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and narrow wine cooler with curved wooden shelves and a dark brown finish, designed for vertical storage.", + "is_scaled": true, + "rot": [ + 0, + -1, + 0, + 0 + ], + "pos": [ + -1.72, + 0.0, + 0.63 + ], + "instance_id": "furniture/346" + }, + { + "uid": "5425/model", + "jid": "c4168a62-28dd-44de-ba0a-6bb9fb5b73f1", + "size": [ + 0.35, + 0.16, + 0.35 + ], + "desc": "A gold art deco ceiling lamp with a modern flower-like design featuring decorative accents and a central bulb.", + "is_scaled": false, + "rot": [ + 0, + 0, + 0, + 1 + ], + "pos": [ + 0.03, + 2.43, + -0.13 + ], + "instance_id": "furniture/347" + }, + { + "uid": "5425/model", + "jid": "c4168a62-28dd-44de-ba0a-6bb9fb5b73f1", + "size": [ + 0.35, + 0.16, + 0.35 + ], + "desc": "A gold art deco ceiling lamp with a modern flower-like design featuring decorative accents and a central bulb.", + "is_scaled": false, + "rot": [ + 0, + 0, + 0, + 1 + ], + "pos": [ + -0.88, + 2.56, + -0.13 + ], + "instance_id": "furniture/348" + } + ], + "doors": [ + { + "uid": "ed334b26-05f3-4281-8446-b269efd4d3fa/23979668", + "type": "door", + "pos": [ + -2.06, + 1.01, + -0.46 + ], + "size": [ + 0.12, + 2.03, + 0.75 + ], + "min_bounds": [ + -2.12, + 0.0, + -0.84 + ], + "max_bounds": [ + -2.0, + 2.03, + -0.09 + ] + }, + { + "uid": "ed334b26-05f3-4281-8446-b269efd4d3fa/23979671", + "type": "door", + "pos": [ + -2.06, + 0.0, + -0.46 + ], + "size": [ + 0.12, + 0.0, + 0.75 + ], + "min_bounds": [ + -2.12, + 0.0, + -0.84 + ], + "max_bounds": [ + -2.0, + 0.0, + -0.09 + ] + } + ], + "windows": [], + "floor_material": { + "jid": "c8065b81-b5ce-4e8f-8f67-f05dadb5e12b", + "material_type": "flooring - reinforced", + "texture_path": "3D-FRONT-texture/c8065b81-b5ce-4e8f-8f67-f05dadb5e12b/texture.png" + } +} \ No newline at end of file diff --git a/eval/respace/dataset-ssr3dfront_stage1_with_doors_windows/a5ce6a3a-1398-44bb-bd4d-c71c0a80a2c4-8e699288-0e52-46e7-a275-a0a6f905547d.json b/eval/respace/dataset-ssr3dfront_stage1_with_doors_windows/a5ce6a3a-1398-44bb-bd4d-c71c0a80a2c4-8e699288-0e52-46e7-a275-a0a6f905547d.json new file mode 100644 index 0000000000000000000000000000000000000000..f7fa97ed041cfb166bd87ef0b913ad65b85adbf8 --- /dev/null +++ b/eval/respace/dataset-ssr3dfront_stage1_with_doors_windows/a5ce6a3a-1398-44bb-bd4d-c71c0a80a2c4-8e699288-0e52-46e7-a275-a0a6f905547d.json @@ -0,0 +1,293 @@ +{ + "orig_scene_uid": "a5ce6a3a-1398-44bb-bd4d-c71c0a80a2c4", + "uid": "8e699288-0e52-46e7-a275-a0a6f905547d", + "room_id": "Library-5141", + "bounds_top": [ + [ + -1.5, + 2.6, + 1.9 + ], + [ + 1.5, + 2.6, + 1.9 + ], + [ + 1.5, + 2.6, + -1.9 + ], + [ + -1.5, + 2.6, + -1.9 + ] + ], + "bounds_bottom": [ + [ + -1.5, + 0.0, + 1.9 + ], + [ + 1.5, + 0.0, + 1.9 + ], + [ + 1.5, + 0.0, + -1.9 + ], + [ + -1.5, + 0.0, + -1.9 + ] + ], + "objects": [ + { + "uid": "2021159102368218825088/model", + "jid": "063aa0bf-75fb-37f3-8b1c-6c977c9bfcef-(1.11)-(1.17)-(1.09)", + "size": [ + 0.94, + 0.87, + 0.92 + ], + "desc": "Modern minimalist armchair featuring a natural wood frame with grid cutout base, beige fabric detachable cushions, and clean-lined open arm design.", + "is_scaled": true, + "rot": [ + 0, + 0.70711, + 0, + 0.70711 + ], + "pos": [ + -1.12, + 0.0, + 1.38 + ], + "instance_id": "furniture/388" + }, + { + "uid": "2021159102368218825088/model", + "jid": "063aa0bf-75fb-37f3-8b1c-6c977c9bfcef", + "size": [ + 0.85, + 0.75, + 0.84 + ], + "desc": "Modern minimalist armchair featuring a natural wood frame with grid cutout base, beige fabric detachable cushions, and clean-lined open arm design.", + "is_scaled": false, + "rot": [ + 0, + 0.70711, + 0, + 0.70711 + ], + "pos": [ + -1.12, + 0.0, + -0.22 + ], + "instance_id": "furniture/389" + }, + { + "uid": "2021159102368218966976/model", + "jid": "1b9d62ed-554b-4542-b225-265338db3514-(1.09)-(1.0)-(1.84)", + "size": [ + 0.7, + 0.6, + 0.78 + ], + "desc": "A modern Oriental side table with black wood construction, gold geometric accents, and two drawers with distinctive curved legs.", + "is_scaled": true, + "rot": [ + 0, + 0.70711, + 0, + 0.70711 + ], + "pos": [ + -1.13, + 0.0, + 0.58 + ], + "instance_id": "furniture/390" + }, + { + "uid": "2021159102368219056000/model", + "jid": "9a88b82f-bc7c-4282-ae71-c91d58c07708-(2.18)-(1.0)-(0.6)", + "size": [ + 2.7, + 1.53, + 0.35 + ], + "desc": "A contemporary deer-shaped wooden bookcase with open shelving and sculptural design elements for a whimsical, functional storage solution.", + "is_scaled": true, + "rot": [ + 0, + -0.70711, + 0, + 0.70711 + ], + "pos": [ + 1.28, + 0.0, + -0.55 + ], + "instance_id": "furniture/393" + }, + { + "uid": "2021159102368219056000/model", + "jid": "9a88b82f-bc7c-4282-ae71-c91d58c07708-(1.69)-(1.0)-(1.97)", + "size": [ + 2.09, + 1.53, + 1.15 + ], + "desc": "A contemporary deer-shaped wooden bookcase with open shelving and sculptural design elements for a whimsical, functional storage solution.", + "is_scaled": true, + "rot": [ + 0, + 1, + 0, + 0 + ], + "pos": [ + -0.47, + 0.0, + -1.32 + ], + "instance_id": "furniture/415" + }, + { + "uid": "2021159102368219497696/model", + "jid": "2f9faa0f-1e3e-4bdb-a37f-43e669615d8b-(1.01)-(1.0)-(1.21)", + "size": [ + 0.63, + 0.81, + 0.67 + ], + "desc": "A sleek, modern chair featuring a brown leather seat and slim black metal legs, ideal for contemporary spaces.", + "is_scaled": true, + "rot": [ + 0, + -0.99945, + 0, + 0.03314 + ], + "pos": [ + 0.03, + 0.0, + -0.77 + ], + "instance_id": "furniture/416" + }, + { + "uid": "2021159102368219558016/model", + "jid": "8b847a09-1736-476f-8aba-ba6da836c998-(1.05)-(1.0)-(0.98)", + "size": [ + 0.41, + 0.87, + 0.38 + ], + "desc": "Minimalist contemporary pendant lamp with a dome shape, interwoven wooden strips, and suspended design.", + "is_scaled": true, + "rot": [ + 0, + 0, + 0, + 1 + ], + "pos": [ + -0.02, + 1.84, + -0.09 + ], + "instance_id": "furniture/424" + } + ], + "doors": [ + { + "uid": "c17c40ec-a79e-4dd8-9ca8-020fc6697301/65411556", + "type": "door", + "pos": [ + 0.97, + 1.0, + 1.98 + ], + "size": [ + 0.8, + 2.0, + 0.24 + ], + "min_bounds": [ + 0.57, + 0.0, + 1.86 + ], + "max_bounds": [ + 1.37, + 2.0, + 2.1 + ] + }, + { + "uid": "c17c40ec-a79e-4dd8-9ca8-020fc6697301/65411559", + "type": "door", + "pos": [ + 0.97, + 0.0, + 1.98 + ], + "size": [ + 0.8, + 0.0, + 0.24 + ], + "min_bounds": [ + 0.57, + 0.0, + 1.86 + ], + "max_bounds": [ + 1.37, + 0.0, + 2.1 + ] + } + ], + "windows": [ + { + "uid": "b029d851-bce0-464f-a20d-0b373c919daa/65412182", + "type": "window", + "pos": [ + 0.0, + 1.6, + -2.02 + ], + "size": [ + 1.3, + 1.3, + 0.24 + ], + "min_bounds": [ + -0.65, + 0.95, + -2.14 + ], + "max_bounds": [ + 0.65, + 2.25, + -1.9 + ] + } + ], + "floor_material": { + "jid": "c46b54f5-e221-4b0c-9e83-f9fcaa1bfc0e", + "material_type": "flooring - reinforced", + "texture_path": "3D-FRONT-texture/c46b54f5-e221-4b0c-9e83-f9fcaa1bfc0e/texture.png" + } +} \ No newline at end of file diff --git a/tools/data_gen/align_assets_and_layout.py b/tools/data_gen/align_assets_and_layout.py new file mode 100644 index 0000000000000000000000000000000000000000..0ca3d0fa67f507e6931424ea6139c877716304f5 --- /dev/null +++ b/tools/data_gen/align_assets_and_layout.py @@ -0,0 +1,685 @@ +""" +3D资产对齐和Layout旋转简化工具 + +目标：在保持渲染结果不变的情况下，统一3D资产朝向并简化layout中的旋转。 + +核心思想： +- 目前：复杂的layout rot + 不统一的asset init_rotation = 正确的渲染结果 +- 目标：简单的layout rot (纯yaw) + 统一的asset预处理 = 相同的渲染结果 + +用法： +1. 分析模式：分析layout中的旋转，计算每个asset需要的校正 + python align_assets_and_layout.py analyze -o + +2. 转换模式：生成简化的layout和校正配置 + python align_assets_and_layout.py convert --output-layout --output-corrections + +3. 批量模式：处理目录下所有layout文件 + python align_assets_and_layout.py batch --output-dir --output-corrections +""" + +import os +import json +import numpy as np +from pathlib import Path +from typing import Dict, List, Tuple, Optional +import argparse +import copy + + +# ==================== 数学工具函数 ==================== + +def rotation_matrix_x(angle: float) -> np.ndarray: + """绕X轴旋转矩阵（弧度）""" + c, s = np.cos(angle), np.sin(angle) + return np.array([ + [1, 0, 0, 0], + [0, c, -s, 0], + [0, s, c, 0], + [0, 0, 0, 1] + ]) + + +def rotation_matrix_y(angle: float) -> np.ndarray: + """绕Y轴旋转矩阵（弧度）""" + c, s = np.cos(angle), np.sin(angle) + return np.array([ + [c, 0, s, 0], + [0, 1, 0, 0], + [-s, 0, c, 0], + [0, 0, 0, 1] + ]) + + +def rotation_matrix_z(angle: float) -> np.ndarray: + """绕Z轴旋转矩阵（弧度）""" + c, s = np.cos(angle), np.sin(angle) + return np.array([ + [c, -s, 0, 0], + [s, c, 0, 0], + [0, 0, 1, 0], + [0, 0, 0, 1] + ]) + + +def euler_matrix_rzxy(rz: float, rx: float, ry: float) -> np.ndarray: + """ + 欧拉角转旋转矩阵，顺序为rzxy（先Z，再X，最后Y） + 这是compose_scenes.py中使用的顺序 + + 注意：euler_matrix(a, b, c, axes='rzxy') 的参数对应 (rz, rx, ry) + """ + Rz = rotation_matrix_z(rz) + Rx = rotation_matrix_x(rx) + Ry = rotation_matrix_y(ry) + return Ry @ Rx @ Rz + + +def matrix_to_axis_angle(R: np.ndarray) -> Tuple[np.ndarray, float]: + """将旋转矩阵转换为轴角表示""" + if R.shape == (4, 4): + R = R[:3, :3] + + angle = np.arccos(np.clip((np.trace(R) - 1) / 2, -1, 1)) + + if angle < 1e-6: + return np.array([0, 0, 1]), 0.0 + + if np.abs(angle - np.pi) < 1e-6: + # 180度情况，需要特殊处理 + eigenvalues, eigenvectors = np.linalg.eig(R) + idx = np.argmin(np.abs(eigenvalues - 1)) + axis = np.real(eigenvectors[:, idx]) + return axis / np.linalg.norm(axis), angle + + axis = np.array([ + R[2, 1] - R[1, 2], + R[0, 2] - R[2, 0], + R[1, 0] - R[0, 1] + ]) / (2 * np.sin(angle)) + + return axis / np.linalg.norm(axis), angle + + +# ==================== 资产初始旋转配置 ==================== + +def get_standard_init_rotation(uid: str, uid_2_angle: Dict = None, + pm_uid_2_cate: Dict = None) -> np.ndarray: + """ + 获取标准的init_rotation（复制自compose_scenes.py的逻辑） + + 这些旋转将原始的3D资产转换为"canonical"形式 + """ + transform = np.eye(4) + + if uid.startswith("objaverse/"): + if uid_2_angle is None: + rot_radius = 0 + else: + objaverse_id = uid.split("objaverse/")[-1] + rot_radius = uid_2_angle.get(objaverse_id, 0) / 180.0 * np.pi + # Rz(rot) @ Rz(90°) @ Rx(90°) + transform = rotation_matrix_z(rot_radius) @ \ + rotation_matrix_z(0.5 * np.pi) @ \ + rotation_matrix_x(0.5 * np.pi) + + elif uid.startswith("objaverse_old/"): + # Rz(90°) @ Rx(90°) + transform = rotation_matrix_z(0.5 * np.pi) @ \ + rotation_matrix_x(0.5 * np.pi) + + elif uid.startswith("partnet_mobility"): + # Rz(180°) @ Rx(90°) + transform = rotation_matrix_z(np.pi) @ \ + rotation_matrix_x(0.5 * np.pi) + + if pm_uid_2_cate is not None: + pm_cate = pm_uid_2_cate.get(uid, "") + if pm_cate in ["Pen", "Remote", "Phone"]: + # 额外的 Ry(90°) @ Rz(180°) + extra = rotation_matrix_y(0.5 * np.pi) @ rotation_matrix_z(np.pi) + transform = extra @ transform + + elif uid.startswith(("3D-FUTURE-model", "hssd-models", "gen_assets", "gr100")): + # Rz(90°) @ Rx(90°) + transform = rotation_matrix_z(0.5 * np.pi) @ \ + rotation_matrix_x(0.5 * np.pi) + + else: + # 默认 + transform = rotation_matrix_z(0.5 * np.pi) @ \ + rotation_matrix_x(0.5 * np.pi) + + return transform + + +# ==================== 核心转换逻辑 ==================== + +def compute_full_world_transform(init_rotation: np.ndarray, + layout_rot: List[float]) -> np.ndarray: + """ + 计算从原始mesh到最终世界空间的完整旋转变换 + + 流程（来自compose_scenes.py）： + 1. init_rotation: 将原始mesh转为canonical + 2. layout_rot: euler_matrix(rot[0], rot[1], rot[2], axes='rzxy') + 3. 