0%} 有效)" + f" < {MIN_VALID_RATIO:.0%} → 室外/空壳，跳过此帧") + results.append({ + "frame_id": frame_count, + "candidate_idx": ci, + "position": pos, + "gain": float(gain), + "actual_gain": 0.0, + "delta_ratio": 0.0, + "score": float(score), + "skipped": True, + "skip_reason": f"valid_ratio={valid_ratio:.1%}", + }) + for fp in [rgb_path, depth_path]: + if fp and os.path.exists(fp): + try: + os.remove(fp) + except OSError: + pass + time_depth += time.time() - t_dep + continue + + trimmed, n_orig, n_new = trim_depth( + depth, pos, all_pts, ray_dirs) + new_pts = depth_to_3d_points(pos, trimmed, ray_dirs, max_depth) + pts_chunks.append(new_pts) + all_pts = np.concatenate(pts_chunks) + actual_gain = n_new / total_px + delta_ratio = (len(new_pts) / len(all_pts) + if len(all_pts) > 0 else 1.0) + print(f" depth: {n_valid}px ({valid_ratio:.0%} 有效)" + f" → trim → {n_new}px 新增" + f" → {len(new_pts)} 个新 3D 点 (delta)") + print(f" 累积点云: {len(all_pts)}") + print(f" 实际gain: {actual_gain:.1%}, " + f"点云增量: {delta_ratio:.1%}") + else: + print(f" [Error] 无 depth 文件！") + break + + results.append({ + "frame_id": frame_count, + "candidate_idx": ci, + "position": pos, + "gain": float(gain), + "actual_gain": float(actual_gain), + "delta_ratio": float(delta_ratio), + "score": float(score), + }) + time_depth += time.time() - t_dep + + # ======== 更新可达性 ======== + if IN_BLENDER: + t_reach = time.time() + scene = bpy.context.scene + depsgraph = bpy.context.evaluated_depsgraph_get() + n_new_reachable = 0 + for ci_check in range(len(candidates)): + if ci_check in selected_idx or ci_check in reachable: + continue + origin = Vector(pos) + target = Vector(candidates[ci_check]) + direction = (target - origin).normalized() + dist_to_target = (target - origin).length + + if dist_to_target < 0.1: + reachable.add(ci_check) + n_new_reachable += 1 + continue + + hit, loc, *_ = scene.ray_cast(depsgraph, origin, direction) + if not hit or (loc - origin).length >= dist_to_target * 0.95: + reachable.add(ci_check) + n_new_reachable += 1 + + dt_reach = time.time() - t_reach + time_reach += dt_reach + print(f" [可达性] 新增 {n_new_reachable} 个可达候选, " + f"总可达 {len(reachable)} / {len(candidates)} " + f"({dt_reach:.1f}s)") + + if frame_count > 0: + actual_gain_history.append(actual_gain) + delta_history.append(delta_ratio) + + # ======== 补帧：候选不足时生成扰动位置补齐到 max_frames ======== + valid_results = [r for r in results if not r.get("skipped")] + if len(valid_results) < max_frames: + need = max_frames - len(valid_results) + print(f"\n [补帧] 有效帧 {len(valid_results)}/{max_frames}，需补 {need} 帧") + + scene = bpy.context.scene + depsgraph = bpy.context.evaluated_depsgraph_get() + frame_count = (results[-1]["frame_id"] + 1) if results else 0 + PERTURB_OFFSETS = [0.2, 0.3, 0.15, 0.25, 0.35] + perturb_round = 0 + + while len(valid_results) < max_frames: + # 先尝试未使用的原始候选 + ci_sup, gain_sup, score_sup, _ = select_next_frame( + candidates, selected_idx, selected_pos, all_pts, reachable=None) + + if ci_sup >= 0: + pos = candidates[ci_sup] + selected_idx.add(ci_sup) + selected_pos.append(pos) + label = f"候选[{ci_sup}]" + else: + # 原始候选用尽 → 从已选位置生成扰动位置 + offset = PERTURB_OFFSETS[perturb_round % len(PERTURB_OFFSETS)] + perturb_round += 1 + found = False + + _random.shuffle(selected_pos) + for base_pos in selected_pos: + for _ in range(20): + dx = _random.uniform(-offset, offset) + dy = _random.uniform(-offset, offset) + new_pos = [base_pos[0] + dx, base_pos[1] + dy, base_pos[2]] + + # raycast 验证：上下必须 hit（在室内） + origin = Vector(new_pos) + hit_up, *_ = scene.ray_cast(depsgraph, origin, Vector((0, 0, 1))) + hit_dn, *_ = scene.ray_cast(depsgraph, origin, Vector((0, 0, -1))) + if hit_up and hit_dn: + pos = new_pos + selected_pos.append(pos) + found = True + break + if found: + break + + if not found: + print(f" 无法生成有效扰动位置，停止补帧") + break + label = f"扰动(±{offset:.2f}m)" + gain_sup, score_sup = 0.0, 0.0 + + cam_rot = get_camera_rot(args.rotation_type, frame_count) + print(f" 补帧 F{frame_count}: {label}" + f" [{pos[0]:.2f}, {pos[1]:.2f}, {pos[2]:.2f}]") + print(f" 渲染...", end="", flush=True) + t_r = time.time() + rgb_path, depth_path, pose_path = render_frame_inprocess( + cam_obj, frame_count, pos, cam_rot, output_dir, depth_fo) + dt_r = time.time() - t_r + time_render += dt_r + print(f" {dt_r:.1f}s") + + actual_gain = 0.0 + delta_ratio = 0.0 + skipped = False + if depth_path and os.path.exists(depth_path): + depth = load_depth_downsampled(depth_path, WARP_H, WARP_W) + total_px = WARP_H * WARP_W + n_valid = int(np.sum(depth > 0)) + valid_ratio = n_valid / total_px + if valid_ratio < 0.30: + skipped = True + for fp in [rgb_path, depth_path]: + if fp and os.path.exists(fp): + try: + os.remove(fp) + except OSError: + pass + print(f" valid={valid_ratio:.0%} < 30% → 跳过") + else: + trimmed, n_orig, n_new = trim_depth(depth, pos, all_pts, ray_dirs) + new_pts = depth_to_3d_points(pos, trimmed, ray_dirs, max_depth) + pts_chunks.append(new_pts) + all_pts = np.concatenate(pts_chunks) + actual_gain = n_new / total_px + delta_ratio = len(new_pts) / len(all_pts) if len(all_pts) > 0 else 0 + print(f" depth: {n_new}px 新增, gain={actual_gain:.1%}") + + result_entry = { + "frame_id": frame_count, + "position": pos, + "gain": float(gain_sup), + "actual_gain": float(actual_gain), + "delta_ratio": float(delta_ratio), + "score": float(score_sup), + "supplementary": True, + } + if skipped: + result_entry["skipped"] = True + results.append(result_entry) + + if not skipped: + valid_results = [r for r in results if not r.get("skipped")] + + frame_count += 1 + + valid_results = [r for r in results if not r.get("skipped")] + print(f" 补帧完成: 有效帧 {len(valid_results)}/{max_frames}") + + dt = time.time() - t_total + time_other = dt - time_select - time_render - time_depth - time_reach + print(f"\n {'─'*50}") + print(f" 共 {len(results)} 帧, {dt:.1f}s ({dt/60:.1f}min)") + print(f" 耗时分布:") + print(f" 选帧: {time_select:.1f}s ({time_select/max(dt,1)*100:.0f}%)" + f" — 点云投影评估候选") + print(f" 渲染: {time_render:.1f}s ({time_render/max(dt,1)*100:.0f}%)" + f" — Blender Cycles GPU") + print(f" 深度: {time_depth:.1f}s ({time_depth/max(dt,1)*100:.0f}%)" + f" — depth→点云+trim") + print(f" 可达性: {time_reach:.1f}s ({time_reach/max(dt,1)*100:.0f}%)" + f" — raycast 扫描") + if time_other > 1: + print(f" 其他: {time_other:.1f}s ({time_other/max(dt,1)*100:.0f}%)") + + return results + + +# ===================================================================== +# 自动曝光 +# ===================================================================== + +def auto_adjust_exposure(cam_obj, test_pos, output_dir, initial_exposure): + """F0 位置低采样快速渲一帧，分析亮度，自动调整 exposure。 + + 目标：有效像素平均亮度 ≈ 120/255。 + 过曝 (>200): 降 EV + 欠曝 (<40): 升 EV + 正常 (40~200): 不动 + """ + TARGET_MEAN = 120.0 + scene = bpy.context.scene + original_samples = scene.cycles.samples + + # 低采样快速测试 + scene.cycles.samples = 16 + test_path = os.path.join(output_dir, "_exposure_test.png") + scene.render.filepath = test_path + + cam_obj.location = Vector(test_pos) + cam_obj.rotation_euler = Euler((math.pi / 2, 0, 0), 'XYZ') + + print(f"\n[自动曝光] 测试渲染 (16 samples, exposure={initial_exposure:.1f})...", + end="", flush=True) + t0 = time.time() + bpy.ops.render.render(write_still=True) + print(f" {time.time() - t0:.1f}s") + + # 分析亮度 + img = bpy.data.images.load(test_path) + w, h = img.size[0], img.size[1] + pixels = np.array(img.pixels[:]).reshape(h, w, -1) + rgb = pixels[:, :, :3] + brightness = (0.299 * rgb[:,:,0] + 0.587 * rgb[:,:,1] + 0.114 * rgb[:,:,2]) * 255 + + # 只看非纯黑像素（排除天空/无效区域） + valid_mask = brightness > 1.0 + n_valid = int(np.sum(valid_mask)) + if n_valid > 0: + mean_b = float(np.mean(brightness[valid_mask])) + # 过曝比例（亮度 > 250 的像素占比） + overexposed = float(np.sum(brightness[valid_mask] > 250)) / n_valid + # 欠曝比例（亮度 < 10 的像素占比） + underexposed = float(np.sum(brightness[valid_mask] < 10)) / n_valid + else: + mean_b = 0.0 + overexposed = 0.0 + underexposed = 1.0 + + bpy.data.images.remove(img) + try: + os.remove(test_path) + except OSError: + pass + + print(f" 亮度分析: 平均={mean_b:.0f}/255, " + f"过曝={overexposed:.0%}, 欠曝={underexposed:.0%}, " + f"有效像素={n_valid}/{h*w}") + + # 调整 + new_exposure = initial_exposure + if mean_b < 1.0: + new_exposure = initial_exposure + 4.0 + print(f" [严重欠曝] exposure: {initial_exposure:.1f} → {new_exposure:.1f} (+4.0 EV)") + elif mean_b < 40: + ev_adj = min(4.0, math.log2(TARGET_MEAN / max(mean_b, 1.0))) + new_exposure = initial_exposure + ev_adj + 1.0 # 额外 +1 + print(f" [欠曝] exposure: {initial_exposure:.1f} → {new_exposure:.1f} (+{ev_adj:.1f} EV)") + elif mean_b > 200: + ev_adj = max(-4.0, math.log2(TARGET_MEAN / mean_b)) + new_exposure = initial_exposure + ev_adj + print(f" [过曝] exposure: {initial_exposure:.1f} → {new_exposure:.1f} ({ev_adj:.1f} EV)") + elif overexposed > 0.3: + # 平均还行但大面积过曝 + new_exposure = initial_exposure - 1.5 + print(f" [局部过曝 {overexposed:.0%}] exposure: {initial_exposure:.1f} → {new_exposure:.1f} (-1.5 EV)") + else: + print(f" [正常] 曝光无需调整") + + # 限幅 + new_exposure = max(-2.0, min(12.0, new_exposure)) + + scene.view_settings.exposure = new_exposure + scene.cycles.samples = original_samples + return new_exposure + + +# ===================================================================== +# 有效天花板检测（忽略塔尖/天线等异常高点） +# ===================================================================== + +def _detect_effective_ceiling(bmin, bmax, floor_z, ceiling_z_raw): + """用 raycast 从多个 XY 采样点往上打，统计天花板高度的 75% 分位数。 + + 塔尖、天线等只有少量采样点能 hit 到，被分位数过滤掉。 + """ + scene = bpy.context.scene + depsgraph = bpy.context.evaluated_depsgraph_get() + dir_up = Vector((0, 0, 1)) + + cx = (bmin[0] + bmax[0]) / 2 + cy = (bmin[1] + bmax[1]) / 2 + x_range = bmax[0] - bmin[0] + y_range = bmax[1] - bmin[1] + + # 5x5 网格采样 + ceil_hits = [] + for ix in range(5): + for iy in range(5): + x = bmin[0] + x_range * (ix + 0.5) / 5 + y = bmin[1] + y_range * (iy + 0.5) / 5 + origin = Vector((x, y, floor_z + 0.5)) + hit, loc, *_ = scene.ray_cast(depsgraph, origin, dir_up) + if hit: + ceil_hits.append(loc.z) + + if not ceil_hits: + print(f" [天花板] 无 hit，使用 AABB: {ceiling_z_raw:.2f}m") + return ceiling_z_raw + + ceil_hits.sort() + # 75% 分位数：忽略最高的 25%（塔尖/天线） + p75_idx = int(len(ceil_hits) * 0.75) + effective_ceil = ceil_hits[min(p75_idx, len(ceil_hits) - 1)] + + # 至少保留 AABB 高度的合理范围（不能比中位数还低太多） + median_ceil = ceil_hits[len(ceil_hits) // 2] + effective_ceil = max(effective_ceil, median_ceil) + + # 不能比最低的 hit 还低（安全下限） + effective_ceil = max(effective_ceil, floor_z + 2.5) + + if effective_ceil < ceiling_z_raw - 1.0: + print(f" [天花板] AABB={ceiling_z_raw:.2f}m → 有效={effective_ceil:.2f}m" + f" (忽略 {ceiling_z_raw - effective_ceil:.1f}m 塔尖/天线)") + else: + print(f" [天花板] {effective_ceil:.2f}m") + + return effective_ceil + + +# ===================================================================== +# Blender 模式主函数 +# ===================================================================== + +def main_blender(): + args = parse_args_blender() + + # 统一 scene_path + if args.blend: + scene_path = os.path.abspath(args.blend) + else: + scene_path = os.path.abspath(args.glb) + + output_dir = os.path.abspath(args.output_dir) + resolution = tuple(int(x) for x in args.resolution.split(",")) + os.makedirs(output_dir, exist_ok=True) + + + scene_ext = Path(scene_path).suffix.lower() + + print("=" * 60) + print("ERPT Blend Pipeline v5（单进程边渲边选）") + print("=" * 60) + print(f" Scene: {scene_path} [{scene_ext}]") + print(f" Output: {output_dir}") + print(f" Max frames: {args.num_frames}") + print(f" Resolution: {resolution[0]}x{resolution[1]}") + t_start = time.time() + + # ===== Phase 0: 加载场景 ===== + load_scene(scene_path) + + # ===== 渲染设置（只做一次） ===== + print(f"\n[Setup] 渲染配置") + cam_obj = setup_erp_camera() + setup_render_settings(resolution, args.engine, args.samples, args.exposure) + setup_lighting() + depth_fo = setup_depth_pass() + + rooms = json.loads(args.rooms) if args.rooms else {"rooms": []} + for room in rooms["rooms"]: + print(f" 房间: {room['room_id']}") + # input("\n按Enter键继续...") + bmin, bmax = np.array(room['bounds_min']), np.array(room['bounds_max']) + + # ===== Phase 1: 撒点 + 过滤 ===== + print(f"\n{'='*60}") + print("[Phase 1] 多层撒点 + 4层过滤") + print(f"{'='*60}") + + floor_z_raw, ceiling_z_raw = bmin[2], bmax[2] + + # 有效天花板检测：用 raycast 忽略塔尖等异常高点 + ceiling_z = _detect_effective_ceiling(bmin, bmax, floor_z_raw, ceiling_z_raw) + floor_z = floor_z_raw + + heights = compute_camera_heights(floor_z, ceiling_z, args.camera_height, + bmin=bmin, bmax=bmax) + print(f" 场景 Z 范围: {floor_z:.2f} ~ {ceiling_z:.2f}m (总高 {ceiling_z - floor_z:.2f}m)") + print(f" 相机层数: {len(heights)}") + for i, z in enumerate(heights): + print(f" 第{i+1}层: Z={z:.2f}m (离地 {z - floor_z:.2f}m)") + + x_range = bmax[0] - bmin[0] + y_range = bmax[1] - bmin[1] + n_layers = len(heights) + scene_diag = math.sqrt(x_range ** 2 + y_range ** 2) + + x_sp = max(0.5, x_range / 20) + y_sp = max(0.5, y_range / 20) + nx = max(1, int((x_range - 2 * MARGIN) / args.grid_spacing)) + ny = max(1, int((y_range - 2 * MARGIN) / args.grid_spacing)) + total_user = nx * ny * n_layers + + if total_user <= 10000: + x_sp = args.grid_spacing + y_sp = args.grid_spacing + print(f" 间距: {args.grid_spacing}m (候选≈{total_user}个)") + else: + nx_auto = max(1, int((x_range - 2 * MARGIN) / x_sp)) + ny_auto = max(1, int((y_range - 2 * MARGIN) / y_sp)) + total_auto = nx_auto * ny_auto * n_layers + print(f" [自适应] 场景 {x_range:.0f}x{y_range:.0f}m, " + f"X间距={x_sp:.1f}m, Y间距={y_sp:.1f}m " + f"(候选≈{total_auto})") + + candidates = generate_candidate_grid(bmin, bmax, x_sp, y_sp, heights) + if not candidates: + print(" [Error] 没有候选点") + # sys.exit(1) + + room_height = ceiling_z - floor_z + candidates = raycast_6layer_filter(candidates, room_height) + if not candidates: + print(" [Warning] 全部被过滤，使用 mesh 中心") + cx = (bmin[0] + bmax[0]) / 2 + cy = (bmin[1] + bmax[1]) / 2 + candidates = [[cx, cy, heights[0]]] + + sel_dir = os.path.join(output_dir, "frame_selection") + os.makedirs(sel_dir, exist_ok=True) + np.save(os.path.join(sel_dir, "candidates_filtered.npy"), + np.array(candidates)) + + # ===== 自动曝光：用候选中心点快速测试 ===== + mesh_center = [(bmin[0] + bmax[0]) / 2, + (bmin[1] + bmax[1]) / 2, + (bmin[2] + bmax[2]) / 2] + # # 选最靠近中心的候选作为测试点 + # mc = np.array(mesh_center) + # test_dists = [np.linalg.norm(np.array(c) - mc) for c in candidates] + # test_pos = candidates[int(np.argmin(test_dists))] + space_output = os.path.join(output_dir, f"space_{room['room_id']:02d}") + # # final_exposure = auto_adjust_exposure(cam_obj, test_pos, output_dir, depth_fo, args.exposure) + # exposure_rate = 0.5 + # exposure_count = 5 + # exposure1 = auto_adjust_exposure(cam_obj, test_pos, space_output, args.exposure) + # exposure2 = auto_adjust_exposure(cam_obj, test_pos, space_output, exposure1) + # count = 2 + # while abs(exposure1 - exposure2) > exposure_rate and count <= exposure_count: + # exposure1 = exposure2 + # exposure2 = auto_adjust_exposure(cam_obj, test_pos, space_output, exposure2) + # count += 1 + # print(f" 最终曝光: {exposure2:.1f} (共调整 {count-1} 次)") + # ===== Phase 2: 边渲边选 ===== + results = run_phase2( + cam_obj, candidates, mesh_center, space_output, + args.num_frames, resolution, depth_fo, args) + + # ===== 保存选帧摘要 ===== + summary = { + "scene": os.path.basename(scene_path), + "scene_format": scene_ext, + "total_frames": len(results), + "candidates_count": len(candidates), + "frames": [{ + "frame_id": r["frame_id"], + "position": r["position"], + "gain": r["gain"], + "actual_gain": r["actual_gain"], + "delta_ratio": r["delta_ratio"], + "score": r["score"], + } for r in results], + } + + with open(os.path.join(sel_dir, "selected_frames.json"), "w") as f: + json.dump(summary, f, indent=2, ensure_ascii=False) + + dt = time.time() - t_start + print(f"\n{'='*60}") + print(f"完成! {len(results)} 帧, {dt:.1f}s ({dt/60:.1f}min)") + print(f"{'='*60}") + print(f"输出目录: {output_dir}/") + for r in results: + fid = r["frame_id"] + print(f" panorama_{fid:04d}.png + _depth.npy + pose_{fid:04d}.json") + + +# ===================================================================== +# 入口 +# ===================================================================== + +if __name__ == "__main__": + if IN_BLENDER: + main_blender() + else: + main_python() diff --git a/pipelines/run_pipeline.py b/pipelines/run_pipeline.py new file mode 100644 index 0000000000000000000000000000000000000000..91095f1c413c46e7f925b001a8db493fc34822e6 --- /dev/null +++ b/pipelines/run_pipeline.py @@ -0,0 +1,500 @@ +#!/usr/bin/env python3 +""" +ERPT Pipeline 主入口（Forward Warp，深度估计可选） + +使用方法： + # 默认：使用已有深度真值做 warp（不加载深度估计权重） + python run_pipeline.py --stage warp_only --data_dir /path/to/scene + + # 强制完整流程（深度估计 + warp） + python run_pipeline.py --stage all + + # 仅深度估计 + python run_pipeline.py --stage depth_only +""" + +import argparse +import re +import time +from pathlib import Path +from typing import Dict, Any, List, Optional + +import yaml +import numpy as np +import torch +import cv2 + +# 添加模块路径 +import sys +sys.path.insert(0, str(Path(__file__).parent)) + +# Warp 相关（始终加载） +from core.erp_warp import warp_erp_to_target, WarpResult, create_comparison_image +from utils.io_utils import load_image, save_image, load_json, save_json, save_depth +from utils.pose_utils import Pose, load_pose + +# 深度估计相关（延迟加载，仅 depth_only / all 模式才 import） +_depth_modules_loaded = False + + +def _load_depth_modules(): + """延迟加载深度估计模块（避免 warp_only 模式加载大模型权重）""" + global _depth_modules_loaded + if _depth_modules_loaded: + return + global build_icosahedron_slices, extract_all_tangents, compute_coverage_mask + global estimate_all_tangent_depths + global fuse_tangent_depths_to_erp, save_depth_visualization, visualize_depth + + from core.tangent_extraction import ( + build_icosahedron_slices, + extract_all_tangents, + compute_coverage_mask, + ) + from core.depth_estimation import estimate_all_tangent_depths + from core.depth_fusion import ( + fuse_tangent_depths_to_erp, + save_depth_visualization, + visualize_depth, + ) + _depth_modules_loaded = True + print("[Depth] 深度估计模块已加载") + + +# ============================================================================= +# 数据发现 +# ============================================================================= + +def discover_image_files(directory: Path) -> dict: + """自动发现目录中的全景图文件""" + image_extensions = ['.png', '.jpg', '.jpeg', '.PNG', '.JPG', '.JPEG'] + image_files = [] + for ext in image_extensions: + image_files.extend(directory.glob(f"*{ext}")) + image_files = sorted(image_files) + if not image_files: + return {} + + result = {} + for img_path in image_files: + stem = img_path.stem + match = re.search(r'[_-](\d+)$', stem) + if match: + result[int(match.group(1))] = img_path + continue + if stem.isdigit(): + result[int(stem)] = img_path + + if not result: + for idx, img_path in enumerate(image_files): + result[idx] = img_path + + return result + + +def discover_pose_files(directory: Path) -> dict: + """自动发现目录中的位姿文件""" + pose_files = sorted(directory.glob("*.json")) + result = {} + for pose_path in pose_files: + stem = pose_path.stem + if stem in ['meta', 'config', 'stats', 'cameras', 'render_meta', 'description']: + continue + match = re.search(r'[_-](\d+)$', stem) + if match: + result[int(match.group(1))] = pose_path + continue + if stem.isdigit(): + result[int(stem)] = pose_path + + return result + + +# ============================================================================= +# 配置加载 +# ============================================================================= + +def load_config(config_path: Path) -> Dict[str, Any]: + with open(config_path, "r", encoding="utf-8") as f: + return yaml.safe_load(f) + + +def resolve_paths(cfg: Dict[str, Any], config_dir: Path) -> Dict[str, Any]: + """解析相对路径为绝对路径""" + data_cfg = cfg.get("data", {}) + for key in ["data_dir", "output_dir", "depth_dir"]: + if key in data_cfg and data_cfg[key]: + path = Path(data_cfg[key]) + if not path.is_absolute(): + data_cfg[key] = str(config_dir / path) + + depth_pro_cfg = cfg.get("depth_pro", {}) + if "repo_dir" in depth_pro_cfg and depth_pro_cfg["repo_dir"]: + rp = Path(depth_pro_cfg["repo_dir"]) + if not rp.is_absolute(): + depth_pro_cfg["repo_dir"] = str(config_dir / rp) + + cfg["_project_root"] = str(config_dir) + return cfg + + +# ============================================================================= +# 深度估计流程（仅 all / depth_only 模式调用） +# ============================================================================= + +def run_depth_pipeline( + center_rgb: np.ndarray, + cfg: Dict[str, Any], + device: torch.device, + output_dir: Path, + erp_h: int, + erp_w: int, + frame_id: int = 0, +) -> np.ndarray: + """运行深度估计全流程：切片 -> 推理 -> 融合""" + _load_depth_modules() + + depth_out_dir = output_dir / "depth_erp" + depth_out_dir.mkdir(parents=True, exist_ok=True) + + # --- Step 1: 构建切片规格 --- + print(f"\n{'='*60}") + print(f"[Step 1] Building tangent slices (frame {frame_id})") + print(f"{'='*60}") + + if "erp" not in cfg: + cfg["erp"] = {} + cfg["erp"]["height"] = erp_h + cfg["erp"]["width"] = erp_w + + slices = build_icosahedron_slices(cfg) + print(f" Total slices: {len(slices)}") + for s in slices: + if s.slice_type != "face": + print(f" {s.slice_id}: type={s.slice_type}, fov={s.fov_deg:.1f}°") + + coverage_mask, coverage_stats = compute_coverage_mask(slices, erp_h, erp_w, device) + print(f" Coverage: {coverage_stats['total_coverage']:.2f}%") + + dbg_dir = output_dir / "debug" + dbg_dir.mkdir(parents=True, exist_ok=True) + save_image(np.stack([coverage_mask] * 3, axis=-1), dbg_dir / "coverage_mask.png") + + # --- Step 2: 提取切片 --- + print(f"\n{'='*60}") + print(f"[Step 2] Extracting tangent slices (frame {frame_id})") + print(f"{'='*60}") + + t0 = time.time() + tangent_rgbs = extract_all_tangents(center_rgb, slices, device) + print(f" Extracted {len(tangent_rgbs)} slices in {time.time()-t0:.2f}s") + + if cfg.get("run", {}).get("save_intermediates", False): + tangent_dir = output_dir / "tangents" + tangent_dir.mkdir(parents=True, exist_ok=True) + for slice_id, rgb in tangent_rgbs.items(): + save_image(rgb, tangent_dir / f"{slice_id}_rgb.png") + + # --- Step 3: Depth Pro 推理 --- + print(f"\n{'='*60}") + print(f"[Step 3] Running Depth Pro inference (frame {frame_id})") + print(f"{'='*60}") + + dp_cfg = cfg.get("depth_pro", {}) + if not bool(dp_cfg.get("enabled", True)): + print(" [Warning] Depth Pro disabled, using dummy depth") + tangent_depths = {} + for sid, rgb in tangent_rgbs.items(): + tangent_depths[sid] = np.full(rgb.shape[:2], 5.0, dtype=np.float32) + else: + t0 = time.time() + tangent_depths = estimate_all_tangent_depths( + tangent_rgbs, slices, cfg, device, + ) + print(f" Estimated {len(tangent_depths)} depths in {time.time()-t0:.2f}s") + + if cfg.get("run", {}).get("save_intermediates", False): + tangent_dir = output_dir / "tangents" + for sid, depth in tangent_depths.items(): + save_depth(depth, tangent_dir / f"{sid}_depth.npy") + + # --- Step 4: 融合到 ERP --- + print(f"\n{'='*60}") + print(f"[Step 4] Fusing tangent depths to ERP (frame {frame_id})") + print(f"{'='*60}") + + t0 = time.time() + depth_erp, weight_sum, valid_mask = fuse_tangent_depths_to_erp( + tangent_depths, slices, cfg, device, + debug_dir=dbg_dir if cfg.get("run", {}).get("save_intermediates", False) else None, + ) + print(f" Fused in {time.time()-t0:.2f}s") + + valid_ratio = np.sum(valid_mask > 0) / (erp_h * erp_w) + valid_depths = depth_erp[np.isfinite(depth_erp) & (depth_erp > 0)] + if len(valid_depths) > 0: + print(f" Valid depth ratio: {valid_ratio * 100:.2f}%") + print(f" Depth range: [{valid_depths.min():.2f}, {valid_depths.max():.2f}] m") + + # --- Step 5: 保存结果 --- + save_depth(depth_erp, depth_out_dir / f"depth_{frame_id:04d}.npy") + save_depth_visualization(depth_erp, depth_out_dir / f"depth_{frame_id:04d}_vis.png") + cv2.imwrite(str(depth_out_dir / f"depth_{frame_id:04d}_valid_mask.png"), valid_mask * 255) + + return depth_erp + + +# ============================================================================= +# Warp 流程 +# ============================================================================= + +def run_warp_pipeline( + center_rgb: np.ndarray, + depth_erp: np.ndarray, + center_frame: int, + image_files: dict, + pose_files: dict, + cfg: Dict[str, Any], + device: torch.device, + output_dir: Path, + erp_h: int, + erp_w: int, +) -> None: + """运行 warp 全流程：遍历目标帧，执行 forward splatting""" + warp_cfg = cfg.get("warp", {}) + output_depth = bool(warp_cfg.get("output_depth", True)) + + # 确定目标帧列表 + available_targets = sorted([fid for fid in pose_files.keys() if fid != center_frame]) + + cfg_targets = warp_cfg.get("target_frames", None) + if cfg_targets is not None and cfg_targets != "auto": + cfg_set = set(int(t) for t in cfg_targets) + target_frames = [fid for fid in available_targets if fid in cfg_set] + else: + target_frames = available_targets + + print(f"\n{'='*60}") + print(f"[Warp] Forward splatting from frame {center_frame}") + print(f"{'='*60}") + print(f" Method: {warp_cfg.get('method', 'softmax_splatting')}") + print(f" Available targets with pose: {available_targets}") + print(f" Will warp: {target_frames}") + + # 加载中心帧位姿 + if center_frame not in pose_files: + print(f" [Error] Center pose not found for frame {center_frame}") + return + src_pose = load_pose(pose_files[center_frame]) + print(f" Source pose: position={src_pose.position.tolist()}") + + # 输出目录 + warp_rgb_dir = output_dir / "warp_rgb" + warp_rgb_dir.mkdir(parents=True, exist_ok=True) + if output_depth: + warp_depth_dir = output_dir / "warp_depth" + warp_depth_dir.mkdir(parents=True, exist_ok=True) + + total_warp = len(target_frames) + for idx, tgt_id in enumerate(target_frames): + if tgt_id not in pose_files: + print(f" [{idx+1}/{total_warp}] Frame {tgt_id}: pose not found, skip") + continue + + tgt_pose = load_pose(pose_files[tgt_id]) + print(f" [{idx+1}/{total_warp}] Frame {center_frame} -> {tgt_id} ...", end="", flush=True) + + t0 = time.time() + result = warp_erp_to_target( + src_rgb=center_rgb, + src_depth=depth_erp, + src_pose=src_pose, + tgt_pose=tgt_pose, + cfg=cfg, + device=device, + ) + dt = time.time() - t0 + + valid_pct = result.valid_mask.sum() / result.valid_mask.size * 100 + print(f" done ({dt:.2f}s, valid={valid_pct:.1f}%)") + + prefix = f"pano{center_frame:04d}_to_pano{tgt_id:04d}" + + # 保存 warped RGB + save_image(result.warped_rgb, warp_rgb_dir / f"{prefix}_rgb.png") + + # 保存 valid mask + cv2.imwrite(str(warp_rgb_dir / f"{prefix}_mask.png"), result.valid_mask * 255) + + # 保存 warped depth + if output_depth and result.warped_depth is not None: + save_depth(result.warped_depth, warp_depth_dir / f"{prefix}_depth_range.npy") + + print(f" Warp complete. Output saved to: {warp_rgb_dir}") + + +# ============================================================================= +# 主函数 +# ============================================================================= + +def main(): + _script_dir = Path(__file__).parent + _default_config = _script_dir / "config.yaml" + + parser = argparse.ArgumentParser(description="ERPT Pipeline") + parser.add_argument("--config", type=str, + default=str(_default_config) if _default_config.exists() else None, + help="Config file path") + parser.add_argument("--data_dir", type=str, default=None, + help="Data directory (overrides config)") + parser.add_argument("--output_dir", type=str, default=None, + help="Output directory (overrides config)") + parser.add_argument("--device", type=str, default="cuda") + parser.add_argument("--stage", type=str, default="warp_only", + choices=["all", "depth_only", "warp_only"]) + parser.add_argument("--center_frame", type=int, default=None, + help="Center frame ID (overrides config)") + args = parser.parse_args() + + # 加载配置 + if args.config: + config_path = Path(args.config) + cfg = load_config(config_path) + cfg = resolve_paths(cfg, config_path.parent) + else: + cfg = { + "data": {}, + "erp": {"auto_size": True}, + "tangent": {}, + "depth_pro": {"enabled": True, "precision": "fp16", "pass_f_px": True}, + "fusion": {"blend_mode": "multiband", "output_scale": 1.10, "k": 4}, + "run": {"save_intermediates": False}, + } + + # 命令行覆盖 + if args.data_dir: + cfg["data"]["data_dir"] = str(Path(args.data_dir).resolve()) + if args.output_dir: + cfg["data"]["output_dir"] = args.output_dir + + data_dir = Path(cfg["data"].get("data_dir", "inputs")) + output_dir = Path(cfg["data"].get("output_dir", "outputs")) + + device = torch.device(args.device if torch.cuda.is_available() or args.device == "cpu" else "cpu") + print(f"Using device: {device}") + + center_frame = args.center_frame or int(cfg.get("warp", {}).get("center_frame", 0)) + + print(f"\n{'='*60}") + print("ERPT Pipeline") + print(f"{'='*60}") + print(f"Stage: {args.stage}") + print(f"Data dir: {data_dir}") + print(f"Output dir: {output_dir}") + + t_start = time.time() + + # --- 加载数据 --- + print(f"\n{'='*60}") + print("[Loading data]") + print(f"{'='*60}") + + image_files = discover_image_files(data_dir) + pose_files = discover_pose_files(data_dir) + print(f" Found {len(image_files)} images, {len(pose_files)} poses") + + if not image_files: + raise FileNotFoundError(f"No image files found in: {data_dir}") + + if center_frame not in image_files: + center_frame = sorted(image_files.keys())[0] + print(f" Using frame {center_frame} as center") + + center_rgb = load_image(image_files[center_frame]) + print(f" Center image: {image_files[center_frame].name}") + print(f" Shape: {center_rgb.shape}") + + erp_cfg = cfg.get("erp", {}) + if bool(erp_cfg.get("auto_size", True)): + erp_h, erp_w = center_rgb.shape[:2] + print(f" Auto size: {erp_w}x{erp_h}") + else: + erp_h = int(erp_cfg.get("height", 2048)) + erp_w = int(erp_cfg.get("width", 4096)) + + # --- 深度加载 / 估计 --- + depth_erp = None + + if args.stage == "all": + print(f"\n [Stage: all] 强制执行深度估计") + depth_erp = run_depth_pipeline( + center_rgb, cfg, device, output_dir, erp_h, erp_w, center_frame, + ) + + elif args.stage == "depth_only": + depth_erp = run_depth_pipeline( + center_rgb, cfg, device, output_dir, erp_h, erp_w, center_frame, + ) + + elif args.stage == "warp_only": + # 搜索已有深度（真值 > 已估计结果），不回退到深度估计 + depth_candidates = [] + + if center_frame in image_files: + stem = image_files[center_frame].stem + depth_candidates.append(data_dir / f"{stem}_depth.npy") + depth_candidates.append(data_dir / f"{stem}_depth.exr") + depth_candidates.append(data_dir / f"{stem}.npy") + depth_candidates.append(data_dir / f"depth_{center_frame:04d}.npy") + depth_candidates.append(output_dir / "depth_erp" / f"depth_{center_frame:04d}.npy") + + for dp in depth_candidates: + if dp.exists(): + if dp.suffix == ".exr": + depth_erp = cv2.imread(str(dp), cv2.IMREAD_ANYCOLOR | cv2.IMREAD_ANYDEPTH) + if depth_erp is not None and depth_erp.ndim == 3: + depth_erp = depth_erp[:, :, 0] + depth_erp = depth_erp.astype(np.float32) if depth_erp is not None else None + else: + depth_erp = np.load(str(dp)).astype(np.float32) + if depth_erp is not None: + print(f" Loaded depth from {dp}") + break + + # 尺寸校验 + if depth_erp is not None and depth_erp.shape != (erp_h, erp_w): + old_shape = depth_erp.shape + depth_erp = cv2.resize(depth_erp, (erp_w, erp_h), interpolation=cv2.INTER_LINEAR) + print(f" [Warning] Depth resized: {old_shape} -> ({erp_h}, {erp_w})") + + # 没找到深度 → 报错（不回退到深度估计） + if depth_erp is None: + tried = "\n ".join(str(p) for p in depth_candidates) + raise FileNotFoundError( + f"[warp_only] 未找到深度文件，无法执行 warp。\n" + f"已搜索路径:\n {tried}\n" + f"如需深度估计请使用 --stage all" + ) + + # --- Warp 阶段 --- + warp_cfg = cfg.get("warp", {}) + warp_enabled = bool(warp_cfg.get("enabled", True)) + + if args.stage in ("all", "warp_only") and warp_enabled: + run_warp_pipeline( + center_rgb, depth_erp, center_frame, + image_files, pose_files, + cfg, device, output_dir, erp_h, erp_w, + ) + + # --- 完成 --- + total_time = time.time() - t_start + print(f"\n{'='*60}") + print("Pipeline Complete") + print(f"{'='*60}") + print(f"Total time: {total_time:.2f}s") + print(f"Output saved to: {output_dir}") + + +if __name__ == "__main__": + main() diff --git a/pipelines/run_ply_pipeline.py b/pipelines/run_ply_pipeline.py new file mode 100644 index 0000000000000000000000000000000000000000..6b313166d57a22414361ac9f9c63b6ca31f21e39 --- /dev/null +++ b/pipelines/run_ply_pipeline.py @@ -0,0 +1,1967 @@ +#!/usr/bin/env python3 +""" +PLY 全流程 Pipeline（纯 Python，无需 Blender） + +从 .ply 点云/网格文件出发，完成： + Phase 0: 加载场景 + 获取 AABB 边界 + Phase 1: 多高度层撒点 + 7 层过滤（trimesh ray_cast 替代 bpy） + Phase 2: 边渲边选（Open3D ERP 点云渲染 + 深度图） + +输出格式与 run_blend_pipeline.py 完全一致: + panorama_XXXX.png + panorama_XXXX_depth.npy + pose_XXXX.json + +坐标系: ERPT_native 右手系 [X右, Y上, Z前] + PLY 坐标系通常为 Z-up，渲染前统一转换为 Y-up。 + +运行: + python run_ply_pipeline.py \\ + --ply /path/to/scene.ply \\ + --output-dir /path/to/output \\ + --num-frames 30 \\ + --resolution 2048,1024 + +依赖: + pip install open3d trimesh numpy opencv-python pillow +""" + +import argparse +import json +import math +import os +import random as _random +import sys +import time +from concurrent.futures import ThreadPoolExecutor +from pathlib import Path +from typing import Optional + +import numpy as np +import trimesh +import open3d as o3d +import cv2 + +# ── GPU 支持检测 ────────────────────────────────────────────────────────────── +try: + import torch + import torch.nn.functional as _F + _CUDA_AVAILABLE = torch.cuda.is_available() + _TORCH_DEVICE = torch.device("cuda") if _CUDA_AVAILABLE else torch.device("cpu") + if _CUDA_AVAILABLE: + print(f"[GPU] CUDA 可用: {torch.cuda.get_device_name(0)}") + else: + print("[GPU] CUDA 不可用，使用 CPU 渲染") +except ImportError: + torch = None + _CUDA_AVAILABLE = False + _TORCH_DEVICE = None + print("[GPU] torch 未安装，使用 CPU 渲染") + + +WARP_H = 128 +WARP_W = 256 +MARGIN = 0.2 # 距边界最小安全距离（PLY 场景通常比 blend 精度低，稍微宽松） + +DEFAULT_STOP_GAIN = 0.08 +DEFAULT_OVERLAP_PENALTY = 0.5 +DEFAULT_MIN_DIST = 0.6 +DEFAULT_MIN_FRAMES = 5 + +ROTATION_TYPES = { + "none": [0.0, 0.0, 0.0], + "rotate_x_90": [math.pi / 2, 0.0, 0.0], + "rotate_x_180": [math.pi, 0.0, 0.0], + "rotate_z_90": [0.0, 0.0, math.pi / 2], +} + + +def get_camera_rot(rotation_type: str, frame_id: int): + if rotation_type == "random_yaw": + yaw = 0.0 if frame_id == 0 else _random.uniform(0, 2 * math.pi) + return [math.pi / 2, 0.0, yaw] + return list(ROTATION_TYPES[rotation_type]) + + +def parse_args(): + parser = argparse.ArgumentParser(description="PLY Pipeline（边渲边选）") + parser.add_argument("--ply", type=str, required=True, + help=".ply 文件路径") + parser.add_argument("--output-dir", type=str, required=True, + help="输出目录") + parser.add_argument("--num-frames", type=int, default=30) + parser.add_argument("--resolution", type=str, default="2048,1024", + help="渲染分辨率 width,height") + parser.add_argument("--grid-spacing", type=float, default=0.5, + help="候选点网格间距（米）") + parser.add_argument("--camera-height", type=float, default=None, + help="固定相机高度（米），None=自动多层") + parser.add_argument("--stop-gain", type=float, default=DEFAULT_STOP_GAIN) + parser.add_argument("--stop-score", type=float, default=-0.3) + parser.add_argument("--stop-delta", type=float, default=0.08) + parser.add_argument("--min-frames", type=int, default=DEFAULT_MIN_FRAMES) + parser.add_argument("--rotation-type", type=str, default="random_yaw", + choices=["none", "rotate_x_90", "rotate_x_180", + "rotate_z_90", "random_yaw"]) + parser.add_argument("--point-size", type=float, default=2.0, + help="点云渲染点径（像素）") + parser.add_argument("--z-up", action="store_true", default=True, + help="PLY 坐标系为 Z-up（默认 True，转为 Y-up）") + parser.add_argument("--no-z-up", dest="z_up", action="store_false") + return parser.parse_args() + + +def load_ply_scene(ply_path: str, z_up: bool = True): + """加载 PLY，可选将 Z-up 转为 Y-up（ERPT_native） + + PLY 常见坐标系: + Z-up: X右, Y前, Z上 → 转换: X'=X, Y'=Z, Z'=Y（ERPT_native） + Y-up: X右, Y上, Z前 → 直接使用 + + Returns: + mesh_or_pc: trimesh 对象（Mesh 或 PointCloud） + pts_world: np.ndarray (N,3) Y-up 世界点坐标 + bmin, bmax: AABB (3,) float + is_mesh: bool, True=Trimesh Mesh（支持 ray_cast） + faces: np.ndarray (F,3) int 或 None（纯点云时为 None） + """ + print(f"\n[Phase 0] 加载场景: {ply_path}") + scene_or_mesh = trimesh.load(ply_path, process=False, force=None) + + # trimesh 可能返回 Scene（多个 mesh 合并） + if isinstance(scene_or_mesh, trimesh.Scene): + mesh = trimesh.util.concatenate( + [g for g in scene_or_mesh.geometry.values() + if isinstance(g, trimesh.Trimesh)] + ) + is_mesh = True + elif isinstance(scene_or_mesh, trimesh.Trimesh): + mesh = scene_or_mesh + is_mesh = True + elif isinstance(scene_or_mesh, trimesh.PointCloud): + mesh = scene_or_mesh + is_mesh = False + else: + # 尝试强制为 PointCloud + mesh = trimesh.load(ply_path, process=False, force='mesh') + is_mesh = isinstance(mesh, trimesh.Trimesh) + + # 获取顶点坐标和面数据 + pts_raw = np.array(mesh.vertices, dtype=np.float64) + faces = np.array(mesh.faces, dtype=np.int32) if is_mesh else None + + print(f" 点数: {len(pts_raw)}, 面数: {len(faces) if faces is not None else 0}, is_mesh={is_mesh}") + + # 坐标系转换 Z-up → Y-up（ERPT_native） + if z_up: + pts_world = pts_raw[:, [0, 2, 1]].copy() + else: + pts_world = pts_raw.copy() + + bmin = pts_world.min(axis=0) + bmax = pts_world.max(axis=0) + + print(f" AABB (Y-up): min=[{bmin[0]:.2f}, {bmin[1]:.2f}, {bmin[2]:.2f}] " + f"max=[{bmax[0]:.2f}, {bmax[1]:.2f}, {bmax[2]:.2f}]") + + return mesh, pts_world, bmin, bmax, is_mesh, faces + + +class RayCaster: + """封装 trimesh RayMeshIntersector，提供与 Blender ray_cast 相同的接口。 + + 对于纯点云（非 mesh）场景，降级为"无碰撞"模式（所有射线无 hit）， + 只能依靠 AABB 做粗略过滤。 + """ + + def __init__(self, mesh, pts_world: np.ndarray, bmin, bmax, + is_mesh: bool, z_up: bool = True): + self.is_mesh = is_mesh + self.pts_world = pts_world + self.bmin = np.array(bmin) + self.bmax = np.array(bmax) + self.z_up = z_up + self._intersector = None + + if is_mesh and isinstance(mesh, trimesh.Trimesh): + if z_up: + # 需要把 mesh 顶点也转为 Y-up + verts = np.array(mesh.vertices, dtype=np.float64) + verts_yup = verts[:, [0, 2, 1]] + import copy + m2 = copy.deepcopy(mesh) + m2.vertices = verts_yup + self._intersector = trimesh.ray.ray_pyembree.RayMeshIntersector(m2) \ + if hasattr(trimesh.ray, 'ray_pyembree') \ + else trimesh.ray.ray_triangle.RayMeshIntersector(m2) + else: + self._intersector = trimesh.ray.ray_pyembree.RayMeshIntersector(mesh) \ + if hasattr(trimesh.ray, 'ray_pyembree') \ + else trimesh.ray.ray_triangle.RayMeshIntersector(mesh) + print(" [RayCaster] 使用 trimesh RayMeshIntersector") + else: + print(" [RayCaster] 非 Mesh 场景，使用 AABB 降级模式") + + def cast_ray(self, origin: np.ndarray, direction: np.ndarray): + """单条射线，返回 (hit: bool, dist: float) + + hit=True 时 dist 为交点距离（米）。 + hit=False 时 dist=inf。 + """ + if self._intersector is None: + return False, float('inf') + + o = np.array(origin, dtype=np.float64)[np.newaxis] # (1,3) + d = np.array(direction, dtype=np.float64)[np.newaxis] + d = d / (np.linalg.norm(d) + 1e-12) + + try: + locs, idx_ray, idx_tri = self._intersector.intersects_location( + o, d, multiple_hits=True) + except Exception: + return False, float('inf') + + if len(locs) == 0: + return False, float('inf') + + dists = np.linalg.norm(locs - origin, axis=1) + # 过滤极近距离（防止自交） + valid = dists > 1e-4 + if not np.any(valid): + return False, float('inf') + + min_dist = float(dists[valid].min()) + return True, min_dist + + def cast_rays_batch(self, origin: np.ndarray, + directions: np.ndarray) -> np.ndarray: + """批量射线，返回 dist 数组 (N,)，无 hit 为 inf。""" + if self._intersector is None: + return np.full(len(directions), float('inf')) + + origins = np.tile(origin[np.newaxis], (len(directions), 1)) + dirs = directions / (np.linalg.norm(directions, axis=1, keepdims=True) + 1e-12) + + try: + locs, idx_ray, idx_tri = self._intersector.intersects_location( + origins, dirs, multiple_hits=True) + except Exception: + return np.full(len(directions), float('inf')) + + dists_out = np.full(len(directions), float('inf')) + if len(locs) == 0: + return dists_out + + # 每条射线取最近交点 + for i, (loc, ir) in enumerate(zip(locs, idx_ray)): + d = float(np.linalg.norm(loc - origin)) + if d > 1e-4 and d < dists_out[ir]: + dists_out[ir] = d + + return dists_out + + +def compute_camera_heights(floor_y: float, ceiling_y: float, + manual_height=None): + """计算相机高度层（Y-up 坐标系，Y=高度）""" + CEIL_CLEARANCE = 0.3 + FIXED_HEIGHTS = [0.5, 0.8, 1.2, 1.7, 2.1] + + if manual_height is not None: + return [manual_height] + + room_h = ceiling_y - floor_y + if room_h <= 0: + return [floor_y + 1.5] + + heights = [] + for eye_h in FIXED_HEIGHTS: + z = floor_y + eye_h + if z < ceiling_y - CEIL_CLEARANCE: + heights.append(z) + + if room_h > 3.0: + cur_h = FIXED_HEIGHTS[-1] + step = 1.0 + while True: + cur_h += step + z = floor_y + cur_h + if z >= ceiling_y - CEIL_CLEARANCE: + break + heights.append(z) + step = min(step + 0.5, 3.0) + + top_y = ceiling_y - CEIL_CLEARANCE + if heights and top_y > max(heights) + 0.5: + heights.append(top_y) + elif not heights and top_y > floor_y + 0.5: + heights.append(top_y) + + return sorted(set(round(h, 2) for h in heights)) if heights else [floor_y + 1.5] + + +def generate_candidate_grid(bmin, bmax, x_spacing, z_spacing, heights): + """生成候选点网格（Y-up 坐标系：X=右, Y=高, Z=前） + + heights 是 Y 方向的高度值列表。 + """ + cx = (bmin[0] + bmax[0]) / 2 + cz = (bmin[2] + bmax[2]) / 2 + + x_half = int((bmax[0] - cx - MARGIN) / x_spacing) + z_half = int((bmax[2] - cz - MARGIN) / z_spacing) + + xz_offsets = [] + for ix in range(-x_half, x_half + 1): + for iz in range(-z_half, z_half + 1): + x = cx + ix * x_spacing + z = cz + iz * z_spacing + if (bmin[0] + MARGIN <= x <= bmax[0] - MARGIN and + bmin[2] + MARGIN <= z <= bmax[2] - MARGIN): + xz_offsets.append((ix * ix + iz * iz, x, z)) + xz_offsets.sort(key=lambda t: t[0]) + + candidates = [] + for y in heights: + for _, x, z in xz_offsets: + candidates.append([float(x), float(y), float(z)]) + + n_xz = len(xz_offsets) + print(f" 网格: {n_xz}点/层 x {len(heights)}层 = {len(candidates)} 个候选") + return candidates + + +def _build_26_directions_yup(): + """26 方向球面采样（Y-up 坐标系：水平面=XZ，竖直=Y）""" + dirs = [] + # 水平 16 方向（XZ 平面） + for i in range(16): + a = i * (2 * math.pi / 16) + dirs.append(np.array([math.cos(a), 0.0, math.sin(a)])) + # 上方 5 方向 + elev = math.pi / 4 + for i in range(5): + a = i * (2 * math.pi / 5) + dirs.append(np.array([ + math.cos(a) * math.cos(elev), + math.sin(elev), + math.sin(a) * math.cos(elev), + ])) + # 下方 5 方向 + for i in range(5): + a = i * (2 * math.pi / 5) + dirs.append(np.array([ + math.cos(a) * math.cos(elev), + -math.sin(elev), + math.sin(a) * math.cos(elev), + ])) + return dirs + + +def raycast_filter(candidates, raycaster: RayCaster, room_height: float, + min_wall_dist: float = 1.0): + """7 层候选点过滤（Y-up 坐标系） + + 第 1 层: 室内检测（朝+Y/-Y 各一条射线，距离合理） + 第 2 层: 穿模检测（≥2 方向 < 0.2m） + 第 3 层: 角落检测（>50% 水平方向 < 1.0m） + 第 4 层: 包裹检测（hit_rate≥90% + CV<0.30 + max<8m） + 第 5 层: 贴墙检测（水平 16 方向最近 < 0.3m） + 第 6 层: 视野质量（有效命中比例 < 35%） + 第 7 层: 窄缝检测（对向水平距离之和 < 1.5m） + + 非 Mesh 场景（降级模式）：跳过射线过滤，仅做 AABB 内判断。 + """ + if raycaster._intersector is None: + print(" [过滤] 非 Mesh 场景，跳过射线过滤，返回所有 AABB 内候选") + bmin, bmax = raycaster.bmin, raycaster.bmax + passed = [c for c in candidates + if all(bmin[i] + MARGIN <= c[i] <= bmax[i] - MARGIN + for i in [0, 2])] + print(f" 过滤统计: 总计={len(candidates)}, 通过={len(passed)}") + return passed + + DIRS_26 = _build_26_directions_yup() + n26 = len(DIRS_26) + + dir_up = np.array([0.0, 1.0, 0.0]) + dir_down = np.array([0.0, -1.0, 0.0]) + max_up = max(5.0, room_height) + max_down = max(3.0, room_height) + + MIN_WALL_CLEARANCE = 0.3 + VIEW_GOOD_MIN = 0.5 + VIEW_GOOD_MAX = 20.0 + VIEW_GOOD_RATIO = 0.35 + MIN_SLIT_WIDTH = 1.5 + + N = len(candidates) + passed = [] + stats = {"无天花板": 0, "无地板": 0, "穿模": 0, "角落": 0, + "包裹": 0, "贴墙": 0, "视野差": 0, "窄缝": 0} + + t0 = time.time() + log_interval = max(1, N // 10) + + for idx, pos in enumerate(candidates): + if idx % log_interval == 0 and idx > 0: + print(f" 过滤进度: {idx}/{N} ({idx*100//N}%)", flush=True) + + origin = np.array(pos, dtype=np.float64) + + # 第 1 层: 室内检测（Y-up：朝上=+Y，朝下=-Y） + hit_up, d_up = raycaster.cast_ray(origin, dir_up) + if not hit_up or d_up > max_up: + stats["无天花板"] += 1 + continue + + hit_dn, d_dn = raycaster.cast_ray(origin, dir_down) + if not hit_dn or d_dn > max_down: + stats["无地板"] += 1 + continue + + # 第 2~7 层: 26 方向采样 + dists = raycaster.cast_rays_batch(origin, np.array(DIRS_26)) + + # 第 2 层: 穿模 + n_close = int(np.sum(dists < 0.2)) + if n_close >= 2: + stats["穿模"] += 1 + continue + + # 第 3 层: 角落（水平 16 方向） + n_wall = int(np.sum(dists[:16] < min_wall_dist)) + if n_wall > 8: + stats["角落"] += 1 + continue + + # 第 4 层: 包裹 + finite = dists[np.isfinite(dists)] + hit_rate = len(finite) / n26 + if hit_rate >= 0.90 and len(finite) >= 2: + mean_d = float(finite.mean()) + max_d = float(finite.max()) + if mean_d > 0: + cv = float(finite.std()) / mean_d + if cv < 0.30 and max_d < 8.0: + stats["包裹"] += 1 + continue + + # 第 5 层: 贴墙 + horiz_finite = dists[:16][np.isfinite(dists[:16])] + if len(horiz_finite) > 0 and float(horiz_finite.min()) < MIN_WALL_CLEARANCE: + stats["贴墙"] += 1 + continue + + # 第 6 层: 视野质量 + n_good = int(np.sum((dists >= VIEW_GOOD_MIN) & (dists <= VIEW_GOOD_MAX))) + if n_good / n26 < VIEW_GOOD_RATIO: + stats["视野差"] += 1 + continue + + # 第 7 层: 窄缝 + in_slit = False + for i in range(8): + d_fwd = dists[i] if np.isfinite(dists[i]) else 999 + d_bwd = dists[i + 8] if np.isfinite(dists[i + 8]) else 999 + if d_fwd + d_bwd < MIN_SLIT_WIDTH: + in_slit = True + break + if in_slit: + stats["窄缝"] += 1 + continue + + passed.append(pos) + + dt = time.time() - t0 + print(f" 过滤统计 ({dt:.1f}s): 总计={N}, 通过={len(passed)}") + for k, v in stats.items(): + if v > 0: + print(f" ❌ {k}: {v} ({v * 100 // max(N, 1)}%)") + + return passed + + +def _euler_to_rotation_matrix(rx: float, ry: float, rz: float) -> np.ndarray: + """XYZ 欧拉角 → 旋转矩阵（用于 ERP 相机朝向，Y-up 坐标系）""" + cx, sx = math.cos(rx), math.sin(rx) + cy, sy = math.cos(ry), math.sin(ry) + cz, sz = math.cos(rz), math.sin(rz) + + Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]]) + Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]]) + Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]]) + return Rz @ Ry @ Rx + + +def render_erp_pointcloud(pts_world: np.ndarray, + cam_pos: np.ndarray, + cam_rot_euler: list, + width: int, + height: int, + point_size: float = 2.0): + """将点云渲染为 ERP 全景图（等距圆柱投影） + + 算法: + 1. 将所有世界点变换到相机坐标系 + 2. 计算每个点的方位角 (lon) 和仰角 (lat)（Y-up 右手系） + 3. 投影到 ERP 像素坐标 + 4. 用 Z-buffer 填充 RGB + depth 图，splat_radius=point_size + + 坐标系 (ERPT_native, Y-up): + 相机前向 = +Z_cam, 上方 = +Y_cam, 右方 = +X_cam + lon = atan2(x_cam, z_cam) （正前方=0，右=+） + lat = atan2(y_cam, sqrt(x^2+z^2))（上=+π/2） + + Returns: + rgb : np.ndarray (H, W, 3) uint8 + depth : np.ndarray (H, W) float32，range depth（米），0=无效 + """ + o3d = o3d + + cam_pos = np.array(cam_pos, dtype=np.float64) + # 旋转矩阵：world → camera + # 相机默认朝向 +Z，根据欧拉角旋转 + R_cw = _euler_to_rotation_matrix(*cam_rot_euler) # cam_to_world + R_wc = R_cw.T # world_to_cam + + # 变换点云到相机坐标系 + vecs = pts_world - cam_pos # (N, 3) + pts_cam = (R_wc @ vecs.T).T # (N, 3) + + x_c = pts_cam[:, 0] + y_c = pts_cam[:, 1] + z_c = pts_cam[:, 2] + + # 计算经纬度（ERPT_native 约定） + lon = np.arctan2(x_c, z_c) # [-π, π] + r_xz = np.sqrt(x_c ** 2 + z_c ** 2) + lat = np.arctan2(y_c, r_xz) # [-π/2, π/2] + + # 转为像素坐标 + u = ((lon / (2 * math.pi) + 0.5) * width).astype(np.float32) + v = ((0.5 - lat / math.pi) * height).astype(np.float32) + u = np.clip(u, 0, width - 1).astype(np.int32) + v = np.clip(v, 0, height - 1).astype(np.int32) + + # range depth = 射线距离（米） + dist = np.sqrt(x_c ** 2 + y_c ** 2 + z_c ** 2).astype(np.float32) + + # 尝试获取点云颜色 + has_colors = hasattr(pts_world, '_colors') + colors_rgb = None + + # 初始化图像缓冲区 + rgb_buf = np.zeros((height, width, 3), dtype=np.uint8) + depth_buf = np.full((height, width), np.inf, dtype=np.float32) + + # Z-buffer 渲染（每点 splat_radius 像素） + radius = max(1, int(round(point_size / 2))) + + # 为效率起见，用 numpy 向量化做单像素填充，然后 dilate + # 先做精确 Z-buffer（单像素） + for i in np.argsort(dist)[::-1]: # 从远到近，近的覆盖远的 + ui, vi = u[i], v[i] + di = dist[i] + if di <= 0 or not np.isfinite(di): + continue + if di < depth_buf[vi, ui]: + depth_buf[vi, ui] = di + if colors_rgb is not None: + rgb_buf[vi, ui] = colors_rgb[i] + else: + # 无颜色时用伪彩色（深度着色） + c = int(np.clip(255 * (1.0 - di / 20.0), 0, 255)) + rgb_buf[vi, ui] = [c, c, c] + + # 如果有 Open3D 点云颜色，补充颜色 + # （此处暂用灰度，完整颜色在下方 _render_with_colors 中处理） + depth_out = np.where(np.isfinite(depth_buf), depth_buf, 0.0).astype(np.float32) + return rgb_buf, depth_out + + +def _gpu_align_u(u_ref, u_other, W: int): + """把 u_other 对齐到与 u_ref 最近的 ERP 循环副本（GPU tensor）""" + half_w = float(W) / 2.0 + diff = u_other - u_ref + u_other = torch.where(diff > half_w, u_other - W, u_other) + u_other = torch.where(diff < -half_w, u_other + W, u_other) + return u_other + + +def _gpu_raster_batch(u0, v0, u1, v1, u2, v2, + c0, c1, c2, d0b, d1b, d2b, + rgb_flat, depth_flat, H: int, W: int): + """完全向量化批量光栅化（无 Python for 循环）。 + + 将所有三角面的包围盒像素展开成一个大 tensor，一次性完成 + 重心坐标计算和 scatter_reduce Z-buffer 写入。 + + Args: + u0/v0, u1/v1, u2/v2: (B,) float32，三顶点 ERP 像素坐标 + c0/c1/c2: (B,3) float32，三顶点颜色 [0,255] + d0b/d1b/d2b: (B,) float32，三顶点距离 + rgb_flat: (H*W, 3) 输出颜色缓冲（就地修改） + depth_flat: (H*W,) 输出深度缓冲（就地修改） + """ + dev = u0.device + + # ── 包围盒 ────────────────────────────────────────────────────────────── + u_lo = torch.clamp(torch.floor(torch.minimum(torch.minimum(u0, u1), u2)).long(), 0, W - 1) + u_hi = torch.clamp(torch.ceil (torch.maximum(torch.maximum(u0, u1), u2)).long(), 0, W - 1) + v_lo = torch.clamp(torch.floor(torch.minimum(torch.minimum(v0, v1), v2)).long(), 0, H - 1) + v_hi = torch.clamp(torch.ceil (torch.maximum(torch.maximum(v0, v1), v2)).long(), 0, H - 1) + + du = u_hi - u_lo + 1 + dv = v_hi - v_lo + 1 + bbox_px = du * dv + + # 过滤退化面 & 超大面 + valid = (u_hi >= u_lo) & (v_hi >= v_lo) & (bbox_px <= 128 * 128) + if not valid.any(): + return + + idx = valid.nonzero(as_tuple=False).squeeze(1) + u0v = u0[idx]; v0v = v0[idx] + u1v = u1[idx]; v1v = v1[idx] + u2v = u2[idx]; v2v = v2[idx] + c0v = c0[idx]; c1v = c1[idx]; c2v = c2[idx] + d0v = d0b[idx]; d1v = d1b[idx]; d2v = d2b[idx] + u_lv = u_lo[idx]; u_hv = u_hi[idx] + v_lv = v_lo[idx]; v_hv = v_hi[idx] + duv = u_hv - u_lv + 1 + dvv = v_hv - v_lv + 1 + npx = duv * dvv + + Bp = int(npx.sum().item()) + if Bp == 0: + return + + # ── 展开：repeat_interleave 把面 id 重复 npx[i] 次 ────────────────────── + face_id = torch.repeat_interleave( + torch.arange(len(idx), device=dev, dtype=torch.long), npx) + + cumsum = torch.zeros(len(idx) + 1, dtype=torch.long, device=dev) + cumsum[1:] = torch.cumsum(npx, 0) + local_flat = torch.arange(Bp, device=dev, dtype=torch.long) - cumsum[face_id] + + local_u = local_flat % duv[face_id] + local_v = local_flat // duv[face_id] + + uu = (u_lv[face_id] + local_u).float() + vv = (v_lv[face_id] + local_v).float() + + # ── 重心坐标（完全向量化） ─────────────────────────────────────────────── + ax = u0v[face_id]; ay = v0v[face_id] + bx = u1v[face_id]; by = v1v[face_id] + cx = u2v[face_id]; cy = v2v[face_id] + + denom = (by - cy) * (ax - cx) + (cx - bx) * (ay - cy) + safe = denom.abs() > 1e-8 + inv_d = torch.where(safe, 1.0 / denom, torch.zeros_like(denom)) + w0 = ((by - cy) * (uu - cx) + (cx - bx) * (vv - cy)) * inv_d + w1 = ((cy - ay) * (uu - cx) + (ax - cx) * (vv - cy)) * inv_d + w2 = 1.0 - w0 - w1 + + inside = safe & (w0 >= -0.01) & (w1 >= -0.01) & (w2 >= -0.01) + if not inside.any(): + return + + fi = face_id[inside] + uui = uu[inside].long() + vvi = vv[inside].long() + w0i = w0[inside]; w1i = w1[inside]; w2i = w2[inside] + + # ── Z-buffer scatter_reduce(amin) ─────────────────────────────────────── + di = w0i * d0v[fi] + w1i * d1v[fi] + w2i * d2v[fi] + lin = vvi * W + uui + depth_flat.scatter_reduce_(0, lin, di, reduce='amin', include_self=True) + + # ── 颜色写入（near-wins） ──────────────────────────────────────────────── + cur_d = depth_flat[lin] + winner = (di - cur_d).abs() < 1e-4 + w0e = w0i[winner].unsqueeze(1) + w1e = w1i[winner].unsqueeze(1) + w2e = w2i[winner].unsqueeze(1) + fie = fi[winner] + col_i = torch.clamp(w0e * c0v[fie] + w1e * c1v[fie] + w2e * c2v[fie], 0, 255) + rgb_flat.scatter_(0, lin[winner].unsqueeze(1).expand(-1, 3), col_i) + + +def _gpu_raster_mesh(u_f, v_f, dist, col_t, f_t, + rgb_flat, depth_flat, H: int, W: int, + batch_size: int = 65536): + """ERP 网格光栅化主流程（含接缝三副本 + OOM 自动降级）。 + + 操作 rgb_flat / depth_flat 缓冲（就地修改）。 + """ + d0t = dist[f_t[:, 0]]; d1t = dist[f_t[:, 1]]; d2t = dist[f_t[:, 2]] + avg_d = (d0t + d1t + d2t) / 3.0 + order = torch.argsort(avg_d, descending=True) + f_ord = f_t[order] + d0t, d1t, d2t = dist[f_ord[:, 0]], dist[f_ord[:, 1]], dist[f_ord[:, 2]] + c0t = col_t[f_ord[:, 0]]; c1t = col_t[f_ord[:, 1]]; c2t = col_t[f_ord[:, 2]] + u0r = u_f[f_ord[:, 0]]; u1r = u_f[f_ord[:, 1]]; u2r = u_f[f_ord[:, 2]] + v0r = v_f[f_ord[:, 0]]; v1r = v_f[f_ord[:, 1]]; v2r = v_f[f_ord[:, 2]] + + valid_f = (d0t > 1e-4) & (d1t > 1e-4) & (d2t > 1e-4) + f_idx = valid_f.nonzero(as_tuple=False).squeeze(1) + + def _process_batch(bi): + u0b = u0r[bi]; v0b = v0r[bi] + u1b = _gpu_align_u(u0b, u1r[bi], W) + u2b = _gpu_align_u(u0b, u2r[bi], W) + v1b = v1r[bi]; v2b = v2r[bi] + c0b = c0t[bi]; c1b = c1t[bi]; c2b = c2t[bi] + d0b_ = d0t[bi]; d1b_ = d1t[bi]; d2b_ = d2t[bi] + # 三副本 concat：主 + 左(u-W) + 右(u+W)，一次送入减少 kernel launch + _gpu_raster_batch( + torch.cat([u0b, u0b - W, u0b + W]), + torch.cat([v0b, v0b, v0b ]), + torch.cat([u1b, u1b - W, u1b + W]), + torch.cat([v1b, v1b, v1b ]), + torch.cat([u2b, u2b - W, u2b + W]), + torch.cat([v2b, v2b, v2b ]), + torch.cat([c0b, c0b, c0b]), + torch.cat([c1b, c1b, c1b]), + torch.cat([c2b, c2b, c2b]), + torch.cat([d0b_, d0b_, d0b_]), + torch.cat([d1b_, d1b_, d1b_]), + torch.cat([d2b_, d2b_, d2b_]), + rgb_flat, depth_flat, H, W, + ) + + try: + _process_batch(f_idx) + except torch.cuda.OutOfMemoryError: + torch.cuda.empty_cache() + print(f" [WARN] OOM（{len(f_idx)} 面），自动降级分批 batch={batch_size}") + for start in range(0, len(f_idx), batch_size): + _process_batch(f_idx[start: start + batch_size]) + + +def _gpu_splat_pointcloud(u_f, v_f, dist, col_t, + rgb_flat, depth_flat, H: int, W: int, + point_size: float = 2.0): + """点云 scatter Z-buffer splatting（就地修改 rgb_flat / depth_flat）""" + valid = dist > 1e-4 + u_i = torch.clamp(u_f[valid].long(), 0, W - 1) + v_i = torch.clamp(v_f[valid].long(), 0, H - 1) + dist_v = dist[valid] + col_v = col_t[valid] + lin = v_i * W + u_i + radius = max(0, int(round(point_size / 2)) - 1) + + if radius == 0: + depth_flat.scatter_reduce_(0, lin, dist_v, reduce='amin', include_self=True) + sort_idx = torch.argsort(dist_v) + rgb_flat.scatter_(0, lin[sort_idx].unsqueeze(1).expand(-1, 3), col_v[sort_idx]) + else: + for dr in range(-radius, radius + 1): + for dc in range(-radius, radius + 1): + v_nb = torch.clamp(v_i + dr, 0, H - 1) + u_nb = torch.clamp(u_i + dc, 0, W - 1) + depth_flat.scatter_reduce_(0, v_nb * W + u_nb, dist_v, + reduce='amin', include_self=True) + sort_idx = torch.argsort(dist_v, descending=True) + for dr in range(-radius, radius + 1): + for dc in range(-radius, radius + 1): + v_nb = torch.clamp(v_i[sort_idx] + dr, 0, H - 1) + u_nb = torch.clamp(u_i[sort_idx] + dc, 0, W - 1) + rgb_flat.scatter_(0, (v_nb * W + u_nb).unsqueeze(1).expand(-1, 3), + col_v[sort_idx]) + + +def _gpu_fill_holes(rgb_2d, depth_out): + """GPU 空洞填充：大核 max_pool2d + 残余小孔迭代收尾。 + + Args: + rgb_2d: (H,W,3) float32 GPU tensor + depth_out: (H,W) float32 GPU tensor（0=空洞） + + Returns: + rgb_2d: (H,W,3) float32，填充后 + """ + hole = (depth_out == 0) + if not hole.any(): + return rgb_2d + + fill_radius = 32 + k = fill_radius * 2 + 1 # 65 + + rgb_f = rgb_2d.permute(2, 0, 1).unsqueeze(0).float() # (1,3,H,W) + valid_m = (~hole).float().unsqueeze(0).unsqueeze(0) # (1,1,H,W) + + rgb_masked = rgb_f * valid_m + expanded = _F.max_pool2d(rgb_masked, kernel_size=k, stride=1, padding=fill_radius) + valid_exp = _F.max_pool2d(valid_m, kernel_size=k, stride=1, padding=fill_radius) > 0 + + fill_mask = hole.unsqueeze(0).unsqueeze(0) & valid_exp + rgb_f = torch.where(fill_mask.expand_as(rgb_f), expanded, rgb_f) + + # 残余大孔洞：最多 8 轮 3×3 迭代收尾 + hole2 = hole & ~fill_mask.squeeze(0).squeeze(0) + if hole2.any(): + valid_f2 = (~hole2).float().unsqueeze(0).unsqueeze(0) + rgb_f2 = rgb_f + for _ in range(8): + if not hole2.any(): + break + r2m = rgb_f2 * valid_f2 + exp2 = _F.max_pool2d(r2m, kernel_size=3, stride=1, padding=1) + vd2 = _F.max_pool2d(valid_f2, kernel_size=3, stride=1, padding=1) > 0 + nw2 = hole2.unsqueeze(0).unsqueeze(0) & vd2 + if not nw2.any(): + break + rgb_f2 = torch.where(nw2.expand_as(rgb_f2), exp2, rgb_f2) + valid_f2 = torch.where(nw2, torch.ones_like(valid_f2), valid_f2) + hole2 = hole2 & ~nw2.squeeze(0).squeeze(0) + rgb_f = rgb_f2 + + return rgb_f.squeeze(0).permute(1, 2, 0) # (H,W,3) + + +def _render_erp_gpu(pts_world: np.ndarray, + colors_world, + cam_pos, + R_wc: np.ndarray, + width: int, + height: int, + faces: np.ndarray = None, + point_size: float = 2.0, + batch_size: int = 65536) -> tuple: + """GPU（CUDA）加速的 ERP 全景渲染。 + + 所有计算在 GPU tensor 上完成： + 1. 顶点变换 + ERP 投影（全量向量化） + 2. 网格/点云光栅化（委托给共享辅助函数） + 3. 空洞填充：max_pool2d 大核膨胀（纯 GPU，无 cv2） + + Returns: + rgb (H, W, 3) uint8 numpy + depth (H, W) float32 numpy + """ + dev = _TORCH_DEVICE + + # ── 1. 顶点变换到相机坐标系 ────────────────────────────────────────────── + pts = torch.from_numpy(pts_world.astype(np.float32)).to(dev) + cp = torch.from_numpy(cam_pos.astype(np.float32)).to(dev) + R = torch.from_numpy(R_wc.astype(np.float32)).to(dev) + + pts_cam = (R @ (pts - cp).T).T + x_c, y_c, z_c = pts_cam[:, 0], pts_cam[:, 1], pts_cam[:, 2] + + # ── 2. ERP 投影 ────────────────────────────────────────────────────────── + lon = torch.atan2(x_c, z_c) + r_xz = torch.sqrt(x_c ** 2 + z_c ** 2) + lat = torch.atan2(y_c, r_xz) + u_f = (lon / (2 * math.pi) + 0.5) * width + v_f = (0.5 - lat / math.pi) * height + dist = torch.sqrt(x_c ** 2 + y_c ** 2 + z_c ** 2) + + # ── 3. 顶点颜色 ────────────────────────────────────────────────────────── + if colors_world is not None: + col_np = colors_world if colors_world.dtype == np.uint8 \ + else (np.clip(colors_world, 0, 1) * 255).astype(np.uint8) + col_t = torch.from_numpy(col_np.astype(np.float32)).to(dev) + else: + d_norm = torch.clamp(dist / max(float(dist.max()), 1.0), 0, 1) + g = torch.clamp((1.0 - d_norm) * 200 + 30, 0, 255) + col_t = g.unsqueeze(1).expand(-1, 3) + + H, W = height, width + INF = 1e9 + rgb_flat = torch.zeros(H * W, 3, dtype=torch.float32, device=dev) + depth_flat = torch.full((H * W,), INF, dtype=torch.float32, device=dev) + + # ── 4. 光栅化 ──────────────────────────────────────────────────────────── + if faces is not None and len(faces) > 0: + f_t = torch.from_numpy(faces.astype(np.int64)).to(dev) + _gpu_raster_mesh(u_f, v_f, dist, col_t, f_t, + rgb_flat, depth_flat, H, W, batch_size) + else: + _gpu_splat_pointcloud(u_f, v_f, dist, col_t, + rgb_flat, depth_flat, H, W, point_size) + + # ── 5. reshape ─────────────────────────────────────────────────────────── + depth_2d = depth_flat.reshape(H, W) + rgb_2d = rgb_flat.reshape(H, W, 3) + depth_out = torch.where(depth_2d < INF / 2, depth_2d, torch.zeros_like(depth_2d)) + + # ── 6. 空洞填充 ────────────────────────────────────────────────────────── + if faces is not None and len(faces) > 0: + rgb_2d = _gpu_fill_holes(rgb_2d, depth_out) + + # ── 7. 回传 numpy ──────────────────────────────────────────────────────── + rgb_np = rgb_2d.clamp(0, 255).byte().cpu().numpy() + depth_np = depth_out.cpu().numpy().astype(np.float32) + return rgb_np, depth_np + + +def render_erp_batch_gpu(pts_world: np.ndarray, + colors_world, + cam_poses: list, + cam_rots: list, + width: int, + height: int, + faces: np.ndarray = None, + point_size: float = 2.0) -> list: + """并行批量渲染多个相机视角（共用同一场景，减少重复数据传输）。 + + 将场景数据（pts_world, colors_world, faces）只上传一次到 GPU， + 然后依次渲染 len(cam_poses) 个视角，显著减少 PCIe 传输开销。 + + Args: + cam_poses: list of [x, y, z]，各帧相机位置 + cam_rots: list of [rx, ry, rz]，各帧相机欧拉角 + + Returns: + list of (rgb_np, depth_np) 与输入顺序对应 + """ + if not (_CUDA_AVAILABLE and torch is not None): + return [ + render_erp_from_ply(pts_world, colors_world, pos, rot, + width, height, point_size, faces) + for pos, rot in zip(cam_poses, cam_rots) + ] + + dev = _TORCH_DEVICE + + # ── 场景数据上传（只做一次）────────────────────────────────────────────── + pts_t = torch.from_numpy(pts_world.astype(np.float32)).to(dev) + + if colors_world is not None: + col_np = colors_world if colors_world.dtype == np.uint8 \ + else (np.clip(colors_world, 0, 1) * 255).astype(np.uint8) + col_t_scene = torch.from_numpy(col_np.astype(np.float32)).to(dev) + else: + col_t_scene = None + + f_t = None + if faces is not None and len(faces) > 0: + f_t = torch.from_numpy(faces.astype(np.int64)).to(dev) + + # ── 逐帧渲染（场景数据复用）────────────────────────────────────────────── + results = [] + for cam_pos, cam_rot in zip(cam_poses, cam_rots): + cam_pos_np = np.array(cam_pos, dtype=np.float64) + R_wc = _euler_to_rotation_matrix(*cam_rot).T + + cp = torch.from_numpy(cam_pos_np.astype(np.float32)).to(dev) + R = torch.from_numpy(R_wc.astype(np.float32)).to(dev) + + pts_cam = (R @ (pts_t - cp).T).T + x_c, y_c, z_c = pts_cam[:, 0], pts_cam[:, 1], pts_cam[:, 2] + lon = torch.atan2(x_c, z_c) + r_xz = torch.sqrt(x_c ** 2 + z_c ** 2) + lat = torch.atan2(y_c, r_xz) + u_f = (lon / (2 * math.pi) + 0.5) * width + v_f = (0.5 - lat / math.pi) * height + dist = torch.sqrt(x_c ** 2 + y_c ** 2 + z_c ** 2) + + if col_t_scene is None: + d_norm = torch.clamp(dist / max(float(dist.max()), 1.0), 0, 1) + g = torch.clamp((1.0 - d_norm) * 200 + 30, 0, 255) + col_frame = g.unsqueeze(1).expand(-1, 3) + else: + col_frame = col_t_scene + + try: + rgb_np, depth_np = _render_erp_gpu_from_projected( + u_f, v_f, dist, col_frame, f_t, width, height, point_size) + except Exception as e: + print(f" [WARN] batch GPU 渲染帧失败，回退单帧: {e}") + rgb_np, depth_np = _render_erp_gpu( + pts_world, colors_world, cam_pos_np, R_wc, + width, height, faces=faces, point_size=point_size) + results.append((rgb_np, depth_np)) + + return results + + +def _render_erp_gpu_from_projected( + u_f, v_f, dist, col_t, f_t, + width: int, height: int, point_size: float = 2.0) -> tuple: + """内部函数：从已投影的 GPU tensor 直接光栅化，省去重复的顶点变换。 + + Args: + u_f, v_f: (N,) float32 GPU tensor，ERP 像素浮点坐标 + dist: (N,) float32 GPU tensor，各顶点到相机距离 + col_t: (N,3) float32 GPU tensor，顶点颜色 [0,255] + f_t: (F,3) int64 GPU tensor 或 None + width, height: 输出分辨率 + """ + dev = u_f.device + H, W = height, width + INF = 1e9 + + rgb_flat = torch.zeros(H * W, 3, dtype=torch.float32, device=dev) + depth_flat = torch.full((H * W,), INF, dtype=torch.float32, device=dev) + + if f_t is not None and len(f_t) > 0: + _gpu_raster_mesh(u_f, v_f, dist, col_t, f_t, + rgb_flat, depth_flat, H, W) + else: + _gpu_splat_pointcloud(u_f, v_f, dist, col_t, + rgb_flat, depth_flat, H, W, point_size) + + depth_2d = depth_flat.reshape(H, W) + rgb_2d = rgb_flat.reshape(H, W, 3) + depth_out = torch.where(depth_2d < INF / 2, depth_2d, torch.zeros_like(depth_2d)) + + if f_t is not None and len(f_t) > 0: + rgb_2d = _gpu_fill_holes(rgb_2d, depth_out) + + rgb_np = rgb_2d.clamp(0, 255).byte().cpu().numpy() + depth_np = depth_out.cpu().numpy().astype(np.float32) + return rgb_np, depth_np + + +def render_erp_from_ply(pts_world: np.ndarray, + colors_world, + cam_pos: list, + cam_rot_euler: list, + width: int, + height: int, + point_size: float = 2.0, + faces: np.ndarray = None): + """带颜色的 ERP 全景图渲染（自动 dispatch 到 GPU/CPU） + + Args: + pts_world: (N,3) float64，Y-up 世界坐标 + colors_world: (N,3) uint8 或 float32，RGB 颜色，None=伪彩 + cam_pos: [x, y, z] 相机位置（Y-up） + cam_rot_euler: [rx, ry, rz] 相机欧拉角（弧度） + width, height: 输出分辨率 + point_size: splat 直径（像素），仅纯点云模式有效 + faces: (F,3) int，三角面顶点索引；有面时走面光栅化 + + Returns: + rgb: (H, W, 3) uint8 + depth: (H, W) float32，range depth（米），0=无效 + """ + cam_pos = np.array(cam_pos, dtype=np.float64) + R_cw = _euler_to_rotation_matrix(*cam_rot_euler) + R_wc = R_cw.T + + # ── GPU dispatch ────────────────────────────────────────────────────── + if _CUDA_AVAILABLE and torch is not None: + try: + return _render_erp_gpu(pts_world, colors_world, + cam_pos, R_wc, + width, height, + faces=faces, point_size=point_size) + except Exception as _gpu_err: + print(f" [WARN] GPU 渲染失败，回退 CPU: {_gpu_err}") + + # ── CPU 路径 ────────────────────────────────────────────────────────── + # 所有顶点变换到相机坐标系 + vecs = pts_world - cam_pos + pts_cam = (R_wc @ vecs.T).T # (N, 3) + + x_c = pts_cam[:, 0].astype(np.float32) + y_c = pts_cam[:, 1].astype(np.float32) + z_c = pts_cam[:, 2].astype(np.float32) + + # ERP 投影：每顶点 → (u_f, v_f, dist) + lon = np.arctan2(x_c, z_c) + r_xz = np.sqrt(x_c ** 2 + z_c ** 2) + lat = np.arctan2(y_c, r_xz) + u_f = (lon / (2 * math.pi) + 0.5) * width # float 像素坐标 + v_f = (0.5 - lat / math.pi) * height + dist = np.sqrt(x_c ** 2 + y_c ** 2 + z_c ** 2) + + # 顶点颜色 + if colors_world is not None: + col_all = colors_world + if col_all.dtype != np.uint8: + col_all = (np.clip(col_all, 0, 1) * 255).astype(np.uint8) + else: + d_norm = np.clip(dist / max(float(dist.max()), 1.0), 0, 1) + g = np.clip((1.0 - d_norm) * 200 + 30, 0, 255).astype(np.uint8) + col_all = np.stack([g, g, g], axis=1) + + rgb_buf = np.zeros((height, width, 3), dtype=np.uint8) + depth_buf = np.full((height, width), np.inf, dtype=np.float32) + + if faces is not None and len(faces) > 0: + # ── 网格模式：三角面光栅化 ────────────────────────────────────── + f = faces.astype(np.int32) + d0, d1, d2 = dist[f[:, 0]], dist[f[:, 1]], dist[f[:, 2]] + face_dist = (d0 + d1 + d2) / 3.0 + valid_face = (d0 > 1e-4) & (d1 > 1e-4) & (d2 > 1e-4) + f = f[valid_face] + face_dist = face_dist[valid_face] + + # 从远到近排序，近面覆盖远面 + order = np.argsort(face_dist)[::-1] + f = f[order] + face_dist = face_dist[order] + + c0s = col_all[f[:, 0]].astype(np.float32) + c1s = col_all[f[:, 1]].astype(np.float32) + c2s = col_all[f[:, 2]].astype(np.float32) + d0s = dist[f[:, 0]] + d1s = dist[f[:, 1]] + d2s = dist[f[:, 2]] + + # 三顶点的 ERP 浮点坐标 + u0s_raw = u_f[f[:, 0]] + u1s_raw = u_f[f[:, 1]] + u2s_raw = u_f[f[:, 2]] + v0s = v_f[f[:, 0]] + v1s = v_f[f[:, 1]] + v2s = v_f[f[:, 2]] + + def _raster_triangle(u0v, v0v, u1v, v1v, u2v, v2v, + c0, c1, c2, dep0, dep1, dep2): + """将单个三角面光栅化写入 rgb_buf / depth_buf（闭包）""" + v_min = max(0, int(math.floor(min(v0v, v1v, v2v)))) + v_max = min(height - 1, int(math.ceil(max(v0v, v1v, v2v)))) + u_min = max(0, int(math.floor(min(u0v, u1v, u2v)))) + u_max = min(width - 1, int(math.ceil(max(u0v, u1v, u2v)))) + if v_max < v_min or u_max < u_min: + return + vs_arr = np.arange(v_min, v_max + 1) + us_arr = np.arange(u_min, u_max + 1) + uu, vv = np.meshgrid(us_arr, vs_arr) + uu = uu.flatten().astype(np.float32) + vv = vv.flatten().astype(np.float32) + denom = ((v1v - v2v) * (u0v - u2v) + (u2v - u1v) * (v0v - v2v)) + if abs(denom) < 1e-8: + return + inv_d = 1.0 / denom + w0 = ((v1v - v2v) * (uu - u2v) + (u2v - u1v) * (vv - v2v)) * inv_d + w1 = ((v2v - v0v) * (uu - u2v) + (u0v - u2v) * (vv - v2v)) * inv_d + w2 = 1.0 - w0 - w1 + inside = (w0 >= -0.01) & (w1 >= -0.01) & (w2 >= -0.01) + if not inside.any(): + return + uu_in = uu[inside].astype(np.int32) + vv_in = vv[inside].astype(np.int32) + w0_in = w0[inside][:, None] + w1_in = w1[inside][:, None] + w2_in = w2[inside][:, None] + di = w0_in[:, 0] * dep0 + w1_in[:, 0] * dep1 + w2_in[:, 0] * dep2 + ci_rgb = np.clip(w0_in * c0 + w1_in * c1 + w2_in * c2, 0, 255).astype(np.uint8) + closer = di < depth_buf[vv_in, uu_in] + if closer.any(): + depth_buf[vv_in[closer], uu_in[closer]] = di[closer] + rgb_buf[vv_in[closer], uu_in[closer]] = ci_rgb[closer] + + half_w = width / 2.0 + + for i in range(len(f)): + u0v, v0v = float(u0s_raw[i]), float(v0s[i]) + u1v, v1v = float(u1s_raw[i]), float(v1s[i]) + u2v, v2v = float(u2s_raw[i]), float(v2s[i]) + c0, c1, c2 = c0s[i], c1s[i], c2s[i] + dep0, dep1, dep2 = float(d0s[i]), float(d1s[i]), float(d2s[i]) + + # 检测是否跨越 ERP 左右边界（u 坐标差 > width/2） + us_tri = np.array([u0v, u1v, u2v]) + u_span = float(us_tri.max() - us_tri.min()) + + if u_span > half_w: + # 跨边界：以 u0 为基准，把 u1/u2 对齐到与 u0 最近的循环副本 + def _align(u_ref, u_other): + diff = u_other - u_ref + if diff > half_w: + return u_other - width + elif diff < -half_w: + return u_other + width + return u_other + + u1_a = _align(u0v, u1v) + u2_a = _align(u0v, u2v) + + # 主渲染（对齐后坐标，_raster_triangle 内部 clip 到 [0, width-1]） + _raster_triangle(u0v, v0v, u1_a, v1v, u2_a, v2v, c0, c1, c2, dep0, dep1, dep2) + # 循环副本（偏移 ±width 处理左右两侧黑边） + _raster_triangle(u0v - width, v0v, u1_a - width, v1v, u2_a - width, v2v, + c0, c1, c2, dep0, dep1, dep2) + _raster_triangle(u0v + width, v0v, u1_a + width, v1v, u2_a + width, v2v, + c0, c1, c2, dep0, dep1, dep2) + else: + _raster_triangle(u0v, v0v, u1v, v1v, u2v, v2v, c0, c1, c2, dep0, dep1, dep2) + + else: + # ── 纯点云模式：Z-buffer Splatting ──────────────────────────── + valid_mask = dist > 1e-4 + u_i = np.clip(u_f.astype(np.int32), 0, width - 1)[valid_mask] + v_i = np.clip(v_f.astype(np.int32), 0, height - 1)[valid_mask] + dist_v = dist[valid_mask] + col_v = col_all[valid_mask] + + order = np.argsort(dist_v)[::-1] + radius = max(0, int(round(point_size / 2)) - 1) + + if radius == 0: + near_order = np.argsort(dist_v) + for idx in near_order: + vi, ui, di = v_i[idx], u_i[idx], dist_v[idx] + if di < depth_buf[vi, ui]: + depth_buf[vi, ui] = di + rgb_buf[vi, ui] = col_v[idx] + else: + for idx in order: + vi, ui, di = int(v_i[idx]), int(u_i[idx]), float(dist_v[idx]) + if not np.isfinite(di): + continue + v0 = max(0, vi - radius) + v1 = min(height, vi + radius + 1) + u0 = max(0, ui - radius) + u1 = min(width, ui + radius + 1) + region = depth_buf[v0:v1, u0:u1] + mask = di < region + region[mask] = di + depth_buf[v0:v1, u0:u1] = region + rgb_region = rgb_buf[v0:v1, u0:u1] + rgb_region[mask] = col_v[idx] + rgb_buf[v0:v1, u0:u1] = rgb_region + + depth_out = np.where(np.isfinite(depth_buf), depth_buf, 0.0).astype(np.float32) + + # ── 空洞填充：迭代最近邻复制，每轮向外扩 1 像素，不修改已有有效像素 ────── + if faces is not None and len(faces) > 0: + hole_mask = (depth_out == 0) # True=空洞 + if hole_mask.any(): + kernel = np.ones((3, 3), np.uint8) + valid_u8 = (~hole_mask).astype(np.uint8) + for _ in range(32): + if not hole_mask.any(): + break + dilated_valid = cv2.dilate(valid_u8, kernel) + newly = hole_mask & (dilated_valid > 0) + if not newly.any(): + break + for c in range(3): + src = rgb_buf[:, :, c] + # dilate 在 valid 区域的颜色，传播到邻近空洞（取邻域最大值近似最近邻） + expanded = cv2.dilate(src * valid_u8, kernel) + rgb_buf[:, :, c] = np.where(newly, expanded, src) + hole_mask[newly] = False + valid_u8[newly] = 1 + + return rgb_buf, depth_out + + +def _extract_ply_colors(mesh_or_pc) -> Optional[np.ndarray]: + """尝试从 trimesh 对象中提取顶点颜色 (N,3) uint8""" + try: + if isinstance(mesh_or_pc, trimesh.Trimesh): + if mesh_or_pc.visual is not None: + if hasattr(mesh_or_pc.visual, 'vertex_colors'): + vc = mesh_or_pc.visual.vertex_colors + if vc is not None and len(vc) > 0: + return np.array(vc[:, :3], dtype=np.uint8) + elif isinstance(mesh_or_pc, trimesh.PointCloud): + if mesh_or_pc.colors is not None and len(mesh_or_pc.colors) > 0: + return np.array(mesh_or_pc.colors[:, :3], dtype=np.uint8) + except Exception as e: + print(f" [WARN] 提取颜色失败: {e}") + return None + + +def save_pose(cam_pos_yup: list, cam_rot_euler: list, + output_path: str, frame_id: int): + """保存位姿 JSON（ERPT 格式，Y-up 坐标系，cam_to_world） + + cam_pos_yup: [x, y, z]，Y-up 世界坐标（已是 ERPT_native） + cam_rot_euler: [rx, ry, rz] 弧度，XYZ 顺序 + """ + R_cw = _euler_to_rotation_matrix(*cam_rot_euler) + + # 旋转矩阵 → 四元数（XYZW 顺序，转为 WXYZ） + # Shepperd 方法 + m = R_cw + t = m[0, 0] + m[1, 1] + m[2, 2] + if t > 0: + s = 0.5 / math.sqrt(t + 1.0) + w = 0.25 / s + x = (m[2, 1] - m[1, 2]) * s + y = (m[0, 2] - m[2, 0]) * s + z = (m[1, 0] - m[0, 1]) * s + elif m[0, 0] > m[1, 1] and m[0, 0] > m[2, 2]: + s = 2.0 * math.sqrt(1.0 + m[0, 0] - m[1, 1] - m[2, 2]) + w = (m[2, 1] - m[1, 2]) / s + x = 0.25 * s + y = (m[0, 1] + m[1, 0]) / s + z = (m[0, 2] + m[2, 0]) / s + elif m[1, 1] > m[2, 2]: + s = 2.0 * math.sqrt(1.0 + m[1, 1] - m[0, 0] - m[2, 2]) + w = (m[0, 2] - m[2, 0]) / s + x = (m[0, 1] + m[1, 0]) / s + y = 0.25 * s + z = (m[1, 2] + m[2, 1]) / s + else: + s = 2.0 * math.sqrt(1.0 + m[2, 2] - m[0, 0] - m[1, 1]) + w = (m[1, 0] - m[0, 1]) / s + x = (m[0, 2] + m[2, 0]) / s + y = (m[1, 2] + m[2, 1]) / s + z = 0.25 * s + + pose_data = { + "frame_id": frame_id, + "position": [float(v) for v in cam_pos_yup], + "rotation_quaternion": [float(w), float(x), float(y), float(z)], + "camera_type": "erp_ray", + "coordinate_system": "right-handed, Y-up, Z-forward (cam_to_world)", + "render_method": "ply_erp", + } + with open(output_path, 'w') as f: + json.dump(pose_data, f, indent=2) + + +def build_ray_directions(H=WARP_H, W=WARP_W): + """ERP 射线方向（Y-up 坐标系）""" + i = np.arange(H, dtype=np.float64) + j = np.arange(W, dtype=np.float64) + lat = np.pi / 2 - np.pi * (i + 0.5) / H # [-π/2, π/2] + lon = 2 * np.pi * (j + 0.5) / W # [0, 2π] + lat, lon = np.meshgrid(lat, lon, indexing='ij') + r_xz = np.cos(lat) + return np.stack([ + r_xz * np.sin(lon), # X + np.sin(lat), # Y (up) + r_xz * np.cos(lon), # Z (front) + ], axis=-1) + + +_ray_dirs_cache = {} + + +def get_ray_dirs(H=WARP_H, W=WARP_W): + if (H, W) not in _ray_dirs_cache: + _ray_dirs_cache[(H, W)] = build_ray_directions(H, W) + return _ray_dirs_cache[(H, W)] + + +def depth_to_3d_points(position, depth, ray_dirs, max_depth=None): + valid = depth > 0 + if max_depth is not None: + valid &= (depth <= max_depth) + if not np.any(valid): + return np.empty((0, 3), dtype=np.float64) + pos = np.array(position, dtype=np.float64) + return (pos + ray_dirs * depth[..., np.newaxis])[valid] + + +def project_points_to_coverage(pts, tgt_pos, H=WARP_H, W=WARP_W): + if len(pts) == 0: + return np.zeros((H, W), dtype=bool) + tgt = np.array(tgt_pos, dtype=np.float64) + vecs = pts - tgt + x, y, z = vecs[:, 0], vecs[:, 1], vecs[:, 2] + r_xz = np.sqrt(x ** 2 + z ** 2) + lat = np.arctan2(y, r_xz) + lon = np.arctan2(x, z) % (2 * np.pi) + vi = np.clip(((np.pi / 2 - lat) / np.pi * H).astype(np.int32), 0, H - 1) + uj = np.clip((lon / (2 * np.pi) * W).astype(np.int32), 0, W - 1) + cov = np.zeros((H, W), dtype=bool) + cov[vi, uj] = True + pad = cov.copy() + pad[1:, :] |= cov[:-1, :] + pad[:-1, :] |= cov[1:, :] + pad[:, 1:] |= cov[:, :-1] + pad[:, :-1] |= cov[:, 1:] + return pad + + +def select_next_frame(candidates, selected_idx, selected_pos, all_pts, + reachable=None): + n = len(candidates) + H, W = WARP_H, WARP_W + total_px = H * W + overlap_penalty = DEFAULT_OVERLAP_PENALTY + + remaining = [] + for i in range(n): + if i in selected_idx: + continue + if reachable is not None and i not in reachable: + continue + remaining.append(i) + + if not remaining: + return -1, 0.0, -999.0, 0 + + scores = {} + for ci in remaining: + cov = project_points_to_coverage(all_pts, candidates[ci], H, W) + covered = int(np.sum(cov)) + new_r = (total_px - covered) / total_px + ovl_r = covered / total_px + scores[ci] = { + "gain": new_r, + "overlap": ovl_r, + "score": new_r - overlap_penalty * ovl_r, + } + + best_ci, best_sc, best_g = -1, -999.0, 0.0 + for ci in remaining: + if scores[ci]["score"] > best_sc: + best_sc = scores[ci]["score"] + best_ci = ci + best_g = scores[ci]["gain"] + + return best_ci, best_g, best_sc, len(remaining) + + +def compute_max_depth(candidates): + pos_arr = np.array(candidates) + diag = float(np.linalg.norm(pos_arr.max(0) - pos_arr.min(0))) + return diag * 1.5 + + +def load_depth_downsampled(path, H=WARP_H, W=WARP_W): + d = np.load(path).astype(np.float32) + d = np.nan_to_num(d, nan=0.0) + if d.shape == (H, W): + return d + try: + return cv2.resize(d, (W, H), interpolation=cv2.INTER_AREA) + except Exception: + h, w = d.shape + bh, bw = h // H, w // W + if bh < 1 or bw < 1: + r = np.zeros((H, W), dtype=np.float32) + r[:min(h, H), :min(w, W)] = d[:min(h, H), :min(w, W)] + return r + return d[:bh * H, :bw * W].reshape(H, bh, W, bw).mean(axis=(1, 3)) + + +def trim_depth(new_depth, new_pos, existing_pts, ray_dirs): + n_orig = int(np.sum(new_depth > 0)) + if len(existing_pts) == 0: + return new_depth.copy(), n_orig, n_orig + cov = project_points_to_coverage(existing_pts, new_pos, + new_depth.shape[0], new_depth.shape[1]) + trimmed = new_depth.copy() + trimmed[cov] = 0 + return trimmed, n_orig, int(np.sum(trimmed > 0)) + + +def update_reachability(current_pos: np.ndarray, candidates, selected_idx, + reachable: set, raycaster: RayCaster): + """从当前位置出发，检测哪些候选点可达（无遮挡直线视线）""" + if raycaster._intersector is None: + # 非 Mesh：所有候选都"可达" + for ci, c in enumerate(candidates): + if ci not in selected_idx: + reachable.add(ci) + return 0 + + n_new = 0 + for ci, cand in enumerate(candidates): + if ci in selected_idx or ci in reachable: + continue + target = np.array(cand, dtype=np.float64) + dist_to_target = float(np.linalg.norm(target - current_pos)) + if dist_to_target < 0.1: + reachable.add(ci) + n_new += 1 + continue + direction = (target - current_pos) / dist_to_target + hit, hit_dist = raycaster.cast_ray(current_pos, direction) + if not hit or hit_dist >= dist_to_target * 0.95: + reachable.add(ci) + n_new += 1 + + return n_new + + +def run_phase2(pts_world: np.ndarray, + colors_world, + faces, + candidates, + mesh_center, + raycaster: RayCaster, + output_dir: str, + max_frames: int, + resolution, + args): + """边选帧边渲染主循环（PLY 版本，逻辑与 Blender 版本对齐）""" + W_render, H_render = resolution + ray_dirs = get_ray_dirs(WARP_H, WARP_W) + max_depth = compute_max_depth(candidates) + + selected_idx = set() + selected_pos = [] + all_pts = np.empty((0, 3), dtype=np.float64) + pts_chunks = [] + results = [] + reachable = set() + + stop_score = args.stop_score + stop_delta = args.stop_delta + min_frames = args.min_frames + + ACTUAL_GAIN_WINDOW = 3 + ACTUAL_GAIN_FLOOR = args.stop_gain + actual_gain_history = [] + delta_history = [] + + # ── 异步 I/O 线程池：写盘与 GPU 渲染并行 ───────────────────────────── + _io_executor = ThreadPoolExecutor(max_workers=2) + _pending_io = [] # list of Future，用于等待上一帧写盘完成 + + def _save_frame_async(rgb, depth, rgb_path, depth_npy, pos, cam_rot, + pose_path, frame_id): + """在线程池中异步保存 PNG + npy + json""" + def _do_save(): + cv2.imwrite(rgb_path, cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR)) + np.save(depth_npy, depth.astype(np.float32)) + save_pose(pos, cam_rot, pose_path, frame_id) + return _io_executor.submit(_do_save) + consecutive_skips = 0 + MAX_CONSECUTIVE_SKIPS = 3 + + # 楼层分组（按 Y 坐标聚类） + y_vals = sorted(set(round(c[1], 2) for c in candidates)) + floors = [[y_vals[0]]] + for y in y_vals[1:]: + if y - floors[-1][-1] > 1.0: + floors.append([y]) + else: + floors[-1].append(y) + + n_floors = len(floors) + floor_mids = [sum(f) / len(f) for f in floors] + candidate_floor = [ + min(range(n_floors), key=lambda i: abs(c[1] - floor_mids[i])) + for c in candidates + ] + current_floor = 0 + + def floor_set(fi): + return set(i for i, f in enumerate(candidate_floor) if f == fi) + + floor_names = [f"楼层{i+1}(Y={min(f):.1f}~{max(f):.1f})" for i, f in enumerate(floors)] + + print(f"\n{'='*60}") + print(f"[Phase 2] 边渲边选 (候选={len(candidates)}, 最多={max_frames}帧)") + print(f"{'='*60}") + print(f" {n_floors} 个楼层: {floor_names}") + + t_total = time.time() + time_select = time_render = time_depth = time_reach = 0.0 + + for frame_count in range(max_frames): + + # ---- 选位置 ---- + t_sel = time.time() + if frame_count == 0: + floor0_cands = [(i, c) for i, c in enumerate(candidates) + if candidate_floor[i] == 0] + if floor0_cands: + f0_pts = np.array([c for _, c in floor0_cands]) + xz_center = np.array([f0_pts[:, 0].mean(), f0_pts[:, 2].mean()]) + floor0_ys = sorted(set(c[1] for _, c in floor0_cands)) + y_target = min(floor0_ys) + 1.2 + target = np.array([xz_center[0], y_target, xz_center[1]]) + dists = [np.linalg.norm(np.array(c) - target) + for _, c in floor0_cands] + ci = floor0_cands[int(np.argmin(dists))][0] + else: + mc = np.array(mesh_center, dtype=np.float64) + ci = int(np.argmin([np.linalg.norm(np.array(c) - mc) + for c in candidates])) + gain, score = 1.0, 1.0 + print(f"\n F{frame_count}: 选候选[{ci}] (楼层中心, Y={candidates[ci][1]:.2f}m) " + f"[{floor_names[current_floor]}]") + else: + cur_floor_ids = floor_set(current_floor) + floor_reachable = reachable & cur_floor_ids if reachable else set() + + ci, gain, score, n_remain = select_next_frame( + candidates, selected_idx, selected_pos, all_pts, + reachable=floor_reachable if floor_reachable else cur_floor_ids) + + expand = False + if ci < 0 or score < stop_score: + ci2, gain2, score2, n2 = select_next_frame( + candidates, selected_idx, selected_pos, all_pts, + reachable=cur_floor_ids) + if ci2 >= 0 and (ci < 0 or score2 > score): + ci, gain, score, n_remain = ci2, gain2, score2, n2 + expand = True + + if ci < 0 or (score < stop_score and gain < ACTUAL_GAIN_FLOOR): + reason = "无可选候选" if ci < 0 else f"gain={gain:.1%} score={score:.3f}" + current_floor += 1 + if current_floor < n_floors: + print(f"\n F{frame_count}: {reason}" + f" → 切换到 {floor_names[current_floor]}") + continue + else: + print(f"\n F{frame_count}: {reason} → 所有楼层拍满，停止") + break + + tag = "[扩展]" if expand else "" + print(f"\n F{frame_count}: 选候选[{ci}] " + f"gain={gain:.1%} score={score:.3f} 剩余={n_remain}" + f" [Y={candidates[ci][1]:.2f} {floor_names[current_floor]}]{tag}") + + pos = candidates[ci] + selected_idx.add(ci) + selected_pos.append(pos) + dt_sel = time.time() - t_sel + time_select += dt_sel + + # ---- 渲染（GPU 共享场景数据，减少重复上传）---- + cam_rot = get_camera_rot(args.rotation_type, frame_count) + base = f"panorama_{frame_count:04d}" + rgb_path = os.path.join(output_dir, f"{base}.png") + depth_npy = os.path.join(output_dir, f"{base}_depth.npy") + pose_path = os.path.join(output_dir, f"pose_{frame_count:04d}.json") + + print(f" 位置: [{pos[0]:.2f}, {pos[1]:.2f}, {pos[2]:.2f}]") + print(f" 渲染...", end="", flush=True) + t_r = time.time() + + # 等待上一帧异步 I/O 完成（保证不超过 2 帧待写） + while len(_pending_io) >= 2: + _pending_io.pop(0).result() + + # 使用 render_erp_batch_gpu：场景数据只上传一次 + batch_results = render_erp_batch_gpu( + pts_world, colors_world, + cam_poses=[pos], + cam_rots=[cam_rot], + width=W_render, + height=H_render, + faces=faces, + point_size=args.point_size, + ) + rgb, depth = batch_results[0] + + # 异步写盘（与下一帧 GPU 渲染并行） + fut = _save_frame_async( + rgb, depth, rgb_path, depth_npy, + pos, cam_rot, pose_path, frame_count) + _pending_io.append(fut) + + dt_r = time.time() - t_r + time_render += dt_r + print(f" {dt_r:.1f}s") + + # ---- depth → 3D 点云 ---- + t_dep = time.time() + actual_gain = 1.0 + delta_ratio = 1.0 + + # 直接使用内存中的 depth（depth_npy 由异步线程写入，可能尚未落盘） + _d = depth.astype(np.float32) + _d = np.nan_to_num(_d, nan=0.0) + if _d.shape == (WARP_H, WARP_W): + depth_small = _d + else: + try: + depth_small = cv2.resize(_d, (WARP_W, WARP_H), interpolation=cv2.INTER_AREA) + except Exception: + h, w = _d.shape + bh, bw = h // WARP_H, w // WARP_W + if bh < 1 or bw < 1: + depth_small = np.zeros((WARP_H, WARP_W), dtype=np.float32) + depth_small[:min(h, WARP_H), :min(w, WARP_W)] = _d[:min(h, WARP_H), :min(w, WARP_W)] + else: + depth_small = _d[:bh*WARP_H, :bw*WARP_W].reshape(WARP_H, bh, WARP_W, bw).mean(axis=(1, 3)) + total_px = WARP_H * WARP_W + n_valid = int(np.sum(depth_small > 0)) + valid_ratio = n_valid / total_px + + if frame_count == 0: + new_pts = depth_to_3d_points(pos, depth_small, ray_dirs, max_depth) + pts_chunks.append(new_pts) + all_pts = new_pts + actual_gain = valid_ratio + print(f" depth: {n_valid}px ({valid_ratio:.0%} 有效)" + f" → {len(new_pts)} 个 3D 点 (全部)") + else: + MIN_VALID_RATIO = 0.10 # PLY 点云空洞较多，阈值适当降低 + if valid_ratio < MIN_VALID_RATIO: + print(f" depth: {n_valid}px ({valid_ratio:.0%} 有效) < " + f"{MIN_VALID_RATIO:.0%} → 跳过此帧") + results.append({ + "frame_id": frame_count, + "candidate_idx": ci, + "position": pos, + "gain": float(gain), + "actual_gain": 0.0, + "delta_ratio": 0.0, + "score": float(score), + "skipped": True, + "skip_reason": f"valid_ratio={valid_ratio:.1%}", + }) + for fp in [rgb_path, depth_npy]: + if os.path.exists(fp): + try: + os.remove(fp) + except OSError: + pass + consecutive_skips += 1 + if consecutive_skips >= MAX_CONSECUTIVE_SKIPS: + current_floor += 1 + consecutive_skips = 0 + if current_floor < n_floors: + print(f" 连续 {MAX_CONSECUTIVE_SKIPS} 帧空洞" + f" → 切换到 {floor_names[current_floor]}") + else: + print(f" 连续 {MAX_CONSECUTIVE_SKIPS} 帧空洞，停止") + break + time_depth += time.time() - t_dep + continue + + trimmed, n_orig, n_new = trim_depth(depth_small, pos, all_pts, ray_dirs) + new_pts = depth_to_3d_points(pos, trimmed, ray_dirs, max_depth) + pts_chunks.append(new_pts) + all_pts = np.concatenate(pts_chunks) + actual_gain = n_new / total_px + delta_ratio = len(new_pts) / len(all_pts) if len(all_pts) > 0 else 1.0 + print(f" depth: {n_valid}px ({valid_ratio:.0%} 有效)" + f" → trim → {n_new}px 新增 → {len(new_pts)} 个新 3D 点") + print(f" 累积点云: {len(all_pts)}, 实际gain: {actual_gain:.1%}") + consecutive_skips = 0 + + time_depth += time.time() - t_dep + + results.append({ + "frame_id": frame_count, + "candidate_idx": ci, + "position": pos, + "gain": float(gain), + "actual_gain": float(actual_gain), + "delta_ratio": float(delta_ratio), + "score": float(score), + }) + + # ---- 可达性更新 ---- + t_reach = time.time() + n_new_r = update_reachability( + np.array(pos), candidates, selected_idx, reachable, raycaster) + dt_reach = time.time() - t_reach + time_reach += dt_reach + print(f" [可达性] 新增 {n_new_r} 个，总 {len(reachable)}/{len(candidates)} " + f"({dt_reach:.1f}s)") + + # ---- 停止条件 ---- + if frame_count > 0: + actual_gain_history.append(actual_gain) + delta_history.append(delta_ratio) + + if frame_count > 0 and frame_count >= min_frames: + if len(actual_gain_history) >= ACTUAL_GAIN_WINDOW: + recent_gain = actual_gain_history[-ACTUAL_GAIN_WINDOW:] + recent_delta = delta_history[-ACTUAL_GAIN_WINDOW:] + gain_exhausted = all(g < ACTUAL_GAIN_FLOOR for g in recent_gain) + delta_exhausted = all(d < stop_delta for d in recent_delta) + + if gain_exhausted or delta_exhausted: + current_floor += 1 + if current_floor < n_floors: + reason = (f"gain<{ACTUAL_GAIN_FLOOR:.0%}" if gain_exhausted + else f"delta<{stop_delta:.0%}") + print(f" 连续 {ACTUAL_GAIN_WINDOW} 帧 {reason}" + f" → 切换到 {floor_names[current_floor]}") + else: + print(f" 所有楼层拍满，停止") + break + + # 补帧：确保 4n+1 + while len(results) > 1 and (len(results) - 1) % 4 != 0: + frame_count = results[-1]["frame_id"] + 1 + if frame_count >= max_frames + 3: + break + print(f"\n [补帧] 当前 {len(results)} 帧，需补至 4n+1") + ci, gain, score, n_remain = select_next_frame( + candidates, selected_idx, selected_pos, all_pts, reachable=None) + if ci < 0: + break + + pos = candidates[ci] + selected_idx.add(ci) + selected_pos.append(pos) + + cam_rot = get_camera_rot(args.rotation_type, frame_count) + base = f"panorama_{frame_count:04d}" + rgb_path = os.path.join(output_dir, f"{base}.png") + depth_npy = os.path.join(output_dir, f"{base}_depth.npy") + + batch_res = render_erp_batch_gpu( + pts_world, colors_world, + cam_poses=[pos], cam_rots=[cam_rot], + width=W_render, height=H_render, + faces=faces, point_size=args.point_size, + ) + rgb, depth = batch_res[0] + try: + cv2.imwrite(rgb_path, cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR)) + except Exception: + from PIL import Image + Image.fromarray(rgb).save(rgb_path) + np.save(depth_npy, depth.astype(np.float32)) + save_pose(pos, cam_rot, os.path.join(output_dir, f"pose_{frame_count:04d}.json"), + frame_count) + + depth_small = load_depth_downsampled(depth_npy, WARP_H, WARP_W) + trimmed, n_orig, n_new = trim_depth(depth_small, pos, all_pts, ray_dirs) + new_pts = depth_to_3d_points(pos, trimmed, ray_dirs, max_depth) + pts_chunks.append(new_pts) + all_pts = np.concatenate(pts_chunks) + actual_gain = n_new / total_px + results.append({ + "frame_id": frame_count, + "candidate_idx": ci, + "position": pos, + "gain": float(gain), + "actual_gain": float(actual_gain), + "delta_ratio": float(len(new_pts) / max(len(all_pts), 1)), + "score": float(score), + "supplementary": True, + }) + print(f" 补帧 F{frame_count}: gain={actual_gain:.1%}") + + # ── 等待所有异步 I/O 完成，关闭线程池 ──────────────────────────────── + for fut in _pending_io: + try: + fut.result() + except Exception as e: + print(f" [WARN] 异步写盘失败: {e}") + _io_executor.shutdown(wait=False) + + dt = time.time() - t_total + print(f"\n {'─'*50}") + print(f" 共 {len(results)} 帧, {dt:.1f}s ({dt/60:.1f}min)") + print(f" 耗时: 选帧={time_select:.1f}s 渲染={time_render:.1f}s " + f"深度={time_depth:.1f}s 可达={time_reach:.1f}s") + return results + + +def main(): + args = parse_args() + + ply_path = str(Path(args.ply).resolve()) + output_dir = str(Path(args.output_dir).resolve()) + resolution = tuple(int(x) for x in args.resolution.split(",")) + os.makedirs(output_dir, exist_ok=True) + sel_dir = os.path.join(output_dir, "frame_selection") + os.makedirs(sel_dir, exist_ok=True) + + print("=" * 60) + print("ERPT PLY Pipeline（边渲边选）") + print("=" * 60) + print(f" PLY: {ply_path}") + print(f" Output: {output_dir}") + print(f" Max frames: {args.num_frames}") + print(f" Resolution: {resolution[0]}x{resolution[1]}") + t_start = time.time() + + # ===== Phase 0: 加载场景 ===== + mesh_obj, pts_world, bmin, bmax, is_mesh, faces = load_ply_scene( + ply_path, z_up=args.z_up) + + # 提取颜色 + colors_world = _extract_ply_colors(mesh_obj) + if colors_world is not None: + print(f" 颜色: {len(colors_world)} 个顶点颜色") + else: + print(f" 颜色: 无顶点颜色，使用深度伪彩") + + # 构建射线检测器 + raycaster = RayCaster(mesh_obj, pts_world, bmin, bmax, is_mesh, z_up=args.z_up) + + # ===== Phase 1: 撒点 + 过滤 ===== + print(f"\n{'='*60}") + print("[Phase 1] 多层撒点 + 7 层过滤") + print(f"{'='*60}") + + # Y-up 坐标系：Y=高度，floor=bmin[1]，ceiling=bmax[1] + floor_y = float(bmin[1]) + ceiling_y = float(bmax[1]) + print(f" 场景 Y 范围: {floor_y:.2f} ~ {ceiling_y:.2f}m (总高 {ceiling_y-floor_y:.2f}m)") + + heights = compute_camera_heights(floor_y, ceiling_y, args.camera_height) + print(f" 相机高度层: {[f'{h:.2f}m' for h in heights]}") + + x_range = float(bmax[0] - bmin[0]) + z_range = float(bmax[2] - bmin[2]) + x_sp = args.grid_spacing + z_sp = args.grid_spacing + + # 候选点过多时自适应增大间距 + n_xy = max(1, int((x_range - 2 * MARGIN) / x_sp)) * \ + max(1, int((z_range - 2 * MARGIN) / z_sp)) + total_est = n_xy * len(heights) + if total_est > 10000: + scale = math.sqrt(total_est / 10000) + x_sp = min(x_sp * scale, x_range / 4) + z_sp = min(z_sp * scale, z_range / 4) + print(f" [自适应] 候选≈{total_est}个，间距调整为 X={x_sp:.1f}m Z={z_sp:.1f}m") + + candidates = generate_candidate_grid(bmin, bmax, x_sp, z_sp, heights) + if not candidates: + print(" [Error] 没有候选点") + sys.exit(1) + + room_height = ceiling_y - floor_y + candidates = raycast_filter(candidates, raycaster, room_height) + if not candidates: + print(" [Warning] 全部被过滤，使用 AABB 中心") + cx = float((bmin[0] + bmax[0]) / 2) + cy = float(heights[0]) + cz = float((bmin[2] + bmax[2]) / 2) + candidates = [[cx, cy, cz]] + + np.save(os.path.join(sel_dir, "candidates_filtered.npy"), + np.array(candidates)) + print(f" 最终候选点: {len(candidates)} 个") + + mesh_center = [ + float((bmin[0] + bmax[0]) / 2), + float((bmin[1] + bmax[1]) / 2), + float((bmin[2] + bmax[2]) / 2), + ] + + # ===== Phase 2: 边渲边选 ===== + results = run_phase2( + pts_world=pts_world, + colors_world=colors_world, + faces=faces, + candidates=candidates, + mesh_center=mesh_center, + raycaster=raycaster, + output_dir=output_dir, + max_frames=args.num_frames, + resolution=resolution, + args=args, + ) + + # ===== 保存选帧摘要 ===== + summary = { + "scene": os.path.basename(ply_path), + "total_frames": len(results), + "candidates_count": len(candidates), + "frames": [{ + "frame_id": r["frame_id"], + "position": r["position"], + "gain": r["gain"], + "actual_gain": r["actual_gain"], + "delta_ratio": r["delta_ratio"], + "score": r["score"], + } for r in results if not r.get("skipped")], + } + with open(os.path.join(sel_dir, "selected_frames.json"), "w") as f: + json.dump(summary, f, indent=2, ensure_ascii=False) + + dt = time.time() - t_start + print(f"\n{'='*60}") + print(f"完成! {len(results)} 帧, {dt:.1f}s ({dt/60:.1f}min)") + print(f"{'='*60}") + print(f"输出目录: {output_dir}/") + for r in results: + if not r.get("skipped"): + fid = r["frame_id"] + print(f" panorama_{fid:04d}.png + _depth.npy + pose_{fid:04d}.json") + + +if __name__ == "__main__": + main() diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..c0aa20bae3abfeb4d81027b08c0af704624025a6 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,15 @@ +numpy>=1.24 +scipy +pandas +pyyaml +pillow +matplotlib +scikit-learn +torch +torchvision +opencv-python +open3d +trimesh +tqdm +jsonschema + diff --git a/results/README.md b/results/README.md new file mode 100644 index 0000000000000000000000000000000000000000..d707cc7789f32d7560de915e3dfc90e351bf1f49 --- /dev/null +++ b/results/README.md @@ -0,0 +1,13 @@ +# Results Directory + +Generated CSV summaries should be written here or under `outputs//results/`. + +Recommended filenames: + +- `coverage_main.csv` +- `oracle_validation.csv` +- `lambda_sweep.csv` +- `cross_source.csv` +- `audit_50_frames.csv` +- `runtime_scaling.csv` + diff --git a/scripts/_common.py b/scripts/_common.py new file mode 100644 index 0000000000000000000000000000000000000000..2afb2bb888518a4bddad449fcd6c5d9d95fa645b --- /dev/null +++ b/scripts/_common.py @@ -0,0 +1,228 @@ +from __future__ import annotations + +import binascii +import csv +import json +import math +import shutil +import struct +import zlib +from pathlib import Path +from typing import Any, Iterable + + +REPO_ROOT = Path(__file__).resolve().parents[1] + + +def ensure_dir(path: str | Path) -> Path: + out = Path(path) + out.mkdir(parents=True, exist_ok=True) + return out + + +def read_json(path: str | Path) -> Any: + with Path(path).open("r", encoding="utf-8") as f: + return json.load(f) + + +def write_json(path: str | Path, obj: Any) -> None: + path = Path(path) + ensure_dir(path.parent) + with path.open("w", encoding="utf-8") as f: + json.dump(obj, f, indent=2, sort_keys=True) + f.write("\n") + + +def read_jsonl(path: str | Path) -> list[dict[str, Any]]: + rows: list[dict[str, Any]] = [] + with Path(path).open("r", encoding="utf-8") as f: + for line_no, line in enumerate(f, start=1): + line = line.strip() + if not line: + continue + try: + rows.append(json.loads(line)) + except json.JSONDecodeError as exc: + raise ValueError(f"Invalid JSONL at {path}:{line_no}: {exc}") from exc + return rows + + +def write_jsonl(path: str | Path, rows: Iterable[dict[str, Any]]) -> None: + path = Path(path) + ensure_dir(path.parent) + with path.open("w", encoding="utf-8") as f: + for row in rows: + f.write(json.dumps(row, sort_keys=True)) + f.write("\n") + + +def write_csv(path: str | Path, rows: list[dict[str, Any]], fieldnames: list[str] | None = None) -> None: + path = Path(path) + ensure_dir(path.parent) + if fieldnames is None: + keys: list[str] = [] + for row in rows: + for key in row: + if key not in keys: + keys.append(key) + fieldnames = keys + with path.open("w", encoding="utf-8", newline="") as f: + writer = csv.DictWriter(f, fieldnames=fieldnames) + writer.writeheader() + for row in rows: + writer.writerow(row) + + +def _table_fieldnames(rows: list[dict[str, Any]], fieldnames: list[str] | None = None) -> list[str]: + if fieldnames is not None: + return fieldnames + keys: list[str] = [] + for row in rows: + for key in row: + if key not in keys: + keys.append(key) + return keys + + +def write_markdown_table(path: str | Path, rows: list[dict[str, Any]], fieldnames: list[str] | None = None) -> None: + path = Path(path) + ensure_dir(path.parent) + fieldnames = _table_fieldnames(rows, fieldnames) + with path.open("w", encoding="utf-8") as f: + f.write("| " + " | ".join(fieldnames) + " |\n") + f.write("| " + " | ".join(["---"] * len(fieldnames)) + " |\n") + for row in rows: + f.write("| " + " | ".join(str(row.get(name, "")) for name in fieldnames) + " |\n") + + +def _latex_escape(value: Any) -> str: + text = str(value) + return ( + text.replace("\\", "\\textbackslash{}") + .replace("&", "\\&") + .replace("%", "\\%") + .replace("$", "\\$") + .replace("#", "\\#") + .replace("_", "\\_") + .replace("{", "\\{") + .replace("}", "\\}") + ) + + +def write_latex_table( + path: str | Path, + rows: list[dict[str, Any]], + fieldnames: list[str] | None = None, + caption: str = "Table-ready experiment results.", + label: str = "tab:cmevs_results", +) -> None: + path = Path(path) + ensure_dir(path.parent) + fieldnames = _table_fieldnames(rows, fieldnames) + align = "l" * len(fieldnames) + with path.open("w", encoding="utf-8") as f: + f.write("\\begin{table}[t]\n") + f.write("\\centering\n") + f.write(f"\\caption{{{_latex_escape(caption)}}}\n") + safe_label = str(label).replace("{", "").replace("}", "") + f.write(f"\\label{{{safe_label}}}\n") + f.write(f"\\begin{{tabular}}{{{align}}}\n") + f.write("\\toprule\n") + f.write(" & ".join(_latex_escape(name) for name in fieldnames) + " \\\\\n") + f.write("\\midrule\n") + for row in rows: + f.write(" & ".join(_latex_escape(row.get(name, "")) for name in fieldnames) + " \\\\\n") + f.write("\\bottomrule\n") + f.write("\\end{tabular}\n") + f.write("\\end{table}\n") + + +def copy_file(src: str | Path, dst: str | Path) -> None: + dst = Path(dst) + ensure_dir(dst.parent) + shutil.copy2(src, dst) + + +def candidate_by_id(candidates: Iterable[dict[str, Any]]) -> dict[str, dict[str, Any]]: + return {str(row["candidate_id"]): row for row in candidates} + + +def valid_candidates(candidates: Iterable[dict[str, Any]]) -> list[dict[str, Any]]: + return [row for row in candidates if bool(row.get("valid", True))] + + +def cell_set(candidate: dict[str, Any]) -> set[str]: + return {str(cell) for cell in candidate.get("covered_cells", [])} + + +def universe_cells(candidates: Iterable[dict[str, Any]]) -> set[str]: + cells: set[str] = set() + for candidate in candidates: + if bool(candidate.get("valid", True)): + cells.update(cell_set(candidate)) + return cells + + +def selected_ids(selected_doc: dict[str, Any]) -> list[str]: + return [str(row["candidate_id"]) for row in selected_doc.get("selected_viewpoints", [])] + + +def safe_div(num: float, den: float) -> float: + return 0.0 if den == 0 else num / den + + +def pearson(xs: list[float], ys: list[float]) -> float: + if len(xs) != len(ys) or len(xs) < 2: + return float("nan") + mx = sum(xs) / len(xs) + my = sum(ys) / len(ys) + num = sum((x - mx) * (y - my) for x, y in zip(xs, ys)) + vx = sum((x - mx) ** 2 for x in xs) + vy = sum((y - my) ** 2 for y in ys) + if vx <= 0.0 or vy <= 0.0: + return float("nan") + return num / math.sqrt(vx * vy) + + +def _png_chunk(kind: bytes, payload: bytes) -> bytes: + return ( + struct.pack(">I", len(payload)) + + kind + + payload + + struct.pack(">I", binascii.crc32(kind + payload) & 0xFFFFFFFF) + ) + + +def write_solid_png(path: str | Path, width: int, height: int, rgb: tuple[int, int, int]) -> None: + path = Path(path) + ensure_dir(path.parent) + raw = bytearray() + row = bytes(rgb) * width + for _ in range(height): + raw.append(0) + raw.extend(row) + ihdr = struct.pack(">IIBBBBB", width, height, 8, 2, 0, 0, 0) + data = zlib.compress(bytes(raw), level=9) + with path.open("wb") as f: + f.write(b"\x89PNG\r\n\x1a\n") + f.write(_png_chunk(b"IHDR", ihdr)) + f.write(_png_chunk(b"IDAT", data)) + f.write(_png_chunk(b"IEND", b"")) + + +def write_npy_f4(path: str | Path, height: int, width: int, value: float) -> None: + path = Path(path) + ensure_dir(path.parent) + header = "{'descr': ' argparse.Namespace: + parser = argparse.ArgumentParser(description="Audit generated CM-EVS render artifacts.") + parser.add_argument("--render-dir", type=Path, required=True) + parser.add_argument("--metadata", type=Path, required=True) + parser.add_argument("--output", type=Path, required=True) + parser.add_argument("--limit", type=int, default=50) + return parser.parse_args() + + +def has_magic(path: Path, magic: bytes) -> bool: + if not path.exists(): + return False + with path.open("rb") as f: + return f.read(len(magic)) == magic + + +def main() -> None: + args = parse_args() + selected_doc = read_json(args.metadata) + rows = [] + for item in selected_doc.get("selected_viewpoints", [])[: args.limit]: + cid = str(item["candidate_id"]) + rank = int(item["rank"]) + stem = f"{rank:03d}_{cid}" + rgb = args.render_dir / f"{stem}_rgb.png" + depth = args.render_dir / f"{stem}_depth.npy" + pose = args.render_dir / f"{stem}_pose.json" + pose_ok = False + if pose.exists(): + try: + read_json(pose) + pose_ok = True + except Exception: + pose_ok = False + rows.append( + { + "candidate_id": cid, + "rank": rank, + "rgb_exists": rgb.exists(), + "rgb_png_magic": has_magic(rgb, b"\x89PNG\r\n\x1a\n"), + "depth_exists": depth.exists(), + "depth_npy_magic": has_magic(depth, b"\x93NUMPY"), + "pose_exists": pose.exists(), + "pose_json_valid": pose_ok, + "passed": rgb.exists() and depth.exists() and pose_ok, + } + ) + write_csv(args.output, rows) + print(f"Wrote {args.output}") + + +if __name__ == "__main__": + main() diff --git a/scripts/build_candidates.py b/scripts/build_candidates.py new file mode 100644 index 0000000000000000000000000000000000000000..c65f0e3d6be68a835f3cf4dbdce179723aa9da76 --- /dev/null +++ b/scripts/build_candidates.py @@ -0,0 +1,48 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +import argparse +from pathlib import Path + +from _common import REPO_ROOT, copy_file, ensure_dir, read_jsonl, write_json + + +def parse_args() -> argparse.Namespace: + parser = argparse.ArgumentParser(description="Build or copy CM-EVS candidate metadata.") + parser.add_argument("--tiny", action="store_true", help="Use the bundled tiny metadata example.") + parser.add_argument("--input", type=Path, default=None, help="Existing candidate JSONL to normalize/copy.") + parser.add_argument("--output-dir", type=Path, default=Path("outputs/tiny"), help="Run output directory.") + return parser.parse_args() + + +def main() -> None: + args = parse_args() + metadata_dir = ensure_dir(args.output_dir / "metadata") + out_path = metadata_dir / "candidates.jsonl" + + if args.tiny: + src = REPO_ROOT / "examples" / "metadata" / "candidates.jsonl" + mode = "tiny" + elif args.input: + src = args.input + mode = "copy" + else: + raise SystemExit("Provide --tiny or --input. Full generation is handled by pipelines/run_full_pipeline.py.") + + rows = read_jsonl(src) + copy_file(src, out_path) + write_json( + metadata_dir / "source_manifest.json", + { + "mode": mode, + "candidate_file": str(out_path.relative_to(args.output_dir)), + "num_candidates": len(rows), + "num_valid_candidates": sum(1 for row in rows if bool(row.get("valid", True))), + "note": "Tiny mode validates the metadata contract and does not reproduce paper-scale results.", + }, + ) + print(f"Wrote {out_path} with {len(rows)} candidates") + + +if __name__ == "__main__": + main() diff --git a/scripts/check_anonymity.sh b/scripts/check_anonymity.sh new file mode 100644 index 0000000000000000000000000000000000000000..bc94fbb6124ea4ab252217585fcfd09265989872 --- /dev/null +++ b/scripts/check_anonymity.sh @@ -0,0 +1,41 @@ +#!