最后: Rx(-90°) 将Z-up转为Y-up输出 + + Args: + init_rotation: 4x4 初始旋转矩阵 + layout_rot: [rot0, rot1, rot2] 弧度 + + Returns: + 4x4 完整旋转变换矩阵 + """ + # layout旋转（axes='rzxy'意味着先Z后X再Y） + layout_R = euler_matrix_rzxy(layout_rot[0], layout_rot[1], layout_rot[2]) + + # Y-up输出转换 + y_up_convert = rotation_matrix_x(-np.pi / 2) + + # 完整变换：y_up @ layout @ init + return y_up_convert @ layout_R @ init_rotation + + +def decompose_for_yaw_only(full_transform: np.ndarray, + original_init: np.ndarray) -> Tuple[float, np.ndarray]: + """ + 分解变换，使layout只需要yaw旋转 + + 目标：找到 yaw 和 correction，使得： + y_up @ Rz(yaw) @ (original_init @ correction) = full_transform + + 即：new_init = original_init @ correction + + Args: + full_transform: 完整的世界变换 + original_init: 原始的init_rotation + + Returns: + (yaw, correction): yaw角度（弧度）和校正矩阵 + """ + # 从full_transform提取有效的yaw + # 在Y-up输出空间中，yaw是绕Y轴的旋转 + # 看变换后的+X方向在XZ平面的投影 + R = full_transform[:3, :3] + x_transformed = R @ np.array([1, 0, 0]) + + # 在Y-up空间，XZ平面是水平面，Y是上 + # yaw = arctan2(z, x) + yaw_in_y_up = np.arctan2(x_transformed[2], x_transformed[0]) + + # 这个yaw在Z-up的layout空间对应绕Z轴的旋转 + # 由于y_up_convert是Rx(-90°)，需要转换 + # 在Z-up空间的yaw就是在Y-up空间的yaw取负 + yaw_z_up = -yaw_in_y_up + + # 构造简化的layout旋转（只有yaw） + simple_layout_R = euler_matrix_rzxy(yaw_z_up, 0, 0) + y_up_convert = rotation_matrix_x(-np.pi / 2) + + # 计算需要的new_init + # full_transform = y_up @ simple_layout @ new_init + # new_init = inv(simple_layout) @ inv(y_up) @ full_transform + reconstructed_target = np.linalg.inv(y_up_convert) @ full_transform + reconstructed_target = np.linalg.inv(simple_layout_R) @ reconstructed_target + new_init = reconstructed_target + + # correction = inv(original_init) @ new_init + correction = np.linalg.inv(original_init) @ new_init + + return yaw_z_up, correction + + +def is_pure_yaw_rotation(layout_rot: List[float], threshold_deg: float = 2.0) -> bool: + """ + 检查layout旋转是否是"纯yaw"（rx和ry接近0） + + 有意倾斜的物体（如斜放的枕头、倒着的瓶子）不是纯yaw，不应该被简化 + """ + rx_deg = abs(np.degrees(layout_rot[1])) + ry_deg = abs(np.degrees(layout_rot[2])) + return rx_deg < threshold_deg and ry_deg < threshold_deg + + +def compute_uid_standard_correction(uid: str, uid_2_angle: Dict = None, + pm_uid_2_cate: Dict = None) -> Tuple[np.ndarray, float]: + """ + 计算uid的标准correction矩阵 + + 这个correction是固定的，不依赖于具体的layout_rot。 + 目标是把init_rotation统一为一个简化的形式。 + + 策略： + - 对于大多数资产，init = Rz(a) @ Rx(90°)，我们想要消除Rx(90°) + - new_init = init @ correction，使得 new_init 只有Rz分量 + - correction = inv(Rx(90°)) = Rx(-90°) + + 但这会改变资产的"上"方向。更好的策略是： + - 保持资产的canonical姿态，只是让layout中的rot[0]真正代表yaw + + 实际策略： + - 计算当layout_rot=[0,0,0]时的full_transform + - 分解出yaw部分 + - correction使得使用这个yaw时重建正确 + """ + init_rot = get_standard_init_rotation(uid, uid_2_angle, pm_uid_2_cate) + + # 用layout_rot=[0,0,0]计算full_transform + identity_layout = [0, 0, 0] + full_transform = compute_full_world_transform(init_rot, identity_layout) + + # 分解得到yaw和correction + new_yaw, correction = decompose_for_yaw_only(full_transform, init_rot) + + # correction的角度 + _, correction_angle = matrix_to_axis_angle(correction) + + return correction, np.degrees(correction_angle), np.degrees(new_yaw) + + +def analyze_single_asset(uid: str, layout_rot: List[float], + uid_2_angle: Dict = None, + pm_uid_2_cate: Dict = None, + uid_correction_cache: Dict = None) -> Dict: + """分析单个asset的变换""" + # 获取当前的init_rotation + init_rot = get_standard_init_rotation(uid, uid_2_angle, pm_uid_2_cate) + + # 检查是否是纯yaw旋转 + is_pure_yaw = is_pure_yaw_rotation(layout_rot) + + # 获取或计算uid的标准correction + if uid_correction_cache is not None and uid in uid_correction_cache: + correction, correction_angle_deg, base_yaw_deg = uid_correction_cache[uid] + else: + correction, correction_angle_deg, base_yaw_deg = compute_uid_standard_correction( + uid, uid_2_angle, pm_uid_2_cate) + if uid_correction_cache is not None: + uid_correction_cache[uid] = (correction, correction_angle_deg, base_yaw_deg) + + # 计算完整变换 + full_transform = compute_full_world_transform(init_rot, layout_rot) + + # 使用标准correction计算new_yaw + new_init = init_rot @ correction + + # 逆向求解：new_yaw使得 y_up @ Rz(new_yaw) @ new_init ≈ full_transform + y_up_convert = rotation_matrix_x(-np.pi / 2) + target_R = np.linalg.inv(y_up_convert) @ full_transform + target_R = np.linalg.inv(new_init) @ target_R + + # target_R应该是一个纯Rz旋转，提取角度 + # Rz的形式是 [[cos, -sin, 0], [sin, cos, 0], [0, 0, 1]] + new_yaw = np.arctan2(target_R[1, 0], target_R[0, 0]) + + # 验证重建 + simple_layout_R = euler_matrix_rzxy(new_yaw, 0, 0) + reconstructed = y_up_convert @ simple_layout_R @ new_init + + error = np.abs(reconstructed - full_transform).max() + + return { + 'uid': uid, + 'original_rot': layout_rot, + 'is_pure_yaw': is_pure_yaw, + 'new_yaw': new_yaw, + 'new_yaw_degrees': np.degrees(new_yaw), + 'correction': correction.tolist(), + 'correction_angle_degrees': correction_angle_deg, + 'reconstruction_error': float(error), + 'is_valid': error < 1e-5 + } + + +# ==================== Layout文件处理 ==================== + +def load_auxiliary_data(asset_library_path: str) -> Tuple[Dict, Dict]: + """加载辅助数据文件""" + uid_2_angle = {} + pm_uid_2_cate = {} + + if asset_library_path and os.path.isdir(asset_library_path): + angle_path = os.path.join(asset_library_path, "uid_2_angle.json") + if os.path.exists(angle_path): + with open(angle_path) as f: + uid_2_angle = json.load(f) + + cate_path = os.path.join(asset_library_path, "uid_2_origin_cate.json") + if os.path.exists(cate_path): + with open(cate_path) as f: + pm_uid_2_cate = json.load(f) + + return uid_2_angle, pm_uid_2_cate + + +def detect_layout_format(layout: dict | list) -> str: + """检测layout格式""" + if isinstance(layout, list): + return 'old' # [{id, category, model_uid, bbox}, ...] + elif 'functional_zones' in layout: + return 'new' # {functional_zones: [{assets: [...]}, ...]} + else: + return 'unknown' + + +def extract_assets_from_layout(layout: dict | list) -> List[Tuple[Dict, List[float], str]]: + """ + 从layout中提取所有asset及其旋转信息 + + Returns: + [(asset_dict, rot_list, uid), ...] + """ + results = [] + layout_format = detect_layout_format(layout) + + if layout_format == 'old': + for asset in layout: + uid = asset.get('model_uid', '') + if not uid: + continue + bbox = asset.get('bbox', [0]*9) + rot = bbox[6:9] + results.append((asset, rot, uid)) + + elif layout_format == 'new': + for zone in layout.get('functional_zones', []): + for asset in zone.get('assets', []): + uid = asset.get('model_uid', '') + if not uid: + continue + transform = asset.get('transform', {}) + rot = transform.get('rot', [0, 0, 0]) + results.append((asset, rot, uid)) + + return results + + +def update_layout_with_new_rot(layout: dict | list, + asset_to_new_yaw: Dict[int, float]) -> dict | list: + """ + 用新的yaw更新layout（返回深拷贝） + + Args: + layout: 原始layout + asset_to_new_yaw: {asset_index: new_yaw_radians} + """ + new_layout = copy.deepcopy(layout) + layout_format = detect_layout_format(layout) + + if layout_format == 'old': + for idx, yaw in asset_to_new_yaw.items(): + if idx < len(new_layout): + new_layout[idx]['bbox'][6] = yaw + new_layout[idx]['bbox'][7] = 0.0 + new_layout[idx]['bbox'][8] = 0.0 + + elif layout_format == 'new': + idx = 0 + for zone in new_layout.get('functional_zones', []): + for asset in zone.get('assets', []): + if 'model_uid' in asset and asset['model_uid']: + if idx in asset_to_new_yaw: + yaw = asset_to_new_yaw[idx] + asset['transform']['rot'] = [yaw, 0.0, 0.0] + idx += 1 + + return new_layout + + +# ==================== 主要命令 ==================== + +def cmd_analyze(args): + """分析命令""" + with open(args.layout_path, 'r') as f: + layout = json.load(f) + + uid_2_angle, pm_uid_2_cate = load_auxiliary_data(args.asset_library) + + assets = extract_assets_from_layout(layout) + + results = { + 'layout_path': args.layout_path, + 'format': detect_layout_format(layout), + 'total_assets': len(assets), + 'analyses': [], + 'corrections_by_uid': {} + } + + uid_correction_cache = {} # 缓存uid的标准correction + + for idx, (asset_dict, rot, uid) in enumerate(assets): + analysis = analyze_single_asset(uid, rot, uid_2_angle, pm_uid_2_cate, uid_correction_cache) + analysis['index'] = idx + analysis['category'] = asset_dict.get('category', '') + analysis['id'] = asset_dict.get('id', idx) + results['analyses'].append(analysis) + + # 记录每个uid的correction + if uid not in results['corrections_by_uid']: + results['corrections_by_uid'][uid] = analysis['correction'] + + # 统计 + valid_count = sum(1 for a in results['analyses'] if a['is_valid']) + simple_before = sum(1 for a in results['analyses'] + if abs(a['original_rot'][1]) < 0.01 and abs(a['original_rot'][2]) < 0.01) + + # 统计纯yaw和非纯yaw + pure_yaw_count = sum(1 for a in results['analyses'] if a['is_pure_yaw']) + non_pure_yaw_count = results['total_assets'] - pure_yaw_count + + print(f"\n{'='*60}") + print(f"对齐分析报告: {args.layout_path}") + print(f"{'='*60}") + print(f"格式: {results['format']}") + print(f"总资产数: {results['total_assets']}") + print(f"纯yaw旋转（可简化）: {pure_yaw_count}") + print(f"有意倾斜（需保留rx/ry）: {non_pure_yaw_count}") + print(f"有效转换: {valid_count}/{results['total_assets']}") + print(f"不同uid数: {len(results['corrections_by_uid'])}") + + # 按资产来源统计correction角度 + prefix_stats = {} + for uid, corr in results['corrections_by_uid'].items(): + prefix = uid.split('/')[0] if '/' in uid else uid + _, angle = matrix_to_axis_angle(np.array(corr)) + if prefix not in prefix_stats: + prefix_stats[prefix] = [] + prefix_stats[prefix].append(np.degrees(angle)) + + print(f"\n各资产来源的校正角度:") + for prefix, angles in sorted(prefix_stats.items()): + angles = np.array(angles) + print(f" {prefix:25s}: n={len(angles):3d}, " + f"min={angles.min():.1f}°, max={angles.max():.1f}°, mean={angles.mean():.1f}°") + + # 显示示例 + print(f"\n转换示例:") + for a in results['analyses'][:5]: + orig = a['original_rot'] + print(f" [{a['id']}] {a['category']:15s}: " + f"[{np.degrees(orig[0]):.1f}°, {np.degrees(orig[1]):.1f}°, {np.degrees(orig[2]):.1f}°] " + f"→ yaw={a['new_yaw_degrees']:.1f}°") + + # 保存结果 + if args.output: + os.makedirs(os.path.dirname(args.output) or '.', exist_ok=True) + with open(args.output, 'w') as f: + json.dump(results, f, indent=2) + print(f"\n分析结果已保存到: {args.output}") + + return results + + +def cmd_convert(args): + """转换命令：生成简化的layout和corrections配置 + + 只对纯yaw旋转的资产进行简化，保留有意倾斜的资产的原始rot + """ + with open(args.layout_path, 'r') as f: + layout = json.load(f) + + uid_2_angle, pm_uid_2_cate = load_auxiliary_data(args.asset_library) + + assets = extract_assets_from_layout(layout) + + asset_to_new_yaw = {} + corrections = {} + pure_yaw_count = 0 + tilted_count = 0 + uid_correction_cache = {} # 缓存uid的标准correction + + for idx, (asset_dict, rot, uid) in enumerate(assets): + analysis = analyze_single_asset(uid, rot, uid_2_angle, pm_uid_2_cate, uid_correction_cache) + + if analysis['is_pure_yaw']: + # 纯yaw资产：简化为新yaw + asset_to_new_yaw[idx] = analysis['new_yaw'] + pure_yaw_count += 1 + + if uid not in corrections: + corrections[uid] = { + 'correction_matrix': analysis['correction'], + 'correction_angle_degrees': analysis['correction_angle_degrees'] + } + else: + # 有意倾斜的资产：保持原始rot不变 + # 不加入asset_to_new_yaw，这样update_layout_with_new_rot不会修改它 + tilted_count += 1 + + # 生成新layout（只修改纯yaw资产） + new_layout = update_layout_with_new_rot(layout, asset_to_new_yaw) + + print(f"\n{'='*60}") + print(f"转换完成") + print(f"{'='*60}") + print(f"处理了 {len(assets)} 个资产") + print(f" 纯yaw资产（已简化）: {pure_yaw_count}") + print(f" 有意倾斜（保持原样）: {tilted_count}") + print(f"生成了 {len(corrections)} 个uid的校正配置") + + # 保存新layout + if args.output_layout: + os.makedirs(os.path.dirname(args.output_layout) or '.', exist_ok=True) + with open(args.output_layout, 'w') as f: + json.dump(new_layout, f, indent=2) + print(f"新layout保存到: {args.output_layout}") + + # 保存corrections + if args.output_corrections: + os.makedirs(os.path.dirname(args.output_corrections) or '.', exist_ok=True) + with open(args.output_corrections, 'w') as f: + json.dump(corrections, f, indent=2) + print(f"校正配置保存到: {args.output_corrections}") + + return new_layout, corrections + + +def cmd_batch(args): + """批量处理命令：处理目录下所有layout文件""" + import glob + + layout_files = glob.glob(os.path.join(args.input_dir, '**/layout.json'), recursive=True) + print(f"找到 {len(layout_files)} 个layout文件") + + uid_2_angle, pm_uid_2_cate = load_auxiliary_data(args.asset_library) + + all_corrections = {} + processed = 0 + + for layout_path in layout_files: + try: + with open(layout_path, 'r') as f: + layout = json.load(f) + + assets = extract_assets_from_layout(layout) + if not assets: + continue + + asset_to_new_yaw = {} + + for idx, (asset_dict, rot, uid) in enumerate(assets): + analysis = analyze_single_asset(uid, rot, uid_2_angle, pm_uid_2_cate) + asset_to_new_yaw[idx] = analysis['new_yaw'] + + if uid not in all_corrections: + all_corrections[uid] = { + 'correction_matrix': analysis['correction'], + 'correction_angle_degrees': analysis['correction_angle_degrees'] + } + + # 生成新layout + if args.output_dir: + rel_path = os.path.relpath(layout_path, args.input_dir) + output_path = os.path.join(args.output_dir, rel_path) + os.makedirs(os.path.dirname(output_path), exist_ok=True) + + new_layout = update_layout_with_new_rot(layout, asset_to_new_yaw) + with open(output_path, 'w') as f: + json.dump(new_layout, f, indent=2) + + processed += 1 + if processed % 100 == 0: + print(f"已处理 {processed}/{len(layout_files)}") + + except Exception as e: + print(f"处理 {layout_path} 时出错: {e}") + + print(f"\n完成！