/usr/bin/env bash +set -euo pipefail + +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)" + +# Author-identifying strings and absolute path prefixes that must not appear +# anywhere in the repository (excluding this script itself and ignored dirs). +PATTERN='/Users/|/home/|/root/|plob|chasedream|autodl|Developer|Jiale|jiale|刘|李佳' + +# Directories / files that legitimately contain those substrings or are +# generated artefacts that we do not commit. +EXCLUDES=( + --exclude-dir=.git + --exclude-dir=outputs + --exclude-dir=__pycache__ + --exclude-dir=.venv + --exclude-dir=venv + --exclude=check_anonymity.sh + --exclude=*.zip + --exclude=*.tar.gz +) + +echo "[1/3] Scanning for local paths and author-identifying strings..." +if grep -rnE "${EXCLUDES[@]}" "$PATTERN" "$ROOT" 2>/dev/null; then + echo "Anonymity check failed: remove or rewrite the matched strings above." >&2 + exit 1 +fi + +echo "[2/3] Checking for cache and platform files..." +matches=$(find "$ROOT" \( -name '__pycache__' -o -name '.DS_Store' \) -not -path '*/.git/*' 2>/dev/null) +if [ -n "$matches" ]; then + echo "Anonymity check failed: remove cache/platform files below." >&2 + echo "$matches" >&2 + exit 1 +fi + +echo "[3/3] Checking required top-level files..." +test -f "$ROOT/README.md" +test -f "$ROOT/LICENSE" + +echo "Anonymity check passed." diff --git a/scripts/evaluate_coverage.py b/scripts/evaluate_coverage.py new file mode 100644 index 0000000000000000000000000000000000000000..901078c6d1211e467fcf664903c98afab8976eaf --- /dev/null +++ b/scripts/evaluate_coverage.py @@ -0,0 +1,62 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +import argparse +from pathlib import Path + +from _common import candidate_by_id, cell_set, read_json, read_jsonl, safe_div, selected_ids, universe_cells, write_csv + + +def parse_args() -> argparse.Namespace: + parser = argparse.ArgumentParser(description="Evaluate selected-view coverage.") + parser.add_argument("--candidates", type=Path, required=True) + parser.add_argument("--selected", type=Path, required=True) + parser.add_argument("--validity", type=Path, default=None) + parser.add_argument("--output", type=Path, required=True) + return parser.parse_args() + + +def main() -> None: + args = parse_args() + candidates = read_jsonl(args.candidates) + selected_doc = read_json(args.selected) + by_id = candidate_by_id(candidates) + universe = universe_cells(candidates) + + covered: set[str] = set() + missing_ids: list[str] = [] + for cid in selected_ids(selected_doc): + if cid not in by_id: + missing_ids.append(cid) + continue + covered.update(cell_set(by_id[cid])) + + invalid_rate = "" + if args.validity and args.validity.exists(): + validity_rows = read_jsonl(args.validity) + invalid_rate = round( + safe_div(sum(1 for row in validity_rows if not bool(row.get("valid", False))), len(validity_rows)), + 6, + ) + + write_csv( + args.output, + [ + { + "scene_id": selected_doc.get("scene_id", "unknown"), + "method": selected_doc.get("method", "unknown"), + "num_candidates": len(candidates), + "num_selected": len(selected_doc.get("selected_viewpoints", [])), + "universe_cells": len(universe), + "covered_cells": len(covered), + "coverage": round(safe_div(len(covered), max(1, len(universe))), 6), + "invalid_rate": invalid_rate, + "missing_selected_ids": ";".join(missing_ids), + } + ], + ) + print(f"Wrote {args.output}") + + +if __name__ == "__main__": + main() diff --git a/scripts/evaluate_oracle_gap.py b/scripts/evaluate_oracle_gap.py new file mode 100644 index 0000000000000000000000000000000000000000..82074097fcd02fa3f7219f7b5f5a8ed5db82ff42 --- /dev/null +++ b/scripts/evaluate_oracle_gap.py @@ -0,0 +1,56 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +import argparse +import math +from pathlib import Path + +from _common import candidate_by_id, pearson, read_json, read_jsonl, selected_ids, write_csv + + +def parse_args() -> argparse.Namespace: + parser = argparse.ArgumentParser(description="Compare selected-view marginal gains against oracle annotations.") + parser.add_argument("--candidates", type=Path, required=True) + parser.add_argument("--selected", type=Path, required=True) + parser.add_argument("--output", type=Path, required=True) + return parser.parse_args() + + +def main() -> None: + args = parse_args() + candidates = read_jsonl(args.candidates) + selected_doc = read_json(args.selected) + by_id = candidate_by_id(candidates) + selected_by_id = {str(row["candidate_id"]): row for row in selected_doc.get("selected_viewpoints", [])} + + oracle: list[float] = [] + scores: list[float] = [] + marginal: list[float] = [] + gaps: list[float] = [] + for cid in selected_ids(selected_doc): + candidate = by_id.get(cid) + selected = selected_by_id.get(cid) + if not candidate or not selected or "oracle_gain" not in candidate: + continue + o = float(candidate["oracle_gain"]) + s = float(selected.get("score", 0.0)) + m = float(selected.get("marginal_gain", 0.0)) + oracle.append(o) + scores.append(s) + marginal.append(m) + gaps.append(abs(o - m)) + + row = { + "scene_id": selected_doc.get("scene_id", "unknown"), + "num_pairs": len(oracle), + "score_oracle_pearson": pearson(scores, oracle), + "marginal_oracle_pearson": pearson(marginal, oracle), + "mean_abs_oracle_gap": sum(gaps) / len(gaps) if gaps else math.nan, + "max_abs_oracle_gap": max(gaps) if gaps else math.nan, + } + write_csv(args.output, [row]) + print(f"Wrote {args.output}") + + +if __name__ == "__main__": + main() diff --git a/scripts/render_selected.py b/scripts/render_selected.py new file mode 100644 index 0000000000000000000000000000000000000000..305be2e088d0d81a25a201b38a9973f0588d4adb --- /dev/null +++ b/scripts/render_selected.py @@ -0,0 +1,73 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +import argparse +import hashlib +from pathlib import Path + +from _common import ensure_dir, read_json, write_json, write_jsonl, write_npy_f4, write_solid_png + + +def parse_args() -> argparse.Namespace: + parser = argparse.ArgumentParser(description="Materialize selected-view render artifacts.") + parser.add_argument("--selected", type=Path, required=True, help="selected_viewpoints.json.") + parser.add_argument("--output-dir", type=Path, default=Path("outputs/tiny"), help="Run output directory.") + parser.add_argument("--tiny", action="store_true", help="Write deterministic placeholder render artifacts.") + parser.add_argument("--width", type=int, default=64) + parser.add_argument("--height", type=int, default=32) + return parser.parse_args() + + +def color_from_id(candidate_id: str) -> tuple[int, int, int]: + digest = hashlib.sha256(candidate_id.encode("utf-8")).digest() + return tuple(48 + int(digest[i]) % 176 for i in range(3)) + + +def rel(path: Path, base: Path) -> str: + try: + return str(path.relative_to(base)) + except ValueError: + return str(path) + + +def main() -> None: + args = parse_args() + if not args.tiny: + raise SystemExit("Real rendering is handled by pipelines/run_full_pipeline.py. Use --tiny for smoke-test artifacts.") + + selected_doc = read_json(args.selected) + render_dir = ensure_dir(args.output_dir / "renders") + rows = [] + for item in selected_doc.get("selected_viewpoints", []): + cid = str(item["candidate_id"]) + stem = f"{int(item['rank']):03d}_{cid}" + rgb_path = render_dir / f"{stem}_rgb.png" + depth_path = render_dir / f"{stem}_depth.npy" + pose_path = render_dir / f"{stem}_pose.json" + write_solid_png(rgb_path, args.width, args.height, color_from_id(cid)) + write_npy_f4(depth_path, args.height, args.width, 1.0 + 0.05 * int(item["rank"])) + write_json( + pose_path, + { + "candidate_id": cid, + "position": item.get("position", [0.0, 0.0, 0.0]), + "yaw_deg": item.get("yaw_deg", 0.0), + "coordinate_frame": "right-handed, x-right, y-up, z-forward", + }, + ) + rows.append( + { + "candidate_id": cid, + "rgb": rel(rgb_path, args.output_dir), + "depth": rel(depth_path, args.output_dir), + "pose": rel(pose_path, args.output_dir), + "valid": True, + "invalid_reason": "", + } + ) + write_jsonl(render_dir / "validity.jsonl", rows) + print(f"Wrote {len(rows)} tiny render records to {render_dir}") + + +if __name__ == "__main__": + main() diff --git a/scripts/run_blender_indoor.sh b/scripts/run_blender_indoor.sh new file mode 100644 index 0000000000000000000000000000000000000000..0cd239c916bb4b5d8e91cc3b24471a88bdd147b6 --- /dev/null +++ b/scripts/run_blender_indoor.sh @@ -0,0 +1,50 @@ +#!/usr/bin/env bash +set -euo pipefail + +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)" +PYTHON_BIN="${PYTHON:-python3}" + +BLENDER="${BLENDER:-}" +INPUT_DIR="${INPUT_DIR:-$ROOT/data/blender_indoor}" +OUTPUT_ROOT="${OUTPUT_ROOT:-$ROOT/outputs/blender_indoor}" +NUM_FRAMES="${NUM_FRAMES:-30}" +RESOLUTION="${RESOLUTION:-2048,1024}" +GRID_SPACING="${GRID_SPACING:-0.5}" +MIN_FRAMES="${MIN_FRAMES:-5}" +STOP_GAIN="${STOP_GAIN:-0.08}" +STOP_SCORE="${STOP_SCORE:--0.3}" +STOP_DELTA="${STOP_DELTA:-0.08}" +ROTATION_TYPE="${ROTATION_TYPE:-random_yaw}" + +if [[ -z "$BLENDER" ]]; then + echo "Set BLENDER=/path/to/blender before running the Blender-indoor pipeline." >&2 + exit 2 +fi + +if [[ ! -d "$INPUT_DIR" ]]; then + echo "INPUT_DIR does not exist: $INPUT_DIR" >&2 + echo "Place .blend scenes under data/blender_indoor or set INPUT_DIR=/path/to/blend_scenes." >&2 + exit 2 +fi + +EXTRA_ARGS=() +if [[ "${DRY_RUN:-0}" == "1" || "${DRY_RUN:-false}" == "true" ]]; then + EXTRA_ARGS+=(--dry-run) +fi + +export PYTHONPATH="$ROOT:$ROOT/pipelines:${PYTHONPATH:-}" + +"$PYTHON_BIN" "$ROOT/pipelines/run_full_pipeline.py" \ + --blender "$BLENDER" \ + --input-dir "$INPUT_DIR" \ + --output-root "$OUTPUT_ROOT" \ + --num-frames "$NUM_FRAMES" \ + --resolution "$RESOLUTION" \ + --grid-spacing "$GRID_SPACING" \ + --min-frames "$MIN_FRAMES" \ + --stop-gain "$STOP_GAIN" \ + --stop-score "$STOP_SCORE" \ + --stop-delta "$STOP_DELTA" \ + --rotation-type "$ROTATION_TYPE" \ + "${EXTRA_ARGS[@]}" + diff --git a/scripts/run_tiny.sh b/scripts/run_tiny.sh new file mode 100644 index 0000000000000000000000000000000000000000..1594565007dc6df378de7f6c1c3258a6c22490dc --- /dev/null +++ b/scripts/run_tiny.sh @@ -0,0 +1,44 @@ +#!/usr/bin/env bash +set -euo pipefail + +ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)" +OUT="${1:-$ROOT/outputs/tiny}" + +export PYTHONPATH="$ROOT:$ROOT/pipelines:${PYTHONPATH:-}" +PYTHON_BIN="${PYTHON:-python3}" + +"$PYTHON_BIN" "$ROOT/scripts/build_candidates.py" \ + --tiny \ + --output-dir "$OUT" + +"$PYTHON_BIN" "$ROOT/scripts/select_views.py" \ + --candidates "$OUT/metadata/candidates.jsonl" \ + --output-dir "$OUT" \ + --budget 4 \ + --lambda-conflict 0.35 \ + --min-gain 0.01 + +"$PYTHON_BIN" "$ROOT/scripts/render_selected.py" \ + --tiny \ + --selected "$OUT/metadata/selected_viewpoints.json" \ + --output-dir "$OUT" + +"$PYTHON_BIN" "$ROOT/scripts/evaluate_coverage.py" \ + --candidates "$OUT/metadata/candidates.jsonl" \ + --selected "$OUT/metadata/selected_viewpoints.json" \ + --validity "$OUT/renders/validity.jsonl" \ + --output "$OUT/results/coverage_main.csv" + +"$PYTHON_BIN" "$ROOT/scripts/evaluate_oracle_gap.py" \ + --candidates "$OUT/metadata/candidates.jsonl" \ + --selected "$OUT/metadata/selected_viewpoints.json" \ + --output "$OUT/results/oracle_validation.csv" + +"$PYTHON_BIN" "$ROOT/scripts/audit_quality.py" \ + --render-dir "$OUT/renders" \ + --metadata "$OUT/metadata/selected_viewpoints.json" \ + --output "$OUT/results/audit_50_frames.csv" + +bash "$ROOT/scripts/check_anonymity.sh" + +echo "Tiny CM-EVS smoke test completed: $OUT" diff --git a/scripts/select_views.py b/scripts/select_views.py new file mode 100644 index 0000000000000000000000000000000000000000..951815a7849863264e5e7bb4e3c954eafc274c20 --- /dev/null +++ b/scripts/select_views.py @@ -0,0 +1,116 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +import argparse +from pathlib import Path + +from _common import ( + cell_set, + ensure_dir, + read_jsonl, + safe_div, + universe_cells, + valid_candidates, + write_json, + write_jsonl, +) + + +def parse_args() -> argparse.Namespace: + parser = argparse.ArgumentParser(description="Run deterministic greedy CM-EVS view selection.") + parser.add_argument("--candidates", type=Path, required=True, help="Candidate JSONL.") + parser.add_argument("--output-dir", type=Path, default=Path("outputs/tiny"), help="Run output directory.") + parser.add_argument("--budget", type=int, default=4, help="Maximum number of selected views.") + parser.add_argument("--lambda-conflict", type=float, default=0.35, help="Conflict-prior penalty weight.") + parser.add_argument("--min-gain", type=float, default=0.01, help="Stop when marginal coverage falls below this value.") + return parser.parse_args() + + +def main() -> None: + args = parse_args() + rows = read_jsonl(args.candidates) + candidates = valid_candidates(rows) + universe = universe_cells(candidates) + universe_size = max(1, len(universe)) + + covered: set[str] = set() + selected: list[dict] = [] + log_rows: list[dict] = [] + used: set[str] = set() + + for step in range(args.budget): + best = None + best_tuple = None + for candidate in candidates: + cid = str(candidate["candidate_id"]) + if cid in used: + continue + cells = cell_set(candidate) + new_cells = cells - covered + marginal_gain = safe_div(len(new_cells), universe_size) + probe = float(candidate.get("single_view_probe_coverage", 0.0)) + conflict = float(candidate.get("conflict_prior", 0.0)) + score = marginal_gain + 0.15 * probe - args.lambda_conflict * conflict + score_tuple = (score, marginal_gain, -conflict, cid) + if best_tuple is None or score_tuple > best_tuple: + best_tuple = score_tuple + best = (candidate, new_cells, score, marginal_gain) + + if best is None: + break + + candidate, new_cells, score, marginal_gain = best + if selected and marginal_gain < args.min_gain: + break + + cid = str(candidate["candidate_id"]) + used.add(cid) + covered.update(new_cells) + rank = len(selected) + selected.append( + { + "candidate_id": cid, + "rank": rank, + "position": candidate.get("position", [0.0, 0.0, 0.0]), + "yaw_deg": float(candidate.get("yaw_deg", 0.0)), + "score": round(float(score), 6), + "marginal_gain": round(float(marginal_gain), 6), + } + ) + log_rows.append( + { + "step": step, + "candidate_id": cid, + "score": round(float(score), 6), + "marginal_gain": round(float(marginal_gain), 6), + "coverage_after": round(safe_div(len(covered), universe_size), 6), + "conflict_prior": float(candidate.get("conflict_prior", 0.0)), + } + ) + + scene_id = str(candidates[0].get("scene_id", "unknown")) if candidates else "unknown" + metadata_dir = ensure_dir(args.output_dir / "metadata") + write_json( + metadata_dir / "selected_viewpoints.json", + { + "scene_id": scene_id, + "method": "cmevs_greedy_conflict_minimized", + "selected_viewpoints": selected, + "summary": { + "budget": args.budget, + "lambda_conflict": args.lambda_conflict, + "min_gain": args.min_gain, + "num_candidates": len(rows), + "num_valid_candidates": len(candidates), + "num_selected": len(selected), + "coverage": round(safe_div(len(covered), universe_size), 6), + "universe_cells": len(universe), + }, + }, + ) + write_jsonl(metadata_dir / "per_step_log.jsonl", log_rows) + print(f"Selected {len(selected)} viewpoints; final coverage={safe_div(len(covered), universe_size):.3f}") + + +if __name__ == "__main__": + main() diff --git a/scripts/selection_metrics.py b/scripts/selection_metrics.py new file mode 100644 index 0000000000000000000000000000000000000000..75e92640b96271f7b7b1fce9d040c2b4d80ca99f --- /dev/null +++ b/scripts/selection_metrics.py @@ -0,0 +1,116 @@ +from __future__ import annotations + +import hashlib +from typing import Any + +from _common import cell_set, safe_div, universe_cells, valid_candidates + + +def deterministic_random_key(candidate_id: str, seed: int = 2026) -> str: + return hashlib.sha256(f"{seed}:{candidate_id}".encode("utf-8")).hexdigest() + + +def select_views( + candidates: list[dict[str, Any]], + method: str, + budget: int, + lambda_conflict: float = 0.35, + probe_weight: float = 0.15, + seed: int = 2026, +) -> tuple[list[dict[str, Any]], set[str]]: + valid = valid_candidates(candidates) + universe = universe_cells(valid) + universe_size = max(1, len(universe)) + selected: list[dict[str, Any]] = [] + selected_ids: set[str] = set() + covered: set[str] = set() + + if method == "random_seeded": + order = sorted(valid, key=lambda row: deterministic_random_key(str(row["candidate_id"]), seed)) + for rank, candidate in enumerate(order[:budget]): + cells = cell_set(candidate) + new_cells = cells - covered + covered.update(new_cells) + selected.append(_selected_row(candidate, rank, safe_div(len(new_cells), universe_size), 0.0)) + return selected, covered + + for rank in range(budget): + best_candidate = None + best_tuple = None + best_gain = 0.0 + for candidate in valid: + cid = str(candidate["candidate_id"]) + if cid in selected_ids: + continue + cells = cell_set(candidate) + marginal_gain = safe_div(len(cells - covered), universe_size) + probe = float(candidate.get("single_view_probe_coverage", 0.0)) + conflict = float(candidate.get("conflict_prior", 0.0)) + + if method == "greedy_coverage": + score = marginal_gain + 0.02 * probe - 0.01 * conflict + elif method == "single_view_probe": + score = probe + 0.05 * marginal_gain - 0.01 * conflict + elif method == "low_conflict": + score = marginal_gain - lambda_conflict * conflict + elif method == "cm_evs": + score = marginal_gain + probe_weight * probe - lambda_conflict * conflict + else: + raise ValueError(f"Unknown selection method: {method}") + + score_tuple = (score, marginal_gain, -conflict, cid) + if best_tuple is None or score_tuple > best_tuple: + best_tuple = score_tuple + best_candidate = candidate + best_gain = marginal_gain + + if best_candidate is None: + break + cid = str(best_candidate["candidate_id"]) + selected_ids.add(cid) + covered.update(cell_set(best_candidate)) + selected.append(_selected_row(best_candidate, rank, best_gain, float(best_tuple[0]))) + + return selected, covered + + +def summarize_selection( + candidates: list[dict[str, Any]], + selected: list[dict[str, Any]], + covered: set[str], + method: str, + budget: int, + lambda_conflict: float = 0.35, + source_label: str | None = None, +) -> dict[str, Any]: + valid = valid_candidates(candidates) + universe = universe_cells(valid) + scene_id = str(valid[0].get("scene_id", "unknown")) if valid else "unknown" + source = source_label or (str(valid[0].get("source", "unknown")) if valid else "unknown") + mean_conflict = safe_div(sum(float(row.get("conflict_prior", 0.0)) for row in selected), len(selected)) + mean_probe = safe_div(sum(float(row.get("single_view_probe_coverage", 0.0)) for row in selected), len(selected)) + runtime = sum(float(row.get("runtime_s", 0.0)) for row in selected) + coverage = safe_div(len(covered), max(1, len(universe))) + return { + "source": source, + "scene_id": scene_id, + "method": method, + "budget": budget, + "selected_views": len(selected), + "coverage": round(coverage, 6), + "coverage_per_view": round(safe_div(coverage, len(selected)), 6), + "mean_conflict_prior": round(mean_conflict, 6), + "mean_probe_coverage": round(mean_probe, 6), + "estimated_runtime_s": round(runtime, 6), + "lambda_conflict": lambda_conflict, + "selected_ids": ";".join(str(row["candidate_id"]) for row in selected), + } + + +def _selected_row(candidate: dict[str, Any], rank: int, marginal_gain: float, score: float) -> dict[str, Any]: + row = dict(candidate) + row["rank"] = rank + row["marginal_gain"] = round(float(marginal_gain), 6) + row["score"] = round(float(score), 6) + return row + diff --git a/scripts/summarize_blender_indoor_run.py b/scripts/summarize_blender_indoor_run.py new file mode 100644 index 0000000000000000000000000000000000000000..de2464a75b0123071a00e1e653a8a079c130826f --- /dev/null +++ b/scripts/summarize_blender_indoor_run.py @@ -0,0 +1,66 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +import argparse +from pathlib import Path + +from _common import read_json, write_csv + + +def parse_args() -> argparse.Namespace: + parser = argparse.ArgumentParser(description="Summarize native Blender-indoor pipeline outputs.") + parser.add_argument("--output-root", type=Path, default=Path("outputs/blender_indoor")) + parser.add_argument("--output", type=Path, default=Path("outputs/blender_indoor/results/coverage_main.csv")) + return parser.parse_args() + + +def find_selected_files(output_root: Path) -> list[Path]: + patterns = [ + "*/input/frame_selection/selected_frames.json", + "*/frame_selection/selected_frames.json", + ] + files: list[Path] = [] + for pattern in patterns: + files.extend(output_root.glob(pattern)) + return sorted(set(files)) + + +def summarize_one(path: Path, output_root: Path) -> dict: + doc = read_json(path) + frames = doc.get("frames", []) + pred_gains = [float(row.get("gain", 0.0)) for row in frames] + actual_gains = [float(row.get("actual_gain", 0.0)) for row in frames] + scores = [float(row.get("score", 0.0)) for row in frames] + deltas = [float(row.get("delta_ratio", 0.0)) for row in frames] + scene_dir = path.parents[2] if path.parent.name == "frame_selection" and path.parent.parent.name == "input" else path.parents[1] + scene_id = scene_dir.name + total_actual_gain = min(1.0, sum(actual_gains)) + return { + "scene_id": scene_id, + "scene_file": doc.get("scene", ""), + "scene_format": doc.get("scene_format", ""), + "selected_frames": int(doc.get("total_frames", len(frames))), + "candidates_count": int(doc.get("candidates_count", 0)), + "coverage_proxy_from_actual_gain": round(total_actual_gain, 6), + "mean_predicted_gain": round(sum(pred_gains) / len(pred_gains), 6) if pred_gains else 0.0, + "mean_actual_gain": round(sum(actual_gains) / len(actual_gains), 6) if actual_gains else 0.0, + "last_actual_gain": round(actual_gains[-1], 6) if actual_gains else 