处理了 {processed} 个layout文件") + print(f"收集了 {len(all_corrections)} 个uid的校正配置") + + # 保存所有corrections + if args.output_corrections: + os.makedirs(os.path.dirname(args.output_corrections) or '.', exist_ok=True) + with open(args.output_corrections, 'w') as f: + json.dump(all_corrections, f, indent=2) + print(f"校正配置保存到: {args.output_corrections}") + + +def main(): + parser = argparse.ArgumentParser( + description='3D资产对齐和Layout旋转简化工具', + formatter_class=argparse.RawDescriptionHelpFormatter + ) + + subparsers = parser.add_subparsers(dest='command', help='子命令') + + # analyze命令 + p_analyze = subparsers.add_parser('analyze', help='分析layout中的旋转') + p_analyze.add_argument('layout_path', help='layout.json文件路径') + p_analyze.add_argument('-o', '--output', help='输出分析结果的路径') + p_analyze.add_argument('--asset-library', help='asset_library目录路径') + + # convert命令 + p_convert = subparsers.add_parser('convert', help='转换单个layout文件') + p_convert.add_argument('layout_path', help='layout.json文件路径') + p_convert.add_argument('--output-layout', help='输出简化后的layout路径') + p_convert.add_argument('--output-corrections', help='输出校正配置的路径') + p_convert.add_argument('--asset-library', help='asset_library目录路径') + + # batch命令 + p_batch = subparsers.add_parser('batch', help='批量处理目录下的layout文件') + p_batch.add_argument('input_dir', help='输入目录') + p_batch.add_argument('--output-dir', help='输出目录') + p_batch.add_argument('--output-corrections', help='输出校正配置的路径') + p_batch.add_argument('--asset-library', help='asset_library目录路径') + + args = parser.parse_args() + + # 默认asset_library路径 + if hasattr(args, 'asset_library') and args.asset_library is None: + base_dir = Path(__file__).resolve().parents[2] + args.asset_library = str(base_dir / "data" / "asset_library") + + if args.command == 'analyze': + cmd_analyze(args) + elif args.command == 'convert': + cmd_convert(args) + elif args.command == 'batch': + cmd_batch(args) + else: + parser.print_help() + + +if __name__ == '__main__': + main() diff --git a/tools/data_gen/bake_transforms.py b/tools/data_gen/bake_transforms.py new file mode 100644 index 0000000000000000000000000000000000000000..93dd6634d1d565cb17a847f9debbe85e235c2393 --- /dev/null +++ b/tools/data_gen/bake_transforms.py @@ -0,0 +1,423 @@ +#!/usr/bin/env python3 +""" +将变换烘焙到 mesh 中的工具 + +方案说明： +- 目标是让数据格式统一干净，同时保持渲染结果完全不变 +- 将 init_rotation @ scale @ layout_rot 烘焙到 mesh 本身 +- 输出的 layout 中 rot=[0,0,0]，pos 保持不变 + +工作流程： +1. 加载原始 canonical mesh +2. 应用完整变换：init_rotation @ scale @ layout_rot（不含 translation） +3. 将变换后的 mesh 中心移到原点 +4. 导出新的 mesh GLB +5. 更新 layout： + - pos: 原始位置 + mesh 中心偏移 + - size: 变换后的 AABB 尺寸 + - rot: [0, 0, 0] + +使用方法： + python bake_transforms.py test --asset-index 0 + python bake_transforms.py process --output-dir + python bake_transforms.py batch --output-dir +""" + +import os +import sys +import json +import copy +import argparse +import numpy as np +import trimesh +from pathlib import Path +from typing import Dict, List, Tuple, Optional +from tqdm import tqdm + +# 添加路径 +BASE_DIR = Path(__file__).resolve().parents[2] +sys.path.insert(0, str(BASE_DIR / "InternScenes" / "InternScenes_Real2Sim")) + +from compose_scenes import AssetMeshLoader + + +class TransformBaker: + """将变换烘焙到 mesh 中""" + + def __init__(self, output_mesh_dir: str = None): + self.asset_loader = AssetMeshLoader() + self.output_mesh_dir = output_mesh_dir + self.processed_meshes = {} # uid -> mesh path + + def bake_asset( + self, + uid: str, + bbox: List[float], + save_mesh: bool = True + ) -> Tuple[Optional[dict], Optional[trimesh.Trimesh]]: + """ + 将变换烘焙到单个资产 + + Args: + uid: model_uid (格式: category@source/model_id) + bbox: [cx, cy, cz, sx, sy, sz, rz, rx, ry] + save_mesh: 是否保存 mesh + + Returns: + (new_asset_info, baked_mesh) + new_asset_info: { + 'pos': [x, y, z], + 'size': [sx, sy, sz], + 'rot': [0, 0, 0], + 'mesh_path': str # 如果保存了 mesh + } + """ + try: + # 1. 加载 canonical mesh（已经应用了 init_rotation） + mesh_or_scene = self.asset_loader.load_canonical_mesh(uid, use_texture=True) + + # 如果是 Scene，转换为单个 Trimesh + if isinstance(mesh_or_scene, trimesh.Scene): + # 合并所有 geometry + meshes = [] + for name, geom in mesh_or_scene.geometry.items(): + if isinstance(geom, trimesh.Trimesh): + meshes.append(geom) + if meshes: + canonical_mesh = trimesh.util.concatenate(meshes) + else: + raise ValueError(f"No valid meshes in scene for {uid}") + else: + canonical_mesh = mesh_or_scene + + original_mesh_size = canonical_mesh.bounding_box.extents + + # 2. 计算 scale + target_size = np.array(bbox[3:6]) + scale = target_size / original_mesh_size + scale_matrix = np.diag([scale[0], scale[1], scale[2], 1]) + + # 3. Layout rotation (ZXY euler order) + euler_angles = np.array(bbox[6:9]) # [rz, rx, ry] + rotation_matrix = trimesh.transformations.euler_matrix( + euler_angles[0], euler_angles[1], euler_angles[2], axes='rzxy' + ) + + # 4. 组合变换（不含 translation）: rotation @ scale + transform = rotation_matrix @ scale_matrix + + # 5. 应用变换 + baked_mesh = canonical_mesh.copy() + baked_mesh.apply_transform(transform) + + # 6. 计算变换后的 AABB + aabb_min = baked_mesh.vertices.min(axis=0) + aabb_max = baked_mesh.vertices.max(axis=0) + new_size = (aabb_max - aabb_min).tolist() + mesh_center = (aabb_min + aabb_max) / 2 + + # 7. 将 mesh 中心移到原点 + baked_mesh.vertices -= mesh_center + + # 8. 计算新的位置（原始位置 + mesh 中心偏移） + original_pos = np.array(bbox[0:3]) + new_pos = (original_pos + mesh_center).tolist() + + # 9. 准备输出 + result = { + 'pos': new_pos, + 'size': new_size, + 'rot': [0.0, 0.0, 0.0] + } + + # 10. 保存 mesh + if save_mesh and self.output_mesh_dir: + # 生成安全的文件名 + safe_uid = uid.replace('/', '_').replace('@', '_') + mesh_filename = f"{safe_uid}.glb" + mesh_path = os.path.join(self.output_mesh_dir, 'meshes', mesh_filename) + os.makedirs(os.path.dirname(mesh_path), exist_ok=True) + baked_mesh.export(mesh_path) + result['mesh_path'] = mesh_path + self.processed_meshes[uid] = mesh_path + + return result, baked_mesh + + except Exception as e: + print(f"Error baking {uid}: {e}") + import traceback + traceback.print_exc() + return None, None + + def analyze_asset(self, uid: str, bbox: List[float]) -> dict: + """分析单个资产的变换""" + result = { + 'uid': uid, + 'original_bbox': bbox, + 'original_pos': bbox[0:3], + 'original_size': bbox[3:6], + 'original_rot_deg': [np.degrees(r) for r in bbox[6:9]], + } + + new_info, baked_mesh = self.bake_asset(uid, bbox, save_mesh=False) + if new_info: + result['baked'] = new_info + result['pos_diff'] = [ + new_info['pos'][i] - bbox[i] for i in range(3) + ] + result['size_diff'] = [ + new_info['size'][i] - bbox[3+i] for i in range(3) + ] + else: + result['error'] = 'Failed to bake' + + return result + + +def load_layout(layout_path: str) -> Tuple[dict, List[dict], str]: + """ + 加载 layout 并提取资产列表 + + Returns: + (layout_data, assets, format_type) + format_type: 'list' 或 'zones' + """ + with open(layout_path, 'r') as f: + layout = json.load(f) + + assets = [] + + if isinstance(layout, list): + # 旧格式 (list of assets) + for i, item in enumerate(layout): + assets.append({ + 'index': i, + 'uid': item.get('model_uid', ''), + 'category': item.get('category', 'unknown'), + 'bbox': item.get('bbox', [0]*9), + 'original': item + }) + return layout, assets, 'list' + else: + # 新格式 (with functional_zones) + idx = 0 + for zone_idx, zone in enumerate(layout.get('functional_zones', [])): + for asset_idx, asset in enumerate(zone.get('assets', [])): + transform = asset.get('transform', {}) + bbox = ( + transform.get('pos', [0,0,0]) + + transform.get('size', [1,1,1]) + + transform.get('rot', [0,0,0]) + ) + assets.append({ + 'index': idx, + 'zone_idx': zone_idx, + 'asset_idx': asset_idx, + 'uid': asset.get('model_id', asset.get('model_uid', '')), + 'category': asset.get('category', 'unknown'), + 'bbox': bbox, + 'original': asset + }) + idx += 1 + return layout, assets, 'zones' + + +def update_layout(layout: dict, assets: List[dict], baked_results: List[dict], format_type: str) -> dict: + """更新 layout 数据""" + new_layout = copy.deepcopy(layout) + + if format_type == 'list': + for asset, result in zip(assets, baked_results): + if result: + idx = asset['index'] + new_layout[idx]['bbox'] = ( + result['pos'] + result['size'] + result['rot'] + ) + if 'mesh_path' in result: + new_layout[idx]['baked_mesh'] = result['mesh_path'] + else: + for asset, result in zip(assets, baked_results): + if result: + zone_idx = asset['zone_idx'] + asset_idx = asset['asset_idx'] + zone = new_layout['functional_zones'][zone_idx] + zone['assets'][asset_idx]['transform'] = { + 'pos': result['pos'], + 'size': result['size'], + 'rot': result['rot'] + } + if 'mesh_path' in result: + zone['assets'][asset_idx]['baked_mesh'] = result['mesh_path'] + + return new_layout + + +def cmd_test(args): + """测试单个资产""" + baker = TransformBaker() + layout, assets, format_type = load_layout(args.layout_path) + + if args.asset_index >= len(assets): + print(f"Error: asset index {args.asset_index} out of range (0-{len(assets)-1})") + return + + asset = assets[args.asset_index] + print(f"\n{'='*60}") + print(f"测试资产 #{args.asset_index}") + print(f"{'='*60}") + print(f"UID: {asset['uid']}") + print(f"Category: {asset['category']}") + + analysis = baker.analyze_asset(asset['uid'], asset['bbox']) + + print(f"\n原始参数:") + print(f" pos: {analysis['original_pos']}") + print(f" size: {analysis['original_size']}") + print(f" rot (deg): {analysis['original_rot_deg']}") + + if 'baked' in analysis: + print(f"\n烘焙后:") + print(f" pos: {analysis['baked']['pos']}") + print(f" size: {analysis['baked']['size']}") + print(f" rot: {analysis['baked']['rot']}") + print(f"\n差异:") + print(f" pos_diff: {analysis['pos_diff']}") + print(f" size_diff: {analysis['size_diff']}") + else: + print(f"\n错误: {analysis.get('error', 'Unknown')}") + + +def cmd_process(args): + """处理单个 layout 文件""" + os.makedirs(args.output_dir, exist_ok=True) + + baker = TransformBaker(output_mesh_dir=args.output_dir) + layout, assets, format_type = load_layout(args.layout_path) + + print(f"\n{'='*60}") + print(f"处理场景: {args.layout_path}") + print(f"{'='*60}") + print(f"资产数量: {len(assets)}") + print(f"格式类型: {format_type}") + + # 处理每个资产 + baked_results = [] + success_count = 0 + fail_count = 0 + + for asset in tqdm(assets, desc="烘焙资产"): + result, _ = baker.bake_asset( + asset['uid'], + asset['bbox'], + save_mesh=args.save_meshes + ) + baked_results.append(result) + if result: + success_count += 1 + else: + fail_count += 1 + + # 更新 layout + new_layout = update_layout(layout, assets, baked_results, format_type) + + # 保存 + output_path = os.path.join(args.output_dir, 'layout.json') + with open(output_path, 'w') as f: + json.dump(new_layout, f, indent=2) + + print(f"\n完成!") + print(f" 成功: {success_count}") + print(f" 失败: {fail_count}") + print(f" 输出: {output_path}") + + +def