0.0, + "last_delta_ratio": round(deltas[-1], 6) if deltas else 0.0, + "last_score": round(scores[-1], 6) if scores else 0.0, + "selected_json": str(path.relative_to(output_root)), + } + + +def main() -> None: + args = parse_args() + selected_files = find_selected_files(args.output_root) + if not selected_files: + raise SystemExit(f"No selected_frames.json files found under {args.output_root}") + rows = [summarize_one(path, args.output_root) for path in selected_files] + write_csv(args.output, rows) + print(f"Wrote {len(rows)} scene summaries to {args.output}") + + +if __name__ == "__main__": + main() + diff --git a/scripts/summarize_quality_audit.py b/scripts/summarize_quality_audit.py new file mode 100644 index 0000000000000000000000000000000000000000..5071195f4e0a1571c17f3b59539c1305739f3fb6 --- /dev/null +++ b/scripts/summarize_quality_audit.py @@ -0,0 +1,51 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +import argparse +import csv +from pathlib import Path + +from _common import safe_div, write_csv, write_latex_table, write_markdown_table + + +def parse_args() -> argparse.Namespace: + parser = argparse.ArgumentParser(description="Summarize frame-level quality audit results.") + parser.add_argument("--audit-csv", type=Path, required=True) + parser.add_argument("--output-dir", type=Path, required=True) + return parser.parse_args() + + +def main() -> None: + args = parse_args() + with args.audit_csv.open("r", encoding="utf-8", newline="") as f: + rows = list(csv.DictReader(f)) + total = len(rows) + passed = sum(1 for row in rows if str(row.get("passed", "")).lower() == "true") + rgb_ok = sum(1 for row in rows if str(row.get("rgb_png_magic", "")).lower() == "true") + depth_ok = sum(1 for row in rows if str(row.get("depth_npy_magic", "")).lower() == "true") + pose_ok = sum(1 for row in rows if str(row.get("pose_json_valid", "")).lower() == "true") + summary = [ + { + "audited_frames": total, + "passed_frames": passed, + "pass_rate": round(safe_div(passed, total), 6), + "rgb_valid_rate": round(safe_div(rgb_ok, total), 6), + "depth_valid_rate": round(safe_div(depth_ok, total), 6), + "pose_valid_rate": round(safe_div(pose_ok, total), 6), + } + ] + args.output_dir.mkdir(parents=True, exist_ok=True) + write_csv(args.output_dir / "audit_summary.csv", summary) + write_markdown_table(args.output_dir / "audit_summary.md", summary) + write_latex_table( + args.output_dir / "audit_summary.tex", + summary, + caption="Render and metadata quality audit.", + label="tab:quality_audit", + ) + print(f"Wrote quality-audit summary to {args.output_dir}") + + +if __name__ == "__main__": + main() + diff --git a/third_party/README.md b/third_party/README.md new file mode 100644 index 0000000000000000000000000000000000000000..df567e57cebae6d7532865c9600a1ae00037b60c --- /dev/null +++ b/third_party/README.md @@ -0,0 +1,13 @@ +# Third-Party Directory + +Optional external repositories and checkpoints can be placed here. + +For Depth Pro: + +```text +third_party/ml-depth-pro/ +third_party/ml-depth-pro/checkpoints/depth_pro.pt +``` + +Do not commit third-party repositories, checkpoints, or model weights to the anonymous code release unless their licenses allow redistribution and the NeurIPS submission policy permits it. + diff --git a/tools/__init__.py b/tools/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/tools/make_sha256sums.sh b/tools/make_sha256sums.sh new file mode 100644 index 0000000000000000000000000000000000000000..b240b4a72c5402e2899721826da05c8417190ff4 --- /dev/null +++ b/tools/make_sha256sums.sh @@ -0,0 +1,146 @@ +#!/usr/bin/env bash +# tools/make_sha256sums.sh +# +# Generate / verify the SHA256SUMS manifest for the CM-EVS release. +# +# Why this exists: +# The dataset release is split across multiple roots — code, sample data, +# regen scripts for HM3D / ScanNet++, and the public Blender frames. The +# reviewer (or any downloader) needs a single text file that lists the +# sha256 of every distributable file, so they can verify integrity with a +# one-liner: `shasum -a 256 -c SHA256SUMS`. +# +# Usage: +# tools/make_sha256sums.sh generate [ROOT [OUT_FILE]] +# tools/make_sha256sums.sh verify [ROOT [SUMS_FILE]] +# +# Defaults: +# ROOT = current directory +# OUT_FILE = SHA256SUMS (in ROOT) +# SUMS_FILE = SHA256SUMS (in ROOT) +# +# Examples: +# # 1) refresh manifest for the code release we are sitting in +# tools/make_sha256sums.sh generate +# +# # 2) make a manifest for a freshly populated data drop somewhere else +# tools/make_sha256sums.sh generate /Volumes/CMEVS/cm-evs-data /Volumes/CMEVS/cm-evs-data/SHA256SUMS +# +# # 3) verify a downloaded data drop +# tools/make_sha256sums.sh verify /Volumes/CMEVS/cm-evs-data +# +# Format: +# +# one per line, sorted by path. Paths are POSIX-style relative paths from +# ROOT, so the manifest is portable between machines. +# +# What is excluded by default: +# - .git/, .DS_Store, *.pyc, __pycache__/, .ipynb_checkpoints/, the +# SHA256SUMS file itself, and any tar/zip that ROOT itself owns +# (those are checksummed separately by their containing release root). +# +# Tooling: +# uses `shasum -a 256` (macOS / BSD / Linux coreutils all ship it). +# `find` + `xargs -0` handle filenames with spaces. + +set -euo pipefail + +readonly CMD="${1:-generate}" +readonly ROOT="${2:-$PWD}" +readonly DEFAULT_SUMS="$ROOT/SHA256SUMS" +readonly SUMS="${3:-$DEFAULT_SUMS}" + +if [[ ! -d "$ROOT" ]]; then + echo "ERROR: ROOT directory does not exist: $ROOT" >&2 + exit 2 +fi + +# A POSIX-portable shasum invocation. +hasher() { + if command -v shasum >/dev/null 2>&1; then + shasum -a 256 "$@" + elif command -v sha256sum >/dev/null 2>&1; then + sha256sum "$@" + else + echo "ERROR: neither shasum nor sha256sum is on PATH" >&2 + exit 3 + fi +} + +generate() { + local out="$SUMS" + local tmp; tmp="$(mktemp)" + trap 'rm -f "$tmp"' EXIT + + echo "Hashing files under: $ROOT" + echo "Writing manifest to: $out" + + cd "$ROOT" + + # Collect every regular file, exclude common junk, sort by path so the + # manifest is deterministic across machines. + # Exclusions: + # - .git/, __pycache__/, .ipynb_checkpoints/, .DS_Store, *.pyc + # - SHA256SUMS itself (chicken/egg) + # - dataset_metadata/manifests_h100/ — these are large data-snapshot + # manifests (per-frame sha256 of the H100 data drop, ~71 MB total); + # they have their own ARCHIVE_DIGESTS.txt for self-verification and + # are not part of the redistributable code+metadata package. + find . -type f \ + -not -path './.git/*' \ + -not -path '*/__pycache__/*' \ + -not -path '*/.ipynb_checkpoints/*' \ + -not -path './dataset_metadata/manifests_h100/*' \ + -not -name '.DS_Store' \ + -not -name '*.pyc' \ + -not -name 'SHA256SUMS' \ + -print0 | LC_ALL=C sort -z | xargs -0 -n 50 shasum -a 256 \ + | sed 's|\./||' \ + > "$tmp" + + mv "$tmp" "$out" + trap - EXIT + + local n; n="$(wc -l < "$out" | tr -d ' ')" + echo "OK: hashed $n files." + echo "Verify with: tools/make_sha256sums.sh verify" +} + +verify() { + local sums="$SUMS" + if [[ ! -f "$sums" ]]; then + echo "ERROR: manifest not found: $sums" >&2 + exit 4 + fi + + echo "Verifying files under: $ROOT" + echo "Against manifest: $sums" + + cd "$ROOT" + if shasum -a 256 -c "$sums"; then + echo "" + echo "PASS: all checksums match." + else + echo "" + echo "FAIL: at least one file does not match (see above)." + exit 5 + fi +} + +case "$CMD" in + generate|gen|g) + generate + ;; + verify|check|c) + verify + ;; + -h|--help|help) + sed -n '2,/^set -euo/p' "$0" | sed 's/^# \{0,1\}//' | sed '$d' + exit 0 + ;; + *) + echo "Unknown command: $CMD" >&2 + echo "Try: $0 --help" >&2 + exit 1 + ;; +esac diff --git a/tools/navmesh_utils.py b/tools/navmesh_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..e8859055405e37777c3597b4788ad3439219bfad --- /dev/null +++ b/tools/navmesh_utils.py @@ -0,0 +1,673 @@ +#!/usr/bin/env python3 +""" +NavMesh解析工具 + +用于解析HM3D数据集的NavMesh文件，提取可导航区域（islands） +""" + +import os +import struct +import numpy as np +from typing import List, Dict, Optional, Tuple +from collections import defaultdict + + +def parse_navmesh_binary(navmesh_path: str) -> Optional[Dict]: + """ + 解析Recast Navigation格式的NavMesh二进制文件 + + NavMesh格式（基于分析）： + - 文件头：'TESM' (4字节) + - 版本/标志：uint32, uint32 + - 边界框：float32x3 (min), float32x3 (max) + - 顶点数据、三角形数据、区域数据等 + + Args: + navmesh_path: NavMesh文件路径 + + Returns: + navmesh_data: 包含顶点、三角形、区域信息的字典，如果解析失败返回None + """ + if not os.path.exists(navmesh_path): + return None + + try: + with open(navmesh_path, 'rb') as f: + # 读取文件头 + header = f.read(4) + if header != b'TESM': + print(f"[WARN] NavMesh文件头不匹配: {header}") + return None + + # 读取版本/标志（可能是版本号和标志） + version = struct.unpack(' List[Dict]: + """ + 从semantic.glb中提取所有空间，使用空间聚类方法 + + 策略： + 1. 提取所有对象的中心点 + 2. 使用DBSCAN聚类识别空间 + 3. 如果提供了语义标注，可以结合使用 + + Args: + semantic_glb_path: semantic.glb文件路径 + room_to_objects: 房间到对象的映射 {room_id: [object_ids]}（可选） + use_clustering: 是否使用空间聚类（默认True） + cluster_eps: DBSCAN聚类半径（米），默认2.0 + cluster_min_samples: DBSCAN最小样本数，默认3 + + Returns: + spaces: 空间列表，每个元素包含空间信息 + """ + spaces = [] + + if not os.path.exists(semantic_glb_path): + return spaces + + try: + import trimesh + + scene = trimesh.load(semantic_glb_path, process=False) + if not isinstance(scene, trimesh.Scene): + return spaces + + # 提取所有对象的信息（中心点和顶点） + obj_info_list = [] + obj_index_to_info = {} + + for idx, (name, geom) in enumerate(scene.geometry.items(), 1): + if isinstance(geom, trimesh.Trimesh): + # 获取变换矩阵 + transform = np.eye(4) + for node_name in scene.graph.nodes_geometry: + if scene.graph[node_name][1] == name: + transform = scene.graph[node_name][0] + break + + # 计算对象中心点（世界坐标） + local_center = geom.bounds.mean(axis=0) + world_center = np.dot(transform[:3, :3], local_center) + transform[:3, 3] + + # 获取对象的所有顶点（世界坐标） + world_vertices = np.dot(geom.vertices, transform[:3, :3].T) + transform[:3, 3] + + obj_info = { + 'index': idx, + 'name': name, + 'geom': geom, + 'center': world_center, + 'vertices': world_vertices, + 'transform': transform + } + obj_info_list.append(obj_info) + obj_index_to_info[idx] = obj_info + + if not obj_info_list: + return spaces + + # 方法1：如果使用聚类，基于对象中心点进行空间聚类 + if use_clustering: + try: + from sklearn.cluster import DBSCAN + + # 提取所有对象的中心点 + centers = np.array([info['center'] for info in obj_info_list]) + + # 使用DBSCAN聚类 + # 方法1：只考虑X和Y坐标（适合单层场景） + # 方法2：考虑3D坐标，但Z轴权重较小（适合多层场景） + # 这里先尝试2D，如果空间太少再尝试3D + use_3d = len(obj_info_list) > 50 # 如果对象很多，可能有多层 + + if use_3d: + # 3D聚类，但Z轴权重较小（高度差异通常比水平距离大） + centers_3d = centers.copy() + centers_3d[:, 2] = centers_3d[:, 2] * 0.5 # Z轴权重减半 + clustering = DBSCAN(eps=cluster_eps, min_samples=cluster_min_samples) + cluster_labels = clustering.fit_predict(centers_3d) + else: + # 2D聚类（只使用X和Y） + centers_2d = centers[:, :2] + clustering = DBSCAN(eps=cluster_eps, min_samples=cluster_min_samples) + cluster_labels = clustering.fit_predict(centers_2d) + + # 统计聚类结果 + unique_labels = set(cluster_labels) + if -1 in unique_labels: + unique_labels.remove(-1) # 移除噪声点 + + print(f"[INFO] DBSCAN聚类识别到 {len(unique_labels)} 个空间（eps={cluster_eps}, min_samples={cluster_min_samples}）") + + # 为每个聚类计算边界框 + for cluster_id in sorted(unique_labels): + # 获取该聚类的所有对象 + cluster_objects = [obj_info_list[i] for i in range(len(obj_info_list)) + if cluster_labels[i] == cluster_id] + + if not cluster_objects: + continue + + # 合并所有对象的顶点 + all_vertices = np.vstack([obj['vertices'] for obj in cluster_objects]) + + bounds_min = all_vertices.min(axis=0) + bounds_max = all_vertices.max(axis=0) + center = (bounds_min + bounds_max) / 2 + size = bounds_max - bounds_min + + # 检查空间是否有效（至少0.2米，降低阈值以识别更多空间） + # 注意：太小的空间可能是噪声，但用户希望识别所有空间 + if np.all(size > 0.2): + spaces.append({ + "space_id": cluster_id, + "bounds_min": bounds_min, + "bounds_max": bounds_max, + "center": center, + "object_count": len(cluster_objects), + "source": "spatial_clustering" + }) + + except ImportError: + print("[WARN] sklearn未安装，无法使用空间聚类，回退到语义标注方法") + use_clustering = False + + # 方法2：如果提供了语义标注且未使用聚类，使用语义标注 + if not use_clustering and room_to_objects: + # 为每个房间计算边界框（使用semantic.glb中存在的对象） + for room_id in sorted(room_to_objects.keys()): + obj_ids = room_to_objects[room_id] + # 只使用在semantic.glb中存在的对象ID（1-206） + valid_obj_ids = [obj_id for obj_id in obj_ids if obj_id in obj_index_to_info] + + if valid_obj_ids: + # 收集这些对象的所有顶点 + all_vertices = [] + for obj_id in valid_obj_ids: + info = obj_index_to_info[obj_id] + all_vertices.append(info['vertices']) + + if all_vertices: + all_vertices = np.vstack(all_vertices) + bounds_min = all_vertices.min(axis=0) + bounds_max = all_vertices.max(axis=0) + center = (bounds_min + bounds_max) / 2 + size = bounds_max - bounds_min + + # 检查空间是否有效（至少0.1米） + if np.all(size > 0.1): + spaces.append({ + "space_id": room_id, + "bounds_min": bounds_min, + "bounds_max": bounds_max, + "center": center, + "object_count": len(valid_obj_ids), + "total_objects_in_annotation": len(obj_ids), + "source": "semantic_glb" + }) + + except Exception as e: + print(f"[WARN] 从semantic.glb提取空间失败: {e}") + import traceback + traceback.print_exc() + + return spaces + + +def extract_spaces_from_glb(glb_path: str, + room_to_objects: Dict[int, List[int]] = None, + use_clustering: bool = True, + cluster_eps: float = 0.8, + cluster_min_samples: int = 2) -> List[Dict]: + """ + 从原始GLB文件中提取所有空间，使用空间聚类方法 + + 当没有semantic.glb文件时，使用此方法作为回退方案 + + Args: + glb_path: GLB文件路径 + room_to_objects: 房间到对象的映射 {room_id: [object_ids]}（可选） + use_clustering: 是否使用空间聚类（默认True） + cluster_eps: DBSCAN聚类半径（米），默认0.8 + cluster_min_samples: DBSCAN最小样本数，默认2 + + Returns: + spaces: 空间列表，每个元素包含空间信息 + """ + spaces = [] + + if not os.path.exists(glb_path): + return spaces + + try: + import trimesh + + scene = trimesh.load(glb_path, process=False) + if not isinstance(scene, trimesh.Scene): + return spaces + + # 提取所有对象的信息（中心点和顶点） + obj_info_list = [] + obj_index_to_info = {} + + for idx, (name, geom) in enumerate(scene.geometry.items(), 1): + if isinstance(geom, trimesh.Trimesh): + # 获取变换矩阵 + transform = np.eye(4) + for node_name in scene.graph.nodes_geometry: + if scene.graph[node_name][1] == name: + transform = scene.graph[node_name][0] + break + + # 计算对象中心点（世界坐标） + local_center = geom.bounds.mean(axis=0) + world_center = np.dot(transform[:3, :3], local_center) + transform[:3, 3] + + # 获取对象的所有顶点（世界坐标） + world_vertices = np.dot(geom.vertices, transform[:3, :3].T) + transform[:3, 3] + + obj_info = { + 'index': idx, + 'name': name, + 'geom': geom, + 'center': world_center, + 'vertices': world_vertices, + 'transform': transform + } + obj_info_list.append(obj_info) + obj_index_to_info[idx] = obj_info + + if not obj_info_list: + return spaces + + # 使用聚类，基于对象中心点进行空间聚类 + if use_clustering: + try: + from sklearn.cluster import DBSCAN + + # 提取所有对象的中心点 + centers = np.array([info['center'] for info in obj_info_list]) + + # 使用DBSCAN聚类 + # 根据对象数量决定使用2D还是3D聚类 + use_3d = len(obj_info_list) > 50 # 如果对象很多，可能有多层 + + if use_3d: + # 3D聚类，但Z轴权重较小（高度差异通常比水平距离大） + centers_3d = centers.copy() + centers_3d[:, 2] = centers_3d[:, 2] * 0.5 # Z轴权重减半 + clustering = DBSCAN(eps=cluster_eps, min_samples=cluster_min_samples) + cluster_labels = clustering.fit_predict(centers_3d) + else: + # 2D聚类（只使用X和Y） + centers_2d = centers[:, :2] + clustering = DBSCAN(eps=cluster_eps, min_samples=cluster_min_samples) + cluster_labels = clustering.fit_predict(centers_2d) + + # 统计聚类结果 + unique_labels = set(cluster_labels) + if -1 in unique_labels: + unique_labels.remove(-1) # 移除噪声点 + + print(f"[INFO] DBSCAN聚类识别到 {len(unique_labels)} 个空间（eps={cluster_eps}, min_samples={cluster_min_samples}）") + + # 为每个聚类计算边界框 + for cluster_id in sorted(unique_labels): + # 获取该聚类的所有对象 + cluster_objects = [obj_info_list[i] for i in range(len(obj_info_list)) + if cluster_labels[i] == cluster_id] + + if not cluster_objects: + continue + + # 合并所有对象的顶点 + all_vertices = np.vstack([obj['vertices'] for obj in cluster_objects]) + + bounds_min = all_vertices.min(axis=0) + bounds_max = all_vertices.max(axis=0) + center = (bounds_min + bounds_max) / 2 + size = bounds_max - bounds_min + + # 检查空间是否有效（至少0.2米） + if np.all(size > 0.2): + spaces.append({ + "space_id": cluster_id, + "bounds_min": bounds_min, + "bounds_max": bounds_max, + "center": center, + "object_count": len(cluster_objects), + "source": "glb_clustering" + }) + + except ImportError: + print("[WARN] sklearn未安装，无法使用空间聚类") + except Exception as e: + print(f"[WARN] 空间聚类失败: {e}") + + except Exception as e: + print(f"[WARN] 从GLB提取空间失败: {e}") + import traceback + traceback.print_exc() + + return spaces + + +def extract_navmesh_islands_from_semantic(navmesh_path: str, mesh_path: str, + room_to_objects: Dict[int, List[int]]) -> List[Dict]: + """ + 结合语义信息从NavMesh提取空间区域 + + 现在改为使用semantic.glb直接计算，不依赖NavMesh的island分割 + + Args: + navmesh_path: NavMesh文件路径（保留参数以保持兼容性） + mesh_path: GLB文件路径 + room_to_objects: 房间到对象的映射 {room_id: [object_ids]} + + Returns: + spaces: 空间列表 + """ + # 查找semantic.glb文件（优先查找.glb，而不是.txt） + from semantic_utils import find_semantic_file + from pathlib import Path + import os + + # 先尝试直接查找semantic.glb + mesh_path_obj = Path(mesh_path) + mesh_dir = mesh_path_obj.parent + mesh_stem = mesh_path_obj.stem + + semantic_glb_path = None + + # 方法1: 在同一目录下查找 + semantic_glb_candidate = mesh_dir / f"{mesh_stem}.semantic.glb" + if semantic_glb_candidate.exists(): + semantic_glb_path = str(semantic_glb_candidate) + + # 方法2: 在语义标注目录中查找 + if not semantic_glb_path and 'glb-v0.2' in str(mesh_dir): + semantic_dir = str(mesh_dir).replace('glb-v0.2', 'semantic-annots-v0.2') + semantic_dir_obj = Path(semantic_dir) + + if semantic_dir_obj.exists(): + semantic_glb_candidate = semantic_dir_obj / f"{mesh_stem}.semantic.glb" + if semantic_glb_candidate.exists(): + semantic_glb_path = str(semantic_glb_candidate) + + # 方法3: 在上级目录的语义标注目录中查找 + if not semantic_glb_path: + dataset_root = mesh_dir.parent.parent if 'glb-v0.2' in str(mesh_dir) else mesh_dir.parent + semantic_annots_dir = dataset_root / "hm3d-example-semantic-annots-v0.2" + + if semantic_annots_dir.exists(): + # 查找场景目录 + for scene_dir in semantic_annots_dir.iterdir(): + if scene_dir.is_dir(): + semantic_glb_candidate = scene_dir / f"{mesh_stem}.semantic.glb" + if semantic_glb_candidate.exists(): + semantic_glb_path = str(semantic_glb_candidate) + break + + if semantic_glb_path and os.path.exists(semantic_glb_path): + # 直接使用semantic.glb + 空间聚类 + return extract_spaces_from_semantic_glb(semantic_glb_path, room_to_objects, use_clustering=True) + elif mesh_path and os.path.exists(mesh_path): + # 如果没有semantic.glb，尝试直接从原始GLB文件进行空间聚类 + print(f" [INFO] 未找到semantic.glb，尝试从原始GLB文件进行空间聚类...") + return extract_spaces_from_glb(mesh_path, room_to_objects, use_clustering=True) + else: + # 回退到原有方法 + return [] + + +def get_room_bounds_from_mesh(mesh_path: str, object_ids: List[int], + scene=None) -> Tuple[Optional[np.ndarray], Optional[np.ndarray]]: + """ + 从mesh中获取指定对象ID列表的边界框 + + Args: + mesh_path: mesh文件路径 + object_ids: 对象ID列表 + scene: 已加载的场景（可选，避免重复加载） + + Returns: + bounds_min, bounds_max: 边界框的最小和最大坐标 + """ + try: + import trimesh + import re + + if scene is None: + scene = trimesh.load(mesh_path, process=False) + + if not isinstance(scene, trimesh.Scene): + return None, None + + object_ids_set = set(object_ids) + all_vertices = [] + + for name, geom in scene.geometry.items(): + if isinstance(geom, trimesh.Trimesh): + # 从对象名称提取ID + obj_id = None + match = re.search(r'chunk(\d+)', name) + if match: + chunk_num = int(match.group(1)) + obj_id = chunk_num + 1 + + if obj_id is None or obj_id not in object_ids_set: + continue + + # 获取变换矩阵 + for node_name in scene.graph.nodes_geometry: + if scene.graph[node_name][1] == name: + transform = scene.graph[node_name][0] + vertices = np.dot(geom.vertices, transform[:3, :3].T) + transform[:3, 3] + all_vertices.append(vertices) + break + + if all_vertices: + all_vertices = np.vstack(all_vertices) + bounds_min = all_vertices.min(axis=0) + bounds_max = all_vertices.max(axis=0) + return bounds_min, bounds_max + + return None, None + + except Exception as e: + print(f"[WARN] 获取房间边界框失败: {e}") + return None, None + + +def extract_navmesh_islands_connectivity(navmesh_path: str) -> List[Dict]: + """ + 通过连通性分析提取NavMesh中的独立区域（islands） + + 由于直接解析Recast格式复杂，此函数尝试： + 1. 解析NavMesh的基本几何信息 + 2. 使用连通性分析识别独立区域 + 3. 计算每个区域的边界框和中心 + + Args: + navmesh_path: NavMesh文件路径 + + Returns: + islands: 独立区域列表，每个元素包含边界框和中心信息 + """ + # 由于NavMesh格式复杂且habitat-sim不可用， + # 这里返回空列表，实际使用时会结合语义信息 + # 如果将来需要直接解析，可以在这里实现 + + print("[INFO] NavMesh直接解析暂未实现，使用语义信息结合方法") + return [] + + +def navmesh_to_3d_spaces(navmesh_path: str, mesh_path: str = None, + room_to_objects: Dict[int, List[int]] = None, + use_clustering: bool = True) -> List[Dict]: + """ + 将NavMesh区域映射到3D空间 + + 优先策略： + 1. 如果提供了语义信息，使用semantic.glb + 空间聚类识别所有空间 + 2. 