cmd_batch(args): + """批量处理多个场景""" + input_dir = Path(args.input_dir) + output_dir = Path(args.output_dir) + + # 查找所有 layout.json + layout_files = list(input_dir.rglob('layout.json')) + print(f"找到 {len(layout_files)} 个场景") + + total_success = 0 + total_fail = 0 + + for layout_path in tqdm(layout_files, desc="处理场景"): + # 计算相对路径 + rel_path = layout_path.parent.relative_to(input_dir) + scene_output_dir = output_dir / rel_path + + # 创建 baker + baker = TransformBaker(output_mesh_dir=str(scene_output_dir)) + + try: + layout, assets, format_type = load_layout(str(layout_path)) + + baked_results = [] + for asset in assets: + result, _ = baker.bake_asset( + asset['uid'], + asset['bbox'], + save_mesh=args.save_meshes + ) + baked_results.append(result) + if result: + total_success += 1 + else: + total_fail += 1 + + # 更新并保存 layout + new_layout = update_layout(layout, assets, baked_results, format_type) + os.makedirs(scene_output_dir, exist_ok=True) + output_path = scene_output_dir / 'layout.json' + with open(output_path, 'w') as f: + json.dump(new_layout, f, indent=2) + + except Exception as e: + print(f"\nError processing {layout_path}: {e}") + continue + + print(f"\n{'='*60}") + print(f"批量处理完成") + print(f"{'='*60}") + print(f"总资产成功: {total_success}") + print(f"总资产失败: {total_fail}") + print(f"输出目录: {output_dir}") + + +def main(): + parser = argparse.ArgumentParser(description='将变换烘焙到 mesh 中') + subparsers = parser.add_subparsers(dest='command', help='命令') + + # test 命令 + test_parser = subparsers.add_parser('test', help='测试单个资产') + test_parser.add_argument('layout_path', help='layout.json 路径') + test_parser.add_argument('--asset-index', '-i', type=int, default=0, help='资产索引') + + # process 命令 + process_parser = subparsers.add_parser('process', help='处理单个场景') + process_parser.add_argument('layout_path', help='layout.json 路径') + process_parser.add_argument('--output-dir', '-o', required=True, help='输出目录') + process_parser.add_argument('--save-meshes', action='store_true', help='保存烘焙后的 mesh') + + # batch 命令 + batch_parser = subparsers.add_parser('batch', help='批量处理多个场景') + batch_parser.add_argument('input_dir', help='输入目录（包含多个场景）') + batch_parser.add_argument('--output-dir', '-o', required=True, help='输出目录') + batch_parser.add_argument('--save-meshes', action='store_true', help='保存烘焙后的 mesh') + + args = parser.parse_args() + + if args.command == 'test': + cmd_test(args) + elif args.command == 'process': + cmd_process(args) + elif args.command == 'batch': + cmd_batch(args) + else: + parser.print_help() + + +if __name__ == '__main__': + main() diff --git a/tools/data_gen/canonicalize_scene.py b/tools/data_gen/canonicalize_scene.py new file mode 100644 index 0000000000000000000000000000000000000000..565ac6f48783e5b9c803a0b8d2689e66d133c51c --- /dev/null +++ b/tools/data_gen/canonicalize_scene.py @@ -0,0 +1,494 @@ +#!/usr/bin/env python3 +""" +场景数据 Canonicalization 工具 + +将 InternScenes 的杂乱数据归一化为干净格式： +1. 加载原始 mesh，应用完整变换 (init_rotation @ scale @ layout_rot) +2. 使用 PCA/OBB 分析变换后的 mesh +3. 提取 canonical 参数：size, yaw, position +4. 可选：导出 canonical mesh（烘焙后的干净资产） + +关键点： +- 使用 OBB (Oriented Bounding Box) 通过 PCA 分析 mesh +- 从 OBB 提取 yaw（XY 平面主轴方向） +- 保持渲染结果不变，但让 rot 变成纯 yaw + +使用方法： + python canonicalize_scene.py analyze + python canonicalize_scene.py canonicalize --output-dir + python canonicalize_scene.py test --asset-index +""" + +import os +import sys +import json +import copy +import argparse +import numpy as np +import trimesh +from pathlib import Path +from typing import Dict, List, Tuple, Optional +from scipy.spatial.transform import Rotation as R +from tqdm import tqdm +import glob + +# 添加路径 +BASE_DIR = Path(__file__).resolve().parents[2] +sys.path.insert(0, str(BASE_DIR / "InternScenes" / "InternScenes_Real2Sim")) + +from compose_scenes import AssetMeshLoader + + +class SceneCanonicalizier: + """场景数据 Canonicalization""" + + def __init__(self): + self.asset_loader = AssetMeshLoader() + + def get_full_transform(self, uid: str, bbox: List[float]) -> np.ndarray: + """ + 计算完整的变换矩阵（不包括最后的 Y-up 转换） + + 变换顺序: init_rotation -> scale -> layout_rot -> translation + + Args: + uid: 资产 model_uid + bbox: [cx, cy, cz, sx, sy, sz, rz, rx, ry] (ZXY euler order) + + Returns: + 4x4 变换矩阵 + """ + # 1. 加载 canonical mesh 获取原始尺寸 + try: + canonical_mesh = self.asset_loader.load_canonical_mesh(uid, use_texture=False) + mesh_size = canonical_mesh.bounding_box.extents + except Exception as e: + print(f"Warning: Cannot load mesh for {uid}: {e}") + return None + + # 2. 计算 scale + target_size = np.array(bbox[3:6]) + scale = target_size / mesh_size + scale_matrix = np.diag([scale[0], scale[1], scale[2], 1]) + + # 3. Layout rotation (ZXY euler order) + euler_angles = np.array(bbox[6:9]) # [rz, rx, ry] + rotation_matrix = trimesh.transformations.euler_matrix( + euler_angles[0], euler_angles[1], euler_angles[2], axes='rzxy' + ) + + # 4. Translation + translation = np.eye(4) + translation[:3, 3] = np.array(bbox[0:3]) + + # 组合变换: translation @ rotation @ scale + # (注意: canonical mesh 已经应用了 init_rotation) + transform = translation @ rotation_matrix @ scale_matrix + + return transform, canonical_mesh + + def compute_obb_pca(self, mesh: trimesh.Trimesh) -> dict: + """ + 使用 PCA 计算 mesh 的 OBB (Oriented Bounding Box) + + Returns: + { + 'center': [x, y, z], + 'extents': [sx, sy, sz], # 沿主轴的尺寸 + 'axes': 3x3 矩阵，每行是一个主轴方向 + 'yaw': float, XY 平面的旋转角度 (弧度) + } + """ + # 获取顶点 + vertices = mesh.vertices + + # 计算中心 + center = vertices.mean(axis=0) + centered_vertices = vertices - center + + # PCA + cov_matrix = np.cov(centered_vertices.T) + eigenvalues, eigenvectors = np.linalg.eigh(cov_matrix) + + # 按特征值排序（从大到小） + order = np.argsort(eigenvalues)[::-1] + eigenvalues = eigenvalues[order] + eigenvectors = eigenvectors[:, order] + + # 确保右手坐标系 + if np.linalg.det(eigenvectors) < 0: + eigenvectors[:, 2] *= -1 + + # 将顶点投影到主轴上，计算 extents + projected = centered_vertices @ eigenvectors + extents = projected.max(axis=0) - projected.min(axis=0) + + # 计算 yaw: 第一主轴在 XY 平面的角度 + # 第一主轴（最大方差方向）通常是物体的"长边" + principal_axis = eigenvectors[:, 0] + yaw = np.arctan2(principal_axis[1], principal_axis[0]) + + return { + 'center': center, + 'extents': extents, + 'axes': eigenvectors.T, # 每行是一个主轴 + 'yaw': yaw + } + + def compute_obb_trimesh(self, mesh: trimesh.Trimesh) -> dict: + """ + 使用 trimesh 内置的 OBB 计算 + + Returns: + { + 'center': [x, y, z], + 'extents': [sx, sy, sz], + 'transform': 4x4 OBB 变换矩阵 + 'yaw': float + } + """ + try: + obb = mesh.bounding_box_oriented + + # OBB 的变换矩阵 + obb_transform = obb.primitive.transform + + # 中心 + center = obb_transform[:3, 3] + + # 尺寸 (extents) + extents = obb.primitive.extents + + # 提取旋转矩阵 + rotation = obb_transform[:3, :3] + + # 计算 yaw: 看 X 轴被转到哪里 + x_axis_transformed = rotation @ np.array([1, 0, 0]) + yaw = np.arctan2(x_axis_transformed[1], x_axis_transformed[0]) + + return { + 'center': center, + 'extents': extents, + 'transform': obb_transform, + 'yaw': yaw + } + except Exception as e: + print(f"Warning: trimesh OBB failed: {e}, falling back to PCA") + return self.compute_obb_pca(mesh) + + def canonicalize_asset( + self, + uid: str, + bbox: List[float], + method: str = 'trimesh' + ) -> Tuple[Optional[dict], Optional[trimesh.Trimesh]]: + """ + Canonicalize 单个资产 + + Args: + uid: model_uid + bbox: [cx, cy, cz, sx, sy, sz, rz, rx, ry] + method: 'trimesh' 或 'pca' + + Returns: + (new_bbox_info, canonical_mesh) + new_bbox_info: { + 'pos': [x, y, z], + 'size': [sx, sy, sz], + 'rot': [0, 0, yaw] + } + """ + try: + # 1. 获取完整变换和 canonical mesh + result = self.get_full_transform(uid, bbox) + if result is None: + return None, None + transform, canonical_mesh = result + + # 2. 应用变换到 mesh + transformed_mesh = canonical_mesh.copy() + transformed_mesh.apply_transform(transform) + + # 3. 计算 OBB + if method == 'trimesh': + obb = self.compute_obb_trimesh(transformed_mesh) + else: + obb = self.compute_obb_pca(transformed_mesh) + + # 4. 构建新的 bbox 信息 + new_bbox_info = { + 'pos': obb['center'].tolist(), + 'size': obb['extents'].tolist(), + 'rot': [0.0, 0.0, float(obb['yaw'])] # 只有 yaw + } + + # 5. 可选：生成 canonical mesh（去掉旋转，只保留平移到原点） + # 这里我们保留原始 mesh，因为渲染时会重新应用变换 + + return new_bbox_info, transformed_mesh + + except Exception as e: + print(f"Error canonicalizing {uid}: {e}") + import traceback + traceback.print_exc() + return None, None + + def analyze_asset(self, uid: str, bbox: List[float]) -> dict: + """分析单个资产的变换""" + result = { + 'uid': uid, + 'original_bbox': bbox, + 'original_rot_deg': [np.degrees(r) for r in bbox[6:9]], + } + + new_info, _ = self.canonicalize_asset(uid, bbox) + if new_info: + result['canonical'] = new_info + result['canonical_yaw_deg'] = np.degrees(new_info['rot'][2]) + result['size_diff'] = [ + new_info['size'][i] - bbox[3+i] for i in range(3) + ] + else: + result['error'] = 'Failed to canonicalize' + + return result + + +def load_layout(layout_path: str) -> Tuple[dict, List[dict]]: + """加载 layout 并提取资产列表""" + with open(layout_path, 'r') as f: + layout = json.load(f) + + assets = [] + if isinstance(layout, list): + # 旧格式 + for item in layout: + assets.append({ + 'uid': item.get('model_uid', ''), + 'category': item.get('category', 'unknown'), + 'bbox': item.get('bbox', [0]*9), + 'original': item + }) + else: + # 新格式 + for zone in layout.get('functional_zones', []): + for asset in zone.get('assets', []): + transform = asset.get('transform', {}) + bbox = ( + transform.get('pos', [0,0,0]) + + transform.get('size', [1,1,1]) + + transform.get('rot', [0,0,0]) + ) + assets.append({ + 'uid': asset.get('model_id', asset.get('model_uid', '')), + 'category': asset.get('category', 'unknown'), + 'bbox': bbox, + 'original': asset + }) + + return layout, assets + + +def cmd_analyze(args): + """分析命令""" + canonicalizer = SceneCanonicalizier() + layout, assets = load_layout(args.layout_path) + + print(f"\n{'='*60}") + print(f"场景分析: {args.layout_path}") + print(f"{'='*60}") + print(f"资产数量: {len(assets)}") + + results = [] + for i, asset in enumerate(assets): + if not asset['uid']: + continue + result = canonicalizer.analyze_asset(asset['uid'], asset['bbox']) + result['category'] = asset['category'] + results.append(result) + + # 统计 + success = sum(1 for r in results if 'canonical' in r) + failed = len(results) - success + + print(f"\n成功分析: {success}") + print(f"失败: {failed}") + + if args.verbose: + print(f"\n{'='*60}") + print("详细信息 (前10个):") + print(f"{'='*60}") + for i, r in enumerate(results[:10]): + print(f"\n[{i}] {r['category']} - {r['uid'][:40]}...") + print(f" 原始 rot: [{r['original_rot_deg'][0]:.1f}, {r['original_rot_deg'][1]:.1f}, {r['original_rot_deg'][2]:.1f}]°") + if 'canonical' in r: + print(f" 新 yaw: {r['canonical_yaw_deg']:.1f}°") + print(f" 尺寸变化: [{r['size_diff'][0]:.3f}, {r['size_diff'][1]:.3f}, {r['size_diff'][2]:.3f}]") + else: + print(f" 错误: {r.get('error', 'unknown')}") + + +def cmd_test(args): + """测试单个资产的 canonicalization""" + canonicalizer = SceneCanonicalizier() + layout, assets = load_layout(args.layout_path) + + idx = args.asset_index + if idx >= len(assets): + print(f"错误: 索引 {idx} 超出范围 (共 {len(assets)} 个资产)") + return + + asset = assets[idx] + print(f"\n{'='*60}") + print(f"测试资产 #{idx}") + print(f"{'='*60}") + print(f"类别: {asset['category']}") + print(f"UID: {asset['uid']}") + print(f"原始 bbox: {asset['bbox']}") + print(f"原始 rot (deg): [{np.degrees(asset['bbox'][6]):.1f}, {np.degrees(asset['bbox'][7]):.1f}, {np.degrees(asset['bbox'][8]):.1f}]") + + new_info, mesh = canonicalizer.canonicalize_asset(asset['uid'], asset['bbox']) + + if new_info: + print(f"\n✓ Canonicalization 成功!") + print(f"新 pos: {new_info['pos']}") + print(f"新 size: {new_info['size']}") + print(f"新 rot: {new_info['rot']} (yaw={np.degrees(new_info['rot'][2]):.1f}°)") + + if args.export_mesh and mesh: + output_path = f"/tmp/test_canonical_{idx}.glb" + mesh.export(output_path) + print(f"\n已导出变换后的 