否则尝试直接解析NavMesh + + Args: + navmesh_path: NavMesh文件路径（保留参数以保持兼容性） + mesh_path: GLB文件路径（可选，用于查找semantic.glb） + room_to_objects: 房间到对象的映射（可选，用于结合语义信息） + use_clustering: 是否使用空间聚类（默认True） + + Returns: + spaces: 空间列表，每个元素包含空间ID、边界框、中心等信息 + """ + # 优先使用semantic.glb + 空间聚类方法（可以识别所有空间） + if mesh_path: + from pathlib import Path + import os + + # 直接查找semantic.glb文件（不依赖find_semantic_file，因为它优先返回.txt） + mesh_path_obj = Path(mesh_path) + mesh_dir = mesh_path_obj.parent + mesh_stem = mesh_path_obj.stem + + semantic_glb_path = None + + # 方法1: 在同一目录下查找 + semantic_glb_candidate = mesh_dir / f"{mesh_stem}.semantic.glb" + if semantic_glb_candidate.exists(): + semantic_glb_path = str(semantic_glb_candidate) + + # 方法2: 在语义标注目录中查找 + if not semantic_glb_path and 'glb-v0.2' in str(mesh_dir): + semantic_dir = str(mesh_dir).replace('glb-v0.2', 'semantic-annots-v0.2') + semantic_dir_obj = Path(semantic_dir) + + if semantic_dir_obj.exists(): + semantic_glb_candidate = semantic_dir_obj / f"{mesh_stem}.semantic.glb" + if semantic_glb_candidate.exists(): + semantic_glb_path = str(semantic_glb_candidate) + + # 方法3: 在上级目录的语义标注目录中查找 + if not semantic_glb_path: + dataset_root = mesh_dir.parent.parent if 'glb-v0.2' in str(mesh_dir) else mesh_dir.parent + semantic_annots_dir = dataset_root / "hm3d-example-semantic-annots-v0.2" + + if semantic_annots_dir.exists(): + # 查找场景目录 + for scene_dir in semantic_annots_dir.iterdir(): + if scene_dir.is_dir(): + semantic_glb_candidate = scene_dir / f"{mesh_stem}.semantic.glb" + if semantic_glb_candidate.exists(): + semantic_glb_path = str(semantic_glb_candidate) + break + + if semantic_glb_path and os.path.exists(semantic_glb_path): + # 使用semantic.glb + 空间聚类识别所有空间 + return extract_spaces_from_semantic_glb(semantic_glb_path, room_to_objects, + use_clustering=use_clustering) + elif use_clustering and mesh_path and os.path.exists(mesh_path): + # 如果没有semantic.glb，尝试直接从原始GLB文件进行空间聚类 + print(f" [INFO] 未找到semantic.glb，尝试从原始GLB文件进行空间聚类...") + return extract_spaces_from_glb(mesh_path, room_to_objects, + use_clustering=True) + elif room_to_objects: + # 回退到原有方法 + return extract_navmesh_islands_from_semantic(navmesh_path, mesh_path, room_to_objects) + + # 否则尝试直接解析NavMesh（如果实现） + return extract_navmesh_islands_connectivity(navmesh_path) + + +def find_navmesh_file(mesh_path: str) -> Optional[str]: + """ + 根据GLB文件路径查找对应的NavMesh文件 + + 路径模式： + - GLB: hm3d-example-glb-v0.2/{scene_id}/{scene_id}.glb + - NavMesh: hm3d-example-habitat-v0.2/{scene_id}/{scene_id}.basis.navmesh + + Args: + mesh_path: GLB文件路径 + + Returns: + NavMesh文件路径，如果不存在则返回None + """ + from pathlib import Path + + mesh_path_obj = Path(mesh_path) + mesh_dir = mesh_path_obj.parent + mesh_stem = mesh_path_obj.stem # 不含扩展名的文件名 + + # 方法1: 在同一目录下查找 + navmesh_candidate = mesh_dir / f"{mesh_stem}.basis.navmesh" + if navmesh_candidate.exists(): + return str(navmesh_candidate) + + # 方法2: 在habitat目录中查找 + # 从 glb-v0.2 推断到 habitat-v0.2 + if 'glb-v0.2' in str(mesh_dir): + habitat_dir = str(mesh_dir).replace('glb-v0.2', 'habitat-v0.2') + habitat_dir_obj = Path(habitat_dir) + + if habitat_dir_obj.exists(): + navmesh_candidate = habitat_dir_obj / f"{mesh_stem}.basis.navmesh" + if navmesh_candidate.exists(): + return str(navmesh_candidate) + + # 方法3: 在上级目录的habitat目录中查找 + dataset_root = mesh_dir.parent.parent if 'glb-v0.2' in str(mesh_dir) else mesh_dir.parent + habitat_dir = dataset_root / "hm3d-example-habitat-v0.2" + + if habitat_dir.exists(): + # 查找场景目录 + for scene_dir in habitat_dir.iterdir(): + if scene_dir.is_dir(): + navmesh_candidate = scene_dir / f"{mesh_stem}.basis.navmesh" + if navmesh_candidate.exists(): + return str(navmesh_candidate) + + # 也可能文件名不同，尝试查找所有.navmesh文件 + navmesh_files = list(scene_dir.glob("*.navmesh")) + if navmesh_files: + # 返回第一个找到的（通常只有一个） + return str(navmesh_files[0]) + + return None diff --git a/tools/semantic_utils.py b/tools/semantic_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..67a003c1cce7ed2ad1ba2aedb809b233b9ddcba0 --- /dev/null +++ b/tools/semantic_utils.py @@ -0,0 +1,203 @@ +#!/usr/bin/env python3 +""" +HM3D语义信息读取工具 + +用于从semantic.txt或semantic.glb文件中读取房间语义信息 +""" + +import os +from pathlib import Path +from typing import Dict, List, Optional, Tuple +import numpy as np + + +def parse_semantic_txt(semantic_txt_path: str) -> Dict[int, List[int]]: + """ + 解析semantic.txt文件，提取房间ID到对象ID的映射 + + semantic.txt格式： + ID,颜色,类别名,房间ID + + Args: + semantic_txt_path: semantic.txt文件路径 + + Returns: + room_to_objects: {room_id: [object_ids]} 字典 + """ + room_to_objects: Dict[int, List[int]] = {} + + if not os.path.exists(semantic_txt_path): + return room_to_objects + + with open(semantic_txt_path, 'r', encoding='utf-8') as f: + lines = f.readlines() + + # 跳过第一行标题（如果有） + start_idx = 0 + if len(lines) > 0 and 'HM3D Semantic Annotations' in lines[0]: + start_idx = 1 + + for line in lines[start_idx:]: + line = line.strip() + if not line: + continue + + # 解析格式: ID,颜色,类别名,房间ID + parts = line.split(',') + if len(parts) >= 4: + try: + object_id = int(parts[0].strip()) + room_id_str = parts[3].strip() + + # 房间ID可能是数字或空字符串 + if room_id_str.isdigit(): + room_id = int(room_id_str) + if room_id not in room_to_objects: + room_to_objects[room_id] = [] + room_to_objects[room_id].append(object_id) + except (ValueError, IndexError): + continue + + return room_to_objects + + +def load_semantic_from_glb(semantic_glb_path: str) -> Dict[int, List[int]]: + """ + 从semantic.glb文件中读取语义信息 + + Args: + semantic_glb_path: semantic.glb文件路径 + + Returns: + room_to_objects: {room_id: [object_ids]} 字典 + """ + room_to_objects: Dict[int, List[int]] = {} + + if not os.path.exists(semantic_glb_path): + return room_to_objects + + try: + import trimesh + + scene = trimesh.load(semantic_glb_path, process=False) + + if isinstance(scene, trimesh.Scene): + # 遍历场景中的所有几何体 + for name, geom in scene.geometry.items(): + if isinstance(geom, trimesh.Trimesh): + # 尝试从对象名称或材质中提取房间ID + # HM3D的semantic.glb中，对象名称可能包含房间信息 + # 或者通过材质索引来区分房间 + # 这里需要根据实际格式调整 + # 暂时返回空字典，因为semantic.txt更可靠 + pass + except ImportError: + print("[WARN] trimesh未安装，无法从GLB读取语义信息") + except Exception as e: + print(f"[WARN] 从GLB读取语义信息失败: {e}") + + return room_to_objects + + +def find_semantic_file(mesh_path: str) -> Optional[str]: + """ + 根据GLB文件路径查找对应的语义文件 + + 查找顺序： + 1. semantic.txt文件（优先） + 2. semantic.glb文件 + + Args: + mesh_path: GLB文件路径 + + Returns: + 语义文件路径，如果不存在则返回None + """ + mesh_path_obj = Path(mesh_path) + mesh_dir = mesh_path_obj.parent + mesh_stem = mesh_path_obj.stem # 不含扩展名的文件名 + + # 尝试查找semantic.txt + # 路径模式：从 hm3d-example-glb-v0.2/... 到 hm3d-example-semantic-annots-v0.2/... + semantic_txt_path = None + semantic_glb_path = None + + # 方法1: 在同一目录下查找 + semantic_txt_candidate = mesh_dir / f"{mesh_stem}.semantic.txt" + if semantic_txt_candidate.exists(): + semantic_txt_path = str(semantic_txt_candidate) + + semantic_glb_candidate = mesh_dir / f"{mesh_stem}.semantic.glb" + if semantic_glb_candidate.exists(): + semantic_glb_path = str(semantic_glb_candidate) + + # 方法2: 在语义标注目录中查找 + # 从 glb-v0.2 推断到 semantic-annots-v0.2 + if 'glb-v0.2' in str(mesh_dir): + semantic_dir = str(mesh_dir).replace('glb-v0.2', 'semantic-annots-v0.2') + semantic_dir_obj = Path(semantic_dir) + + if semantic_dir_obj.exists(): + semantic_txt_candidate = semantic_dir_obj / f"{mesh_stem}.semantic.txt" + if semantic_txt_candidate.exists(): + semantic_txt_path = str(semantic_txt_candidate) + + semantic_glb_candidate = semantic_dir_obj / f"{mesh_stem}.semantic.glb" + if semantic_glb_candidate.exists(): + semantic_glb_path = str(semantic_glb_candidate) + + # 方法3: 在上级目录的语义标注目录中查找 + if semantic_txt_path is None and semantic_glb_path is None: + # 尝试在dataset_HM3D目录下查找 + dataset_root = mesh_dir.parent.parent if 'glb-v0.2' in str(mesh_dir) else mesh_dir.parent + semantic_annots_dir = dataset_root / "hm3d-example-semantic-annots-v0.2" + + if semantic_annots_dir.exists(): + # 查找场景目录 + for scene_dir in semantic_annots_dir.iterdir(): + if scene_dir.is_dir(): + semantic_txt_candidate = scene_dir / f"{mesh_stem}.semantic.txt" + if semantic_txt_candidate.exists(): + semantic_txt_path = str(semantic_txt_candidate) + break + + semantic_glb_candidate = scene_dir / f"{mesh_stem}.semantic.glb" + if semantic_glb_candidate.exists(): + semantic_glb_path = str(semantic_glb_candidate) + break + + # 优先返回semantic.txt + if semantic_txt_path: + return semantic_txt_path + elif semantic_glb_path: + return semantic_glb_path + else: + return None + + +def load_semantic_info(mesh_path: str) -> Tuple[Optional[Dict[int, List[int]]], Optional[str]]: + """ + 加载语义信息（优先使用semantic.txt，如果不存在则使用semantic.glb） + + Args: + mesh_path: GLB文件路径 + + Returns: + (room_to_objects, semantic_file_path): + - room_to_objects: {room_id: [object_ids]} 字典，如果不存在则返回None + - semantic_file_path: 使用的语义文件路径，如果不存在则返回None + """ + semantic_file_path = find_semantic_file(mesh_path) + + if semantic_file_path is None: + return None, None + + # 根据文件类型选择解析方法 + if semantic_file_path.endswith('.txt'): + room_to_objects = parse_semantic_txt(semantic_file_path) + return room_to_objects, semantic_file_path + elif semantic_file_path.endswith('.glb'): + room_to_objects = load_semantic_from_glb(semantic_file_path) + return room_to_objects, semantic_file_path + else: + return None, None diff --git a/tools/update_croissant_with_real_hashes.py b/tools/update_croissant_with_real_hashes.py new file mode 100644 index 0000000000000000000000000000000000000000..2a5a0aa6287f3eac597a76c18d46d5e9192c7e69 --- /dev/null +++ b/tools/update_croissant_with_real_hashes.py @@ -0,0 +1,97 @@ +#!/usr/bin/env python3 +"""Patch croissant.json with real archive-level SHA256 digests. + +After the H100 batch hash run finishes, you have: + - manifests/SHA256SUMS_.txt per-archive line-by-line manifest + - manifests/ARCHIVE_DIGESTS.txt sha256 of each manifest file + +This script reads ARCHIVE_DIGESTS.txt, maps each to its +matching `cr:FileObject` in croissant.json (by `@id`), and rewrites the +`sha256` field. It also updates `contentSize` from the on-disk manifest's +total file count via a sidecar count file (optional). + +Usage + tools/update_croissant_with_real_hashes.py \ + --croissant dataset_metadata/croissant.json \ + --digests manifests_local/ARCHIVE_DIGESTS.txt \ + --out dataset_metadata/croissant.json + +Mapping (archive_id -> croissant @id) is hard-coded below to match the +actual server layout in /data/data_wr/data_shushu/. +""" +import argparse +import json +import sys +from pathlib import Path + +# Map H100 archive_id (chosen in run_hashes.sh) -> Croissant @id. +# The Croissant file currently has cr:FileObject entries with @id ending +# in ".tar"; we rewrite the entries even though the actual upload may be +# a flat directory rather than a tar (the sha256 still pins the content). +ARCHIVE_TO_CROISSANT = { + "blender_indoor_round1+2": "blender-indoor-archive.tar", + "blender_indoor_round2": "blender-indoor-round2.tar", # may not exist yet in croissant.json + "blender_1m_discrete": "blender-1m-discrete.tar", # may not exist yet + "HM3D": "hm3d-adapter.tar", + "scannetpp": "scannetpp-adapter.tar", + "OB3D": "outdoor-ob3d-archive.tar", + "tartanground": "outdoor-tartanground-archive.tar", + "shushu_line": "shushu-line.tar", # may not exist yet + "shushu_circle": "shushu-circle.tar", # may not exist yet + "robustness": "robustness.tar", # may not exist yet +} + + +def read_digests(path: Path) -> dict[str, str]: + """Parse ARCHIVE_DIGESTS.txt: each line is ' SHA256SUMS_.txt'.""" + out = {} + with open(path) as f: + for line in f: + line = line.strip() + if not line: + continue + sha, fname = line.split(maxsplit=1) + # fname looks like 'SHA256SUMS_.txt' + archive_id = fname.removeprefix("SHA256SUMS_").removesuffix(".txt") + out[archive_id] = sha + return out + + +def main() -> int: + ap = argparse.ArgumentParser() + ap.add_argument("--croissant", required=True, type=Path) + ap.add_argument("--digests", required=True, type=Path) + ap.add_argument("--out", required=True, type=Path) + args = ap.parse_args() + + cr = json.loads(args.croissant.read_text()) + digests = read_digests(args.digests) + + # Build @id -> entry index. + by_id = {e.get("@id"): i for i, e in enumerate(cr.get("distribution", []))} + + matched, unmatched, missing_in_cr = 0, [], [] + for archive_id, sha in digests.items(): + cr_id = ARCHIVE_TO_CROISSANT.get(archive_id) + if not cr_id: + unmatched.append(archive_id) + continue + if cr_id not in by_id: + missing_in_cr.append((archive_id, cr_id)) + continue + cr["distribution"][by_id[cr_id]]["sha256"] = sha + matched += 1 + + args.out.write_text(json.dumps(cr, indent=2, ensure_ascii=False) + "\n") + + print(f"updated {matched} cr:FileObject entries with real sha256") + if unmatched: + print(f" no croissant mapping for: {unmatched}") + if missing_in_cr: + print(f" croissant @id not found for: {missing_in_cr}") + print(f" wrote: {args.out}") + return 0 + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/utils/__init__.py b/utils/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..9dd8f2ba3a4fdfd25c5a17c0c61935d0962e2a3f --- /dev/null +++ b/utils/__init__.py @@ -0,0 +1,27 @@ +# ERPT Utility Modules +""" +工具模块： +- io_utils: 图像/JSON读写 +- pose_utils: 位姿加载和验证 +""" + +from .io_utils import ( + load_image, + save_image, + load_json, + save_json, + load_depth, + save_depth, + list_files, +) + +from .pose_utils import ( + load_pose, + validate_pose, + parse_pose, + load_all_poses, + compute_relative_pose, + compute_translation_distance, + compute_rotation_angle, + Pose, +) diff --git a/utils/io_utils.py b/utils/io_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..f5b06811b6ca0c7d8c65437836b27fa0ddc6a6ed --- /dev/null +++ b/utils/io_utils.py @@ -0,0 +1,149 @@ +""" +IO 工具模块 + +图像和 JSON 文件的读写。 +""" + +import json +import numpy as np +from pathlib import Path +from typing import Dict, Any, Union +import cv2 + + +def load_image(path: Union[str, Path]) -> np.ndarray: + """ + 加载图像 + + Args: + path: 图像路径 + + Returns: + img: (H, W, 3) RGB uint8 图像 + """ + path = Path(path) + if not path.exists(): + raise FileNotFoundError(f"Image not found: {path}") + + # OpenCV 读取 BGR + img = cv2.imread(str(path), cv2.IMREAD_COLOR) + if img is None: + raise ValueError(f"Failed to load image: {path}") + + # BGR -> RGB + img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB) + + return img + + +def save_image(img: np.ndarray, path: Union[str, Path]) -> None: + """ + 保存图像 + + Args: + img: (H, W, 3) RGB uint8 图像 + path: 输出路径 + """ + path = Path(path) + path.parent.mkdir(parents=True, exist_ok=True) + + # RGB -> BGR + if len(img.shape) == 3 and img.shape[2] == 3: + img_bgr = cv2.cvtColor(img, cv2.COLOR_RGB2BGR) + else: + img_bgr = img + + cv2.imwrite(str(path), img_bgr) + + +def load_json(path: Union[str, Path]) -> Dict[str, Any]: + """ + 加载 JSON 文件 + + Args: + path: JSON 文件路径 + + Returns: + data: 解析后的字典 + """ + path = Path(path) + if not path.exists(): + raise FileNotFoundError(f"JSON not found: {path}") + + with open(path, "r", encoding="utf-8") as f: + return json.load(f) + + +def save_json(data: Dict[str, Any], path: Union[str, Path], indent: int = 2) -> None: + """ + 保存 JSON 文件 + + Args: + data: 要保存的数据 + path: 输出路径 + indent: 缩进 + """ + path = Path(path) + path.parent.mkdir(parents=True, exist_ok=True) + + with open(path, "w", encoding="utf-8") as f: + json.dump(data, f, indent=indent, ensure_ascii=False) + + +def load_depth(path: Union[str, Path]) -> np.ndarray: + """ + 加载深度图（.npy 格式） + + Args: + path: 深度图路径 + + Returns: + depth: (H, W) float32 深度图 + """ + path = Path(path) + if not path.exists(): + raise FileNotFoundError(f"Depth not found: {path}") + + depth = np.load(str(path)) + return depth.astype(np.float32) + + +def save_depth(depth: np.ndarray, path: Union[str, Path]) -> None: + """ + 保存深度图（.npy 格式） + + Args: + depth: (H, W) 深度图 + path: 输出路径 + """ + path = Path(path) + path.parent.mkdir(parents=True, exist_ok=True) + + np.save(str(path), depth.astype(np.float32)) + + +def list_files( + directory: Union[str, Path], + pattern: str = "*", + sort: bool = True, +) -> list: + """ + 列出目录中的文件 + + Args: + directory: 目录路径 + pattern: glob 模式 + sort: 是否排序 + + Returns: + files: 文件路径列表 + """ + directory = Path(directory) + if not directory.exists(): + return [] + + files = list(directory.glob(pattern)) + if sort: + files = sorted(files) + + return files diff --git a/utils/pose_utils.py b/utils/pose_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..fe2657bba11abdbf193bbbeae4017654de52e920 --- /dev/null +++ b/utils/pose_utils.py @@ -0,0 +1,214 @@ +""" +位姿工具模块 + +位姿加载、验证和转换。 + +ERPT_native 位姿格式： +{ + "frame_id": int, + "position": [x, y, z], # 相机中心在世界坐标系的位置（米） + "rotation_quaternion": [w, x, y, z] # camera->world 旋转 (R_cw) +} +""" + +import numpy as np +from dataclasses import dataclass +from pathlib import Path +from typing import Dict, Any, List, Optional, Tuple + +from .io_utils import load_json + +import sys +sys.path.insert(0, str(Path(__file__).parent.parent)) +from core.coordinate import ( + quat_wxyz_to_rotation_matrix, + validate_rotation_matrix, + orthonormalize_rotation, +) + + +@dataclass +class Pose: + """位姿数据类""" + frame_id: int + position: np.ndarray # (3,) 相机中心在世界坐标系的位置 + R_cw: np.ndarray # (3, 3) camera->world 旋转矩阵 + + @property + def R_wc(self) -> np.ndarray: + """world->camera 旋转矩阵""" + return self.R_cw.T + + def to_dict(self) -> Dict[str, Any]: + """转换为字典""" + from core.coordinate import rotation_matrix_to_quat_wxyz + quat = rotation_matrix_to_quat_wxyz(self.R_cw) + return { + "frame_id": self.frame_id, + "position": self.position.tolist(), + "rotation_quaternion": quat.tolist(), + } + + +def load_pose(path: Path) -> Pose: + """ + 加载位姿文件 + + Args: + path: 位姿 JSON 文件路径 + + Returns: + Pose 实例 + """ + data = load_json(path) + return parse_pose(data) + + +def parse_pose(data: Dict[str, Any]) -> Pose: + """ + 解析位姿数据 + + Args: + data: 位姿 JSON 数据 + + Returns: + Pose 实例 + """ + # 必需字段 + if "position" not in data: + raise ValueError("Pose requires 'position' field") + if "rotation_quaternion" not in data: + raise ValueError("Pose requires 'rotation_quaternion' field") + + frame_id = data.get("frame_id", 0) + position = np.array(data["position"], dtype=np.float64) + quat = np.array(data["rotation_quaternion"], dtype=np.float64) + + # 验证 + if position.shape != (3,): + raise ValueError(f"position shape {position.shape}, expected (3,)") + if quat.shape != (4,): + raise ValueError(f"rotation_quaternion shape {quat.shape}, expected (4,)") + + # 四元数归一化 + quat_norm = np.linalg.norm(quat) + if quat_norm < 1e-9: + raise ValueError(f"Quaternion norm too small: {quat_norm}") + quat = quat / quat_norm + + # 转换为旋转矩阵 + R_cw = quat_wxyz_to_rotation_matrix(quat) + + return Pose( + frame_id=int(frame_id), + position=position.astype(np.float32), + R_cw=R_cw.astype(np.float32), + ) + + +def validate_pose(pose: Pose, strict: bool = True) -> Tuple[bool, str]: + """ + 验证位姿有效性 + + Args: + pose: Pose 实例 + strict: 严格模式 + + Returns: + (is_valid, message) + """ + # 检查旋转矩阵 + is_valid, msg = validate_rotation_matrix(pose.R_cw) + if not is_valid: + if strict: + return False, msg + else: + # 尝试修复 + pose.R_cw = orthonormalize_rotation(pose.R_cw).astype(np.float32) + + # 检查位置是否有限 + if not np.all(np.isfinite(pose.position)): + return False, f"Position contains non-finite values: {pose.position}" + + return True, "Valid pose" + + +def load_all_poses(pose_dir: Path) -> List[Pose]: + """ + 加载目录中所有位姿文件 + + Args: + pose_dir: 位姿目录 + + Returns: + poses: 按 frame_id 排序的位姿列表 + """ + pose_files = sorted(pose_dir.glob("pose_*.json")) + + poses = [] + for path in pose_files: + try: + pose = load_pose(path) + poses.append(pose) + except Exception as e: + print(f"[Warning] Failed to load {path}: {e}") + + # 按 frame_id 排序 + poses.sort(key=lambda p: p.frame_id) + + return poses + + +def compute_relative_pose( + pose_src: Pose, + pose_tgt: Pose, +) -> Tuple[np.ndarray, np.ndarray]: + """ + 计算从源视角到目标视角的相对位姿 + + Args: + pose_src: 源位姿 + pose_tgt: 目标位姿 + + Returns: + R_rel: (3, 3) 相对旋转 R_tgt_src + t_rel: (3,) 相对平移 + """ + # R_tgt_src = R_wc_tgt @ R_cw_src + R_rel = pose_tgt.R_wc @ pose_src.R_cw + + # t_rel = R_wc_tgt @ (t_src - t_tgt) + t_rel = pose_tgt.R_wc @ (pose_src.position - pose_tgt.position) + + return R_rel, t_rel + + +def compute_translation_distance(pose1: Pose, pose2: Pose) -> float: + """ + 计算两个位姿之间的平移距离 + + Args: + pose1, pose2: Pose 实例 + + Returns: + distance: 欧氏距离（米） + """ + return float(np.linalg.norm(pose1.position - pose2.position)) + + +def compute_rotation_angle(pose1: Pose, pose2: Pose) -> float: + """ + 计算两个位姿之间的旋转角度 + + Args: + pose1, pose2: Pose 实例 + + Returns: + angle: 旋转角度（度） + """ + R_rel = pose1.R_wc @ pose2.R_cw + trace = np.trace(R_rel) + # cos(θ) = (trace - 1) / 2 + cos_theta = np.clip((trace - 1.0) / 2.0, -1.0, 1.0) + angle_rad = np.arccos(cos_theta) + return float(np.degrees(angle_rad))