mesh: {output_path}") + else: + print(f"\n✗ Canonicalization 失败") + + +def cmd_canonicalize(args): + """Canonicalize 整个目录""" + canonicalizer = SceneCanonicalizier() + + layout_files = glob.glob(os.path.join(args.input_dir, '**/layout.json'), recursive=True) + print(f"找到 {len(layout_files)} 个 layout 文件") + + total_stats = { + 'files': 0, + 'assets': 0, + 'success': 0, + 'failed': 0 + } + + for layout_path in tqdm(layout_files, desc="处理场景"): + try: + layout, assets = load_layout(layout_path) + + # Canonicalize 每个资产 + new_layout = copy.deepcopy(layout) + + if isinstance(new_layout, list): + for i, item in enumerate(new_layout): + uid = item.get('model_uid', '') + if not uid: + continue + + bbox = item.get('bbox', [0]*9) + new_info, _ = canonicalizer.canonicalize_asset(uid, bbox) + + total_stats['assets'] += 1 + if new_info: + # 更新 bbox + item['bbox'] = ( + new_info['pos'] + + new_info['size'] + + new_info['rot'] + ) + total_stats['success'] += 1 + else: + total_stats['failed'] += 1 + else: + for zone in new_layout.get('functional_zones', []): + for asset in zone.get('assets', []): + uid = asset.get('model_id', asset.get('model_uid', '')) + if not uid: + continue + + transform = asset.get('transform', {}) + bbox = ( + transform.get('pos', [0,0,0]) + + transform.get('size', [1,1,1]) + + transform.get('rot', [0,0,0]) + ) + + new_info, _ = canonicalizer.canonicalize_asset(uid, bbox) + + total_stats['assets'] += 1 + if new_info: + asset['transform'] = { + 'pos': new_info['pos'], + 'size': new_info['size'], + 'rot': new_info['rot'] + } + total_stats['success'] += 1 + else: + total_stats['failed'] += 1 + + # 保存 + rel_path = os.path.relpath(layout_path, args.input_dir) + output_path = os.path.join(args.output_dir, rel_path) + os.makedirs(os.path.dirname(output_path), exist_ok=True) + + with open(output_path, 'w') as f: + json.dump(new_layout, f, indent=2) + + total_stats['files'] += 1 + + except Exception as e: + print(f"错误处理 {layout_path}: {e}") + + print(f"\n{'='*60}") + print(f"Canonicalization 完成") + print(f"{'='*60}") + print(f"处理文件: {total_stats['files']}") + print(f"总资产: {total_stats['assets']}") + print(f"成功: {total_stats['success']}") + print(f"失败: {total_stats['failed']}") + print(f"输出目录: {args.output_dir}") + + +def main(): + parser = argparse.ArgumentParser( + description='场景数据 Canonicalization 工具', + formatter_class=argparse.RawDescriptionHelpFormatter + ) + + subparsers = parser.add_subparsers(dest='command') + + # analyze + p_analyze = subparsers.add_parser('analyze', help='分析场景') + p_analyze.add_argument('layout_path') + p_analyze.add_argument('-v', '--verbose', action='store_true') + + # test + p_test = subparsers.add_parser('test', help='测试单个资产') + p_test.add_argument('layout_path') + p_test.add_argument('--asset-index', type=int, default=0) + p_test.add_argument('--export-mesh', action='store_true') + + # canonicalize + p_canon = subparsers.add_parser('canonicalize', help='Canonicalize 目录') + p_canon.add_argument('input_dir') + p_canon.add_argument('--output-dir', required=True) + + args = parser.parse_args() + + if args.command == 'analyze': + cmd_analyze(args) + elif args.command == 'test': + cmd_test(args) + elif args.command == 'canonicalize': + cmd_canonicalize(args) + else: + parser.print_help() + + +if __name__ == '__main__': + main() diff --git a/tools/data_gen/compose_canonical_scene.py b/tools/data_gen/compose_canonical_scene.py new file mode 100644 index 0000000000000000000000000000000000000000..d16c4ecb862957eeaa0b17ae3b658ec39704e090 --- /dev/null +++ b/tools/data_gen/compose_canonical_scene.py @@ -0,0 +1,138 @@ +#!/usr/bin/env python3 +""" +从规范化后的 mesh 组合场景 + +2D OBB 规范化后： +- canonical_mesh 是轴对齐的（边线平行于 X/Y 轴） +- transform.rot = [0, 0, yaw] 只有 yaw 旋转 +- 需要在组合场景时应用 yaw 旋转 + translation +""" + +import os +import sys +import json +import argparse +import numpy as np +import trimesh +from pathlib import Path + +BASE_DIR = Path(__file__).resolve().parents[2] +sys.path.insert(0, str(BASE_DIR / "InternScenes" / "InternScenes_Real2Sim")) + + +def compose_canonical_scene(layout_path: str, output_path: str): + """ + 从规范化后的 layout 组合场景 + + 规范化后的 layout: + - canonical_mesh: 轴对齐的 mesh 文件路径 + - transform.rot = [0, 0, yaw]: 只有 yaw 旋转 + - transform.pos: 世界坐标位置 + - transform.size: 轴对齐后的尺寸 + """ + with open(layout_path, 'r') as f: + layout = json.load(f) + + scene = trimesh.Scene() + + # 提取所有资产 + if isinstance(layout, list): + assets = layout + else: + assets = [] + for zone in layout.get('functional_zones', []): + assets.extend(zone.get('assets', [])) + + success_count = 0 + fail_count = 0 + + for i, asset in enumerate(assets): + # 尝试多种 mesh 路径字段名 + mesh_path = ( + asset.get('canonical_mesh') or + asset.get('baked_mesh') or + asset.get('mesh_path') + ) + + if not mesh_path or not os.path.exists(mesh_path): + print(f"Warning: No mesh for asset {i}: {asset.get('category')}") + fail_count += 1 + continue + + try: + # 加载规范化后的 mesh + mesh = trimesh.load(mesh_path) + + # 获取 transform + transform_data = asset.get('transform', {}) + pos = np.array(transform_data.get('pos', [0, 0, 0])) + rot = transform_data.get('rot', [0, 0, 0]) + is_tilted = transform_data.get('is_tilted', False) + + if is_tilted: + # 非正立物体：使用完整的 ZXY euler 旋转 + # rot = [rz, rx, ry] for ZXY order + rotation = trimesh.transformations.euler_matrix( + rot[0], rot[1], rot[2], axes='rzxy' + ) + else: + # 正立物体：只有 yaw 旋转 + # rot = [0, 0, yaw] + yaw = rot[2] if len(rot) > 2 else 0 + rotation = trimesh.transformations.rotation_matrix(yaw, [0, 0, 1]) + + # 创建平移矩阵 + translation = np.eye(4) + translation[:3, 3] = pos + + # 组合变换: translation @ rotation + # 先旋转，再平移 + final_transform = translation @ rotation + + # 最后：绕 X 轴旋转 -90 度，将 Z-up 转为 Y-up（与原始 compose_scenes.py 一致） + rotation_x = trimesh.transformations.rotation_matrix(-np.pi / 2, [1, 0, 0]) + final_transform = rotation_x @ final_transform + + # 添加到场景 + category = asset.get('category', 'unknown') + node_name = f"{i}_{category}" + + if isinstance(mesh, trimesh.Scene): + for name, geom in mesh.geometry.items(): + try: + geom_transform = mesh.graph.get(name)[0] + except: + geom_transform = np.eye(4) + combined = final_transform @ geom_transform + scene.add_geometry(geom, transform=combined, node_name=f"{node_name}/{name}") + else: + scene.add_geometry(mesh, transform=final_transform, node_name=node_name) + + success_count += 1 + + except Exception as e: + print(f"Error loading mesh for asset {i}: {e}") + import traceback + traceback.print_exc() + fail_count += 1 + + print(f"Loaded {success_count} assets, failed {fail_count}") + + # 导出 + scene.export(output_path) + print(f"Exported to: {output_path}") + + return scene + + +def main(): + parser = argparse.ArgumentParser(description='Compose scene from canonical meshes') + parser.add_argument('layout_path', help='Canonical layout.json path') + parser.add_argument('--output', '-o', default='canonical_scene.glb', help='Output GLB path') + + args = parser.parse_args() + compose_canonical_scene(args.layout_path, args.output) + + +if __name__ == '__main__': + main() diff --git a/tools/data_gen/compose_generated.py b/tools/data_gen/compose_generated.py new file mode 100644 index 0000000000000000000000000000000000000000..d247a12b23f3882a74c0cc7afdb8037d54be146f --- /dev/null +++ b/tools/data_gen/compose_generated.py @@ -0,0 +1,641 @@ +#!/usr/bin/env python3 +""" +Compose Generated Scene Script + +This script takes a layout JSON (with model_uids) and composes a GLB scene. +It handles flattening of functional zones/groups and applies transforms. +Also generates room geometry (floor, walls, ceiling) from boundary_polygon. + +Supports both: +- Original asset library (with per-asset-type rotation handling) +- Normalized asset library (pre-processed, no rotation needed) +""" + +import os +import json +import trimesh +import numpy as np +import argparse +import sys +from pathlib import Path +from shapely.geometry import Polygon as ShapelyPolygon +from trimesh.visual import ColorVisuals + +# Add project root +SCRIPT_DIR = Path(__file__).parent +REPO_ROOT = SCRIPT_DIR.parent.parent +sys.path.insert(0, str(REPO_ROOT)) + +# Add InternScenes_Real2Sim to path to import compose_scenes +sys.path.insert(0, os.path.join(REPO_ROOT, "InternScenes", "InternScenes_Real2Sim")) + +# Import loaders +from compose_scenes import AssetMeshLoader + +# Try to import normalized asset loader +try: + from tools.asset_description.normalized_asset_loader import NormalizedAssetMeshLoader + NORMALIZED_LOADER_AVAILABLE = True +except ImportError: + NORMALIZED_LOADER_AVAILABLE = False + +def normalize_rotation(rot): + """ + Normalize rotation to radians. + Heuristic: if any value is outside [-2pi, 2pi], assume degrees. + """ + rot = np.array(rot, dtype=np.float64) + if np.any(np.abs(rot) > 2 * np.pi + 1e-3): + return np.radians(rot) + return rot + +def get_scale_transform(mesh_size, target_size, category): + """ + Calculate scale matrix based on target size and mesh size. + Includes special handling for carpets/clothes similar to compose_scenes.py + """ + scale_matrix = np.eye(4) + + # Avoid division by zero + mesh_size = np.maximum(mesh_size, 1e-6) + + if category == "carpet": + scale_factors = target_size / mesh_size + # Check for orientation issues (carpet standing up) + # Heuristic from compose_scenes.py + if target_size[2]/target_size[0] > 150 or target_size[2]/target_size[1] > 150: + if target_size[2]/target_size[0] > target_size[2]/target_size[1]: + # Rotate 90 around Y + rot_mat = trimesh.transformations.rotation_matrix(0.5 * np.pi, [0, 1, 0]) + new_target = np.array([target_size[2], target_size[0], target_size[1]]) + scale_factors = new_target / mesh_size + scale_matrix = np.diag([scale_factors[0], scale_factors[1], scale_factors[2]/100.0, 1]) + return scale_matrix @ rot_mat + else: + # Rotate 90 around X + rot_mat = trimesh.transformations.rotation_matrix(0.5 * np.pi, [1, 0, 0]) + new_target = np.array([target_size[0], target_size[2], target_size[1]]) + scale_factors = new_target / mesh_size + scale_matrix = np.diag([scale_factors[0], scale_factors[1], scale_factors[2]/100.0, 1]) + return scale_matrix @ rot_mat + else: + scale_matrix = np.diag([scale_factors[0], scale_factors[1], scale_factors[2]/100.0, 1]) + return scale_matrix + + elif category == "clothes": + scale = target_size / mesh_size + min_scale = min(scale) + scale_matrix = np.diag([min_scale, min_scale, min_scale, 1]) + return scale_matrix + + else: + scale = target_size / mesh_size + scale_matrix = np.diag([scale[0], scale[1], scale[2], 1]) + return scale_matrix + + +# ============================================ +# Room Geometry Generation from Boundary +# ============================================ + +# Default colors for room structure +FLOOR_COLOR = np.array([200, 200, 200, 255], dtype=np.uint8) # Light gray +WALL_COLOR = np.array([240, 240, 240, 180], dtype=np.uint8) # White with some transparency +CEILING_COLOR = np.array([250, 250, 250, 128], dtype=np.uint8) # Very light, more transparent + + +def triangulate_polygon(vertices_2d: np.ndarray) -> tuple: + """ + Triangulate a 2D polygon (supports concave polygons like L-shape, H-shape). + + Uses trimesh's triangulate_polygon which handles concave polygons correctly + via earcut algorithm. + + Args: + vertices_2d: Nx2 array of (x, y) coordinates in order (CCW or CW) + + Returns: + tuple: (vertices_2d, faces) where vertices may have additional points added + and faces is Mx3 array of face indices + """ + from shapely.geometry import Polygon as ShapelyPolygon + + # Create a proper shapely polygon + polygon = ShapelyPolygon(vertices_2d) + + # Fix invalid polygons + if not polygon.is_valid: + polygon = polygon.buffer(0) + + # Use trimesh's triangulation which uses mapbox_earcut for concave polygons + try: + # trimesh.creation.triangulate_polygon returns (vertices, faces) + result_vertices, result_faces = trimesh.creation.triangulate_polygon( + polygon, + triangle_args=None, # Use default earcut + engine='earcut' # Explicitly use earcut for concave support + ) + + # Return both vertices and faces - trimesh may add/reorder vertices + return np.array(result_vertices), result_faces + + except Exception as e: + print(f"Warning: trimesh triangulation failed: {e}, trying earcut directly") + + # Fallback: use mapbox_earcut directly if available + try: + import mapbox_earcut as earcut + + # earcut expects flattened coordinates and ring indices + rings = np.array([len(vertices_2d)]) # Single ring (no holes) + flat_coords = vertices_2d.flatten() + + # Triangulate - returns flat array of triangle vertex indices + triangle_indices = earcut.triangulate_float64(flat_coords, rings) + + # Reshape to Nx3 + faces = np.array(triangle_indices).reshape(-1, 3) + return vertices_2d, faces + + except ImportError: + print("Warning: mapbox_earcut not available, using fan triangulation") + except Exception as e: + print(f"Warning: earcut failed: {e}") + + # Last resort: simple fan triangulation (only works for convex polygons) + n = len(vertices_2d) + faces = np.array([[0, i, i+1] for i in range(1, n-1)]) + return vertices_2d, faces + + +def create_floor_mesh(floor_vertices_2d: np.ndarray, z_height: float = 0.0) -> trimesh.Trimesh: + """ + Create a floor mesh from 2D polygon vertices. + Supports concave polygons (L-shape, H-shape, etc.) + + Args: + floor_vertices_2d: Nx2 array of (x, y) coordinates in order + z_height: Z coordinate for the floor (default 0) + + Returns: + trimesh.Trimesh: Floor mesh + """ + try: + # Triangulate using earcut (supports concave polygons) + # triangulate_polygon returns (vertices_2d, faces) - vertices may be different from input + result_vertices_2d, faces = triangulate_polygon(floor_vertices_2d) + + # Create 3D vertices from the triangulation result + vertices_3d = np.column_stack([result_vertices_2d, np.full(len(result_vertices_2d), z_height)]) + + floor_mesh = trimesh.Trimesh(vertices=vertices_3d, faces=faces) + floor_mesh.visual = ColorVisuals(mesh=floor_mesh, vertex_colors=np.tile(FLOOR_COLOR, (len(vertices_3d), 1))) + + return floor_mesh + except Exception as e: + print(f"Warning: Failed to create floor mesh: {e}") + import traceback + traceback.print_exc() + return None + + +def create_ceiling_mesh(floor_vertices_2d: np.ndarray, z_height: float) -> trimesh.Trimesh: + """ + Create a ceiling mesh from 2D polygon vertices. + Supports concave polygons (L-shape, H-shape, etc.) + + Args: + floor_vertices_2d: Nx2 array of (x, y) coordinates + z_height: Z coordinate for the ceiling + + Returns: + trimesh.Trimesh: Ceiling mesh + """ + try: + # Triangulate using earcut (supports concave polygons) + # triangulate_polygon returns (vertices_2d, faces) - vertices may be different from input + result_vertices_2d, faces = triangulate_polygon(floor_vertices_2d) + + # Create 3D vertices from the triangulation result + vertices_3d = np.column_stack([result_vertices_2d, np.full(len(result_vertices_2d), z_height)]) + + # Reverse face winding for ceiling (faces down) + faces = faces[:, ::-1] + + ceiling_mesh = trimesh.Trimesh(vertices=vertices_3d, faces=faces) + ceiling_mesh.visual = ColorVisuals(mesh=ceiling_mesh, vertex_colors=np.tile(CEILING_COLOR, (len(vertices_3d), 1))) + + return ceiling_mesh + except Exception as e: + print(f"Warning: Failed to create ceiling mesh: {e}") + import traceback + traceback.print_exc() + return None + + +def create_wall_mesh(v1_bottom: np.ndarray, v2_bottom: np.ndarray, height: float) -> trimesh.Trimesh: + """ + Create a single wall segment mesh. + + Args: + v1_bottom: First bottom vertex (x, y, z) + v2_bottom: Second bottom vertex (x, y, z) + height: Wall height + + Returns: + trimesh.Trimesh: Wall mesh + """ + v1_top = v1_bottom.copy() + v1_top[2] = v1_bottom[2] + height + v2_top = v2_bottom.copy() + v2_top[2] = v2_bottom[2] + height + + # Create quad as two triangles + vertices = np.array([v1_bottom, v2_bottom, v2_top, v1_top]) + faces = np.array([[0, 1, 2], [0, 2, 3]]) + + wall_mesh = trimesh.Trimesh(vertices=vertices, faces=faces) + wall_mesh.visual = ColorVisuals(mesh=wall_mesh, vertex_colors=np.tile(WALL_COLOR, (4, 1))) + + return wall_mesh + + +def create_walls_mesh(floor_vertices_2d: np.ndarray, floor_z: float, height: float) -> trimesh.Trimesh: + """ + Create all wall meshes from floor polygon. + + Args: + floor_vertices_2d: Nx2 array of (x, y) floor coordinates + floor_z: Z coordinate of the floor + height: Wall height + + Returns: + trimesh.Trimesh: Combined walls mesh + """ + wall_meshes = [] + n = len(floor_vertices_2d) + + for i in range(n): + v1_2d = floor_vertices_2d[i] + v2_2d = floor_vertices_2d[(i + 1) % n] + + v1_bottom = np.array([v1_2d[0], v1_2d[1], floor_z]) + v2_bottom = np.array([v2_2d[0], v2_2d[1], floor_z]) + + wall = create_wall_mesh(v1_bottom, v2_bottom, height) + if wall is not None: + wall_meshes.append(wall) + + if wall_meshes: + return trimesh.util.concatenate(wall_meshes) + return None + + +def generate_room_geometry(layout: dict, add_floor: bool = True, add_walls: bool = True, add_ceiling: bool = True) -> list: + """ + Generate room geometry (floor, walls, ceiling) from layout's architecture data. + + Args: + layout: Layout dictionary containing 'architecture' with 'boundary_polygon' and 'height' + add_floor: Whether to add floor mesh + add_walls: Whether to add wall meshes + add_ceiling: Whether to add ceiling mesh + + Returns: + List of (name, mesh) tuples + """ + geometries = [] + + architecture = layout.get("architecture", {}) + boundary_polygon = architecture.get("boundary_polygon", []) + height = architecture.get("height", 2.6) # Default 2.6m height + + if not boundary_polygon: + print("Warning: No boundary_polygon found in architecture, skipping room geometry") + return geometries + + # Parse boundary polygon + # Format: [[x, y, z], ...] - first half are floor vertices, second half are ceiling vertices + # Or it could be just floor vertices with separate height + boundary_polygon = np.array(boundary_polygon) + + if len(boundary_polygon) == 0: + return geometries + + # Determine floor and ceiling vertices + # Usually boundary_polygon contains floor vertices (z=0) and ceiling vertices (z=height) + # Split by z coordinate + if boundary_polygon.shape[1] >= 3: + z_values = boundary_polygon[:, 2] + z_min = np.min(z_values) + z_max = np.max(z_values) + + # If all z values are the same, use height parameter + if abs(z_max - z_min) < 0.01: + floor_vertices = boundary_polygon + floor_z = z_min + ceiling_z = z_min + height + else: + # Split into floor and ceiling based on z + z_mid = (z_min + z_max) / 2 + floor_mask = z_values < z_mid + + floor_vertices = boundary_polygon[floor_mask] + ceiling_vertices = boundary_polygon[~floor_mask] + + if len(floor_vertices) == 0: + floor_vertices = ceiling_vertices + floor_z = z_min + else: + floor_z = floor_vertices[0, 2] if len(floor_vertices) > 0 else z_min + + ceiling_z = z_max + height = ceiling_z - floor_z + else: + # 2D polygon, assume z=0 for floor + floor_vertices = np.column_stack([boundary_polygon, np.zeros(len(boundary_polygon))]) + floor_z = 0 + ceiling_z = height + + # Extract 2D coordinates (x, y) for triangulation + floor_vertices_2d = floor_vertices[:, :2] + + # Create floor + if add_floor: + floor_mesh = create_floor_mesh(floor_vertices_2d, floor_z) + if floor_mesh is not None: + geometries.append(("floor", floor_mesh)) + + # Create walls + if add_walls: + walls_mesh = create_walls_mesh(floor_vertices_2d, floor_z, height) + if walls_mesh is not None: + geometries.append(("walls", walls_mesh)) + + # Create ceiling + if add_ceiling: + ceiling_mesh = create_ceiling_mesh(floor_vertices_2d, ceiling_z) + if ceiling_mesh is not None: + geometries.append(("ceiling", ceiling_mesh)) + + return geometries + + +def compose_scene(layout, output_path, add_floor=True, add_walls=True, add_ceiling=True, + input_coord_system="z-up", use_normalized_assets=True, normalized_asset_dir=None): + """ + Compose a scene from layout JSON. + + Args: + layout: layout JSON + output_path: Path to output GLB file + add_floor: Whether to add floor mesh + add_walls: Whether to add wall meshes + add_ceiling: Whether to add ceiling mesh + input_coord_system: Coordinate system of input data. "z-up" (default) or "y-up" + use_normalized_assets: If True, use pre-normalized assets (no per-type rotation) + normalized_asset_dir: Path to normalized asset library (only if use_normalized_assets=True) + """ + # 如果没有指定路径，从环境变量读取 + if normalized_asset_dir is None: + normalized_asset_dir = os.environ.get('PTH_ASSET_NORMALIZED_LIBRARY') + if not normalized_asset_dir: + # 优先使用 ~/backup (本地环境)，如果不存在则使用 /backup (集群环境) + home_path = os.path.expanduser("~/backup/datas/InternScenes/asset_library_normalized") + if os.path.exists(home_path): + normalized_asset_dir = home_path + else: + normalized_asset_dir = "/backup/datas/InternScenes/asset_library_normalized" + + # with open(layout_path, 'r') as f: + # layout = json.load(f) + + # Auto-detect coordinate system from meta if available + meta = layout.get("meta", {}) + if "coordinate_system" in meta: + detected = meta["coordinate_system"].lower().replace("_", "-") + if detected in ["z-up", "zup"]: + input_coord_system = "z-up" + elif detected in ["y-up", "yup"]: + input_coord_system = "y-up" + + print(f"Using coordinate system: {input_coord_system}") + + # Select asset loader + if use_normalized_assets: + if not NORMALIZED_LOADER_AVAILABLE: + raise ImportError("NormalizedAssetMeshLoader not available. Please check installation.") + loader = NormalizedAssetMeshLoader(normalized_asset_dir) + print(f"Using normalized asset library: {loader.asset_dir}") + else: + loader = AssetMeshLoader() + print("Using original asset library with per-type rotation") + + scene = trimesh.Scene() + + # Flatten assets + instances = [] + if "assets" in layout: + instances.extend(layout["assets"]) + if "functional_zones" in layout: + for zone in layout["functional_zones"]: + if "assets" in zone: + instances.extend(zone["assets"]) + if "groups" in layout: + for group in layout["groups"]: + if "objects" in group: + instances.extend(group["objects"]) + + print(f"Composing scene with {len(instances)} instances...") + + for i, instance in enumerate(instances): + uid = instance.get("model_uid") + if not uid: + continue + + try: + # Load canonical mesh (centers and aligns) + # use_texture=True is important for rendering + mesh = loader.load_canonical_mesh(uid, use_texture=True) + if mesh is None: + print(f"Warning: Mesh not found for {uid}") + continue + + # Extract transform data + pos = None + rot = None + size = None + + # Case 1: Nested transform (Unified Layout / 3D-FRONT) + if "transform" in instance and isinstance(instance["transform"], dict): + t = instance["transform"] + pos = t.get("pos") + rot = t.get("rot") + size = t.get("size") + + # Case 2: Flat structure (Zones Data / Model Output) + if pos is None: + pos = instance.get("pos") + if rot is None: + rot = instance.get("rot") + if size is None: + size = instance.get("size") + + # Case 3: Legacy bbox (9 elements) + if pos is None and "bbox" in instance: + bbox = instance["bbox"] + pos = bbox[0:3] + size = bbox[3:6] + rot = bbox[6:9] + + # Case 4: Matrix transform (fallback) + if pos is None and "transform" in instance and isinstance(instance["transform"], list): + # This is a raw matrix, we can just use it directly if we trust it + # But usually we want to use the decomposed values if available + transform_matrix = np.array(instance["transform"]).reshape(4, 4) + # Apply directly + scene.add_geometry(mesh, transform=transform_matrix) + continue + + if pos is None or rot is None or size is None: + print(f"Warning: Missing transform data for {uid}") + continue + + # Convert to numpy + pos = np.array(pos, dtype=np.float64) + rot = np.array(rot, dtype=np.float64) + size = np.array(size, dtype=np.float64) + + # --- Coordinate System Handling --- + if input_coord_system == "y-up": + # Convert Y-up to Z-up: [x, y, z]_Yup -> [x, z, y]_Zup + pos = np.array([pos[0], pos[2], pos[1]]) + size = np.array([size[0], size[2], size[1]]) + rot = np.array([rot[0], rot[2], rot[1]]) + # else: input is already Z-up, no conversion needed + + # Adjust for Floor Alignment + # In Z-up, Z is height. If pos[2] ≈ 0 (object on floor), + # we need to lift it by half its height (size[2]) since mesh is centered. + if abs(pos[2]) < 1e-3: + pos[2] = size[2] / 2.0 + # --------------------------------------------------- + + # Normalize rotation (degrees -> radians if needed) + rot = normalize_rotation(rot) + + # Start with identity + transform_final = np.eye(4) + + # 1. Scale + mesh_size = mesh.bounding_box.extents + category = instance.get("category", "") + scale_mat = get_scale_transform(mesh_size, size, category) + transform_final = scale_mat @ transform_final + + # 2. Rotation + # Use rzxy order as per compose_scenes.py + # Note: compose_scenes.py uses euler_matrix(rot[0], rot[1], rot[2], axes='rzxy') + # where rot is [rx, ry, rz] (or [rx, rz, ry] after our conversion). + # 'rzxy' means rotate around Z, then X, then Y. + # The input 'rot' from layout is typically [0, rotation_y, 0] for simple objects. + # After our conversion to Z-up, it becomes [0, 0, rotation_y]. + # So rot[0]=0, rot[1]=0, rot[2]=rotation_y. + # euler_matrix(0, 0, rotation_y, 'rzxy') -> rotates around Z by rotation_y. Correct. + rot_mat = trimesh.transformations.euler_matrix(rot[0], rot[1], rot[2], axes='rzxy') + transform_final = rot_mat @ transform_final + + # 3. Translation + transform_final[:3, 3] = pos + + # 4. Global Rotation (Z-up to Y-up) + # compose_scenes.py applies -90 deg around X at the end + global_rot = trimesh.transformations.rotation_matrix(-np.pi / 2, [1, 0, 0]) + transform_final = global_rot @ transform_final + + # Add to scene + # We use a unique node name to avoid conflicts + node_name = f"{i}_{uid.replace('/', '_')}" + + # Create a parent node with the transform (same as compose_scenes.py) + scene.graph.update(frame_to=node_name, matrix=transform_final) + + # Handle both Trimesh and Scene types + if isinstance(mesh, trimesh.Scene): + # Add all geometries from the sub-scene as children + for geom_name, mesh_part in mesh.geometry.items(): + nodes_for_geom = mesh.graph.geometry_nodes.get(geom_name, []) + for j, sub_node in enumerate(nodes_for_geom): + internal_transform, _ = mesh.graph.get(sub_node) + scene.add_geometry( + mesh_part, + geom_name=f"{node_name}_{geom_name}_{j}", + transform=internal_transform, + parent_node_name=node_name + ) + else: + # Simple Trimesh - add as child of parent node (same as compose_scenes.py) + scene.add_geometry( + mesh, + geom_name=f"{node_name}_geom", + parent_node_name=node_name + ) + + except Exception as e: + print(f"Error processing {uid}: {e}") + import traceback + traceback.print_exc() + continue + + # Generate and add room geometry (floor, walls, ceiling) + print("Generating room geometry from boundary polygon...") + room_geometries = generate_room_geometry(layout, add_floor=add_floor, add_walls=add_walls, add_ceiling=add_ceiling) + + for name, geom in room_geometries: + # Apply the same global rotation to room geometry + global_rot = trimesh.transformations.rotation_matrix(-np.pi / 2, [1, 0, 0]) + scene.add_geometry(geom, node_name=name, transform=global_rot) + print(f" Added {name} geometry") + + if not room_geometries: + print(" Warning: No room geometry generated (missing boundary_polygon in architecture)") + + # Export + print(f"Exporting scene to {output_path}") + os.makedirs(os.path.dirname(os.path.abspath(output_path)), exist_ok=True) + scene.export(output_path) + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("--input", required=True, help="Input layout JSON file") + parser.add_argument("--output", required=True, help="Output GLB file") + parser.add_argument("--no-floor", action="store_true", help="Don't add floor mesh") + parser.add_argument("--no-walls", action="store_true", help="Don't add wall meshes") + parser.add_argument("--no-ceiling", action="store_true", help="Don't add ceiling mesh") + parser.add_argument("--coord-system", type=str, default="z-up", choices=["z-up", "y-up"], + help="Input coordinate system (default: z-up)") + parser.add_argument("--use-normalized", default=True, + help="Use pre-normalized asset library (no per-type rotations needed)") + # 默认路径逻辑：优先 ~/backup，否则 /backup + _default_normalized_dir = os.environ.get('PTH_ASSET_NORMALIZED_LIBRARY') + if not _default_normalized_dir: + _home_path = os.path.expanduser("~/backup/datas/InternScenes/asset_library_normalized") + _default_normalized_dir = _home_path if os.path.exists(_home_path) else "/backup/datas/InternScenes/asset_library_normalized" + parser.add_argument("--normalized-dir", type=str, default=_default_normalized_dir, + help="Path to normalized asset directory (required if --use-normalized)") + args = parser.parse_args() + + # Validate normalized asset arguments + if args.use_normalized and not args.normalized_dir: + parser.error("--normalized-dir is required when using --use-normalized") + + compose_scene( + args.input, + args.output, + add_floor=not args.no_floor, + add_walls=not args.no_walls, + add_ceiling=not args.no_ceiling, + input_coord_system=args.coord_system, + use_normalized_assets=args.use_normalized, + normalized_asset_dir=args.normalized_dir + ) diff --git a/tools/data_gen/compute_collision_metrics.py b/tools/data_gen/compute_collision_metrics.py new file mode 100644 index 0000000000000000000000000000000000000000..bb7b736ec98f963ebb22aee301028a34c9d89fbc --- /dev/null +++ b/tools/data_gen/compute_collision_metrics.py @@ -0,0 +1,788 @@ +#!/usr/bin/env python3 +""" +Compute Collision and Out-of-Bound Metrics for Scene Layouts + +计算场景布局中的: +1. 物体间碰撞体积 (Collision Volume) - 单位: m³ +2. 物体出界体积 (Out-of-Bound Volume) - 单位: m³ + +使用 layout_retrieval.py 的逻辑检索 3D 资产，然后基于 compose_generated.py 的变换逻辑 +计算真实的 mesh 碰撞。 + +Usage: + python tools/data_gen/compute_collision_metrics.py --input-dir ~/backup/datas/unified-layout-aligned --output metrics.json + python tools/data_gen/compute_collision_metrics.py --input-dir ~/backup/datas/unified-layout-aligned --dataset scannet --workers 8 +""" + +import os +import json +import sys +import numpy as np +import argparse +from pathlib import Path +from typing import Dict, List, Tuple, Optional +from concurrent.futures import ProcessPoolExecutor, as_completed +from tqdm import tqdm +import traceback +from copy import deepcopy + +import trimesh +from shapely.geometry import Polygon as ShapelyPolygon, Point +from shapely.ops import unary_union + +# Add project root to path +SCRIPT_DIR = Path(__file__).parent +REPO_ROOT = SCRIPT_DIR.parent.parent +sys.path.insert(0, str(REPO_ROOT)) + +# These imports need to be inside functions for multiprocessing +def get_managers(): + """Get embedding manager and asset finder (for multiprocessing).""" + from tools.asset_description.asset_embedding_manager import AssetEmbeddingManager + from tools.asset_description.asset_finder import AssetFinder + + # Use the correct asset library path + asset_library_dir = os.path.expanduser("~/backup/datas/InternScenes/asset_library") + embeddings_file = os.path.join(REPO_ROOT, "tools/asset_embeddings.pkl") + + embedding_manager = AssetEmbeddingManager(embeddings_file=embeddings_file) + asset_finder = AssetFinder(asset_library_dir) + + return embedding_manager, asset_finder + +def get_loader(): + """Get asset mesh loader.""" + sys.path.append(os.path.join(REPO_ROOT, "InternScenes", "InternScenes_Real2Sim")) + from compose_scenes import AssetMeshLoader + return AssetMeshLoader() + + +def normalize_rotation(rot): + """Normalize rotation to radians.""" + rot = np.array(rot, dtype=np.float64) + if np.any(np.abs(rot) > 2 * np.pi + 1e-3): + return np.radians(rot) + return rot + + +def get_scale_transform(mesh_size, target_size, category): + """Calculate scale matrix based on target size and mesh size. + + Note: carpet Z-axis compression is now handled in normalized_asset_loader.py, + so we don't apply /100.0 here anymore. + """ + scale_matrix = np.eye(4) + mesh_size = np.maximum(mesh_size, 1e-6) + + if category == "clothes": + # Clothes: uniform scaling to preserve proportions + scale = target_size / mesh_size + min_scale = min(scale) + scale_matrix = np.diag([min_scale, min_scale, min_scale, 1]) + else: + # Normal scaling (carpet Z compression already applied in loader) + scale = target_size / mesh_size + scale_matrix = np.diag([scale[0], scale[1], scale[2], 1]) + + return scale_matrix + + +def retrieve_asset_for_instance(instance: Dict, embedding_manager, asset_finder) -> Optional[str]: + """ + Retrieve the best matching asset for an instance based on description. + """ + description = instance.get("description") + if not description: + # Fallback to category + description = instance.get("category", "") + + if not description: + return None + + # Use embedding manager to search + candidates = embedding_manager.search_similar(description, top_k=1) + if candidates: + return candidates[0][0] # Return uid + return None + + +def transform_mesh(mesh, pos, rot, size, category, input_coord_system="z-up"): + """ + Apply transforms to mesh (similar to compose_generated.py logic). + Returns the transformed mesh in Z-up coordinate system (no global rotation to Y-up). + """ + pos = np.array(pos, dtype=np.float64) + rot = np.array(rot, dtype=np.float64) + size = np.array(size, dtype=np.float64) + + # Coordinate system handling + if input_coord_system == "y-up": + pos = np.array([pos[0], pos[2], pos[1]]) + size = np.array([size[0], size[2], size[1]]) + rot = np.array([rot[0], rot[2], rot[1]]) + + # Adjust for floor alignment + if abs(pos[2]) < 1e-3: + pos[2] = size[2] / 2.0 + + # Normalize rotation + rot = normalize_rotation(rot) + + # Build transform + transform_final = np.eye(4) + + # 1. Scale + mesh_size = mesh.bounding_box.extents + scale_mat = get_scale_transform(mesh_size, size, category) + transform_final = scale_mat @ transform_final + + # 2. Rotation (rzxy order) + rot_mat = trimesh.transformations.euler_matrix(rot[0], rot[1], rot[2], axes='rzxy') + transform_final = rot_mat @ transform_final + + # 3. Translation + transform_final[:3, 3] = pos + + # Apply transform to mesh copy + mesh_copy = mesh.copy() + mesh_copy.apply_transform(transform_final) + + return mesh_copy + + +def create_room_boundary_mesh(boundary_polygon: List[List[float]], height: float = 2.6) -> trimesh.Trimesh: + """ + Create a room boundary mesh from boundary polygon for out-of-bound checking. + The boundary is extruded from floor to ceiling. + """ + if not boundary_polygon or len(boundary_polygon) < 3: + return None + + # Extract 2D points (assuming Z-up, take X and Y) + points_2d = [(p[0], p[1]) for p in boundary_polygon] + + # Create shapely polygon + try: + poly = ShapelyPolygon(points_2d) + if not poly.is_valid: + poly = poly.buffer(0) + except Exception: + return None + + # Create 3D extruded mesh + try: + path = trimesh.load_path(poly.exterior.coords) + mesh = trimesh.creation.extrude_polygon(poly, height) + return mesh + except Exception: + return None + + +# ============================================================================ +# Voxelization-based collision computation +# Based on eval_example.py approach: voxelize once, use position offsets +# ============================================================================ + +# Global cache for voxelized meshes +_voxel_cache = {} + + +def voxelize_mesh(mesh: trimesh.Trimesh, voxel_size: float = 0.1) -> np.ndarray: + """ + Voxelize a mesh and return the voxel matrix. + Uses trimesh's built-in voxelization with mesh simplification for speed. + """ + try: + # Simplify mesh if too complex (>10k faces) + if len(mesh.faces) > 10000: + mesh = mesh.simplify_quadric_decimation(5000) + + voxels = mesh.voxelized(pitch=voxel_size).fill() + return voxels.matrix + except Exception: + return None + + +def occupancy_overlap(voxel_matrix_a: np.ndarray, voxel_matrix_b: np.ndarray, + offset_b: np.ndarray) -> int: + """ + Count overlapping voxels between two voxel matrices. + + Based on eval_example.py approach: + - offset_b specifies where B's voxels should be placed in A's coordinate system + - For each filled voxel in B at position (i,j,k), check if position (i+offset_b) is filled in A + + Args: + voxel_matrix_a: First voxel matrix (reference coordinate system) + voxel_matrix_b: Second voxel matrix (to be shifted) + offset_b: Offset to apply to B's voxels to map them to A's coordinate system + + Returns: + int: Number of overlapping voxels + """ + # Get indices of filled voxels in B + b_indices = np.argwhere(voxel_matrix_b) + if len(b_indices) == 0: + return 0 + + # Shift to A's coordinate system + offset_b_int = np.floor(offset_b).astype(int) + shifted_pos = b_indices + offset_b_int + + # Filter valid positions (within A's bounds) + valid_mask = ( + (shifted_pos[:, 0] >= 0) & (shifted_pos[:, 0] < voxel_matrix_a.shape[0]) & + (shifted_pos[:, 1] >= 0) & (shifted_pos[:, 1] < voxel_matrix_a.shape[1]) & + (shifted_pos[:, 2] >= 0) & (shifted_pos[:, 2] < voxel_matrix_a.shape[2]) + ) + + valid_pos = shifted_pos[valid_mask] + if len(valid_pos) == 0: + return 0 + + # Count overlaps + overlap_count = np.sum(voxel_matrix_a[valid_pos[:, 0], valid_pos[:, 1], valid_pos[:, 2]]) + return int(overlap_count) + + +def get_mesh_voxel_info(mesh: trimesh.Trimesh, voxel_size: float = 0.1) -> Tuple[np.ndarray, np.ndarray]: + """ + Get voxel matrix and the voxel-space origin for a mesh. + + For a mesh centered at world origin, the voxel origin is at the center of the voxel grid. + Returns (voxel_matrix, voxel_start) where voxel_start is the offset from mesh center. + """ + voxel_matrix = voxelize_mesh(mesh, voxel_size) + if voxel_matrix is None: + return None, None + + # The voxel grid starts at mesh bounds min + # voxel_start is in voxel units from mesh origin + bounds = mesh.bounds + mesh_center = (bounds[0] + bounds[1]) / 2.0 + + # Voxel grid origin is at bounds[0] + # We need offset from mesh center to voxel grid center + voxel_grid_center = np.array([ + voxel_matrix.shape[0] / 2.0, + voxel_matrix.shape[1] / 2.0, + voxel_matrix.shape[2] / 2.0 + ]) + + return voxel_matrix, voxel_grid_center + + +def compute_mesh_intersection_volume(mesh1: trimesh.Trimesh, mesh2: trimesh.Trimesh, + voxel_size: float = 0.1) -> float: + """ + Compute intersection volume between two meshes using voxelization. + + Method (adapted from eval_example.py for Z-up coordinate system): + 1. Voxelize both meshes + 2. Calculate position offset based on mesh positions in world coordinates + 3. Count overlapping voxels + + Key insight from eval_example.py: + - In Y-up: asset_start_voxels = [shape[0]//2, 0, shape[2]//2] (floor-aligned on Y) + - In Z-up: asset_start_voxels = [shape[0]//2, shape[1]//2, 0] (floor-aligned on Z) + - The offset accounts for both mesh positions and voxel grid centers + """ + voxel_volume = voxel_size ** 3 + + # Quick bounding box check first + try: + min1, max1 = mesh1.bounds + min2, max2 = mesh2.bounds + + if np.any(max1 <= min2) or np.any(max2 <= min1): + return 0.0 + except Exception: + return 0.0 + + try: + # Voxelize both meshes + voxel_matrix_1 = voxelize_mesh(mesh1, voxel_size) + voxel_matrix_2 = voxelize_mesh(mesh2, voxel_size) + + if voxel_matrix_1 is None or voxel_matrix_2 is None: + return 0.0 + + # Following eval_example.py's approach (adapted for Z-up): + # 1. Get mesh positions in world coordinates (using bounding box minimum as reference) + # The mesh has already been transformed to world position, so bounds[0] gives us + # the minimum corner which we can use to compute voxel positions + + # Calculate mesh positions in voxel units + # Use bounding box minimum as the anchor point for each mesh + pos1_voxels = np.floor(min1 / voxel_size) + pos2_voxels = np.floor(min2 / voxel_size) + + # For transformed meshes, we use the actual bounds to compute offset + # offset_b = where mesh2's voxel grid starts relative to mesh1's voxel grid + offset_b = pos2_voxels - pos1_voxels + + # Count overlaps + overlap_count = occupancy_overlap(voxel_matrix_1, voxel_matrix_2, offset_b) + + return overlap_count * voxel_volume + + except Exception as e: + return 0.0 + + +def compute_out_of_bound_volume(mesh: trimesh.Trimesh, boundary_polygon: List[List[float]], + floor_z: float = 0.0, ceiling_z: float = 2.6, + voxel_size: float = 0.1, + room_voxels: np.ndarray = None, + room_origin: np.ndarray = None, + room_bounds_min: np.ndarray = None) -> float: + """ + Compute volume of mesh that is outside the room boundary using voxelization. + + Method (adapted from eval_example.py for Z-up coordinate system): + 1. Voxelize room and asset + 2. Calculate offset based on bounding box minimums (like eval_example.py's prepare_asset) + 3. Count asset voxels that overlap with room voxels + 4. Return volume of non-overlapping voxels + + Args: + mesh: Asset mesh (already transformed to world position) + boundary_polygon: Room boundary polygon vertices + floor_z: Floor Z coordinate + ceiling_z: Ceiling Z coordinate + voxel_size: Voxel size in meters + room_voxels: Pre-computed room voxel matrix (for efficiency) + room_origin: Room voxel grid center in voxel units (deprecated, kept for compatibility) + room_bounds_min: Room bounding box minimum corner in world coordinates + """ + if not boundary_polygon or len(boundary_polygon) < 3: + return 0.0 + + voxel_volume = voxel_size ** 3 + + try: + # Voxelize asset + asset_voxels = voxelize_mesh(mesh, voxel_size) + if asset_voxels is None: + return 0.0 + + num_asset_voxels = np.sum(asset_voxels) + if num_asset_voxels == 0: + return 0.0 + + # Get asset bounds + asset_bounds = mesh.bounds + asset_min = asset_bounds[0] + + # Create room voxels if not provided + if room_voxels is None: + points_2d = [(p[0], p[1]) for p in boundary_polygon] + room_poly = ShapelyPolygon(points_2d) + if not room_poly.is_valid: + room_poly = room_poly.buffer(0) + + room_height = ceiling_z - floor_z + room_mesh = trimesh.creation.extrude_polygon(room_poly, room_height) + room_mesh.apply_translation([0, 0, floor_z]) + + room_voxels = voxelize_mesh(room_mesh, voxel_size) + if room_voxels is None: + return 0.0 + + room_bounds_min = room_mesh.bounds[0] + + # Calculate offset following eval_example.py's approach: + # In eval_example.py (Y-up): + # asset_pos_voxels = floor(asset_pos / voxel_size) + # asset_start_voxels = [shape[0]//2, 0, shape[2]//2] # X,Z centered, Y from 0 + # asset_shift = asset_pos_voxels - asset_start_voxels + # asset_offset = room_origin_shift + asset_shift + # + # For Z-up with transformed meshes, we use bounding box minimums: + # The offset is simply the difference in voxel positions of the two bounding boxes + asset_pos_voxels = np.floor(asset_min / voxel_size) + room_pos_voxels = np.floor(room_bounds_min / voxel_size) + + # Offset to map asset voxels into room voxel coordinate system + offset_asset = asset_pos_voxels - room_pos_voxels + + # Count asset voxels that overlap with room + # Note: we check if asset voxels are INSIDE the room + overlap_count = occupancy_overlap(room_voxels, asset_voxels, offset_asset) + + # Out of bound = total asset voxels - voxels inside room + num_outside = num_asset_voxels - overlap_count + + return max(0, num_outside) * voxel_volume + + except Exception as e: + return 0.0 + + +def extract_instances_from_layout(layout: Dict) -> List[Dict]: + """Extract all asset instances from layout.""" + instances = [] + + # Handle different layout structures + if "assets" in layout: + instances.extend(layout["assets"]) + + if "functional_zones" in layout: + for zone in layout["functional_zones"]: + if "assets" in zone: + instances.extend(zone["assets"]) + + if "groups" in layout: + for group in layout["groups"]: + if "objects" in group: + instances.extend(group["objects"]) + + return instances + + +def get_transform_from_instance(instance: Dict) -> Tuple[Optional[List], Optional[List], Optional[List]]: + """Extract pos, rot, size from instance.""" + pos = None + rot = None + size = None + + # Case 1: Nested transform + if "transform" in instance and isinstance(instance["transform"], dict): + t = instance["transform"] + pos = t.get("pos") + rot = t.get("rot") + size = t.get("size") + + # Case 2: Flat structure + if pos is None: + pos = instance.get("pos") + if rot is None: + rot = instance.get("rot") + if size is None: + size = instance.get("size") + + # Case 3: Legacy bbox + if pos is None and "bbox" in instance: + bbox = instance["bbox"] + if len(bbox) >= 9: + pos = bbox[0:3] + size = bbox[3:6] + rot = bbox[6:9] + + return pos, rot, size + + +def process_single_scene(layout_path: str, loader, embedding_manager, asset_finder, + input_coord_system: str = "z-up") -> Dict: + """ + Process a single scene and compute metrics. + + Returns: + Dict with collision_volume, out_of_bound_volume, num_assets, etc. + """ + result = { + "scene_path": layout_path, + "collision_volume": 0.0, + "out_of_bound_volume": 0.0, + "num_assets": 0, + "num_collisions": 0, + "num_out_of_bound": 0, + "errors": [] + } + + try: + with open(layout_path, 'r') as f: + layout = json.load(f) + except Exception as e: + result["errors"].append(f"Failed to load layout: {e}") + return result + + # Get room boundary + boundary_polygon = layout.get("architecture", {}).get("boundary_polygon", []) + room_height = layout.get("architecture", {}).get("height", 2.6) + + # Extract instances + instances = extract_instances_from_layout(layout) + result["num_assets"] = len(instances) + + if not instances: + return result + + # Load and transform meshes + transformed_meshes = [] + + for i, instance in enumerate(instances): + try: + # Get or retrieve model_uid + uid = instance.get("model_uid") + + if not uid: + # Retrieve based on description + uid = retrieve_asset_for_instance(instance, embedding_manager, asset_finder) + + if not uid: + continue + + # Get transform + pos, rot, size = get_transform_from_instance(instance) + if pos is None or rot is None or size is None: + continue + + # Get category + category = instance.get("category", "") + + # Load canonical mesh (with category for special handling like carpet/clothes) + try: + mesh = loader.load_canonical_mesh(uid, use_texture=False, category=category) + except Exception as e: + result["errors"].append(f"Failed to load mesh {uid}: {e}") + continue + + if mesh is None: + continue + + # Convert Scene to single mesh if needed + if isinstance(mesh, trimesh.Scene): + try: + mesh = mesh.dump(concatenate=True) + except Exception: + continue + + if not isinstance(mesh, trimesh.Trimesh): + continue + + # Transform mesh + category = instance.get("category", "") + transformed = transform_mesh(mesh, pos, rot, size, category, input_coord_system) + transformed_meshes.append((i, uid, transformed)) + + except Exception as e: + result["errors"].append(f"Error processing instance {i}: {e}") + + # Compute collision volumes (pairwise) + total_collision = 0.0 + collision_count = 0 + voxel_size = 0.1 # 10cm voxel size for speed (vs 5cm for accuracy) + + for i in range(len(transformed_meshes)): + for j in range(i + 1, len(transformed_meshes)): + idx_i, uid_i, mesh_i = transformed_meshes[i] + idx_j, uid_j, mesh_j = transformed_meshes[j] + + vol = compute_mesh_intersection_volume(mesh_i, mesh_j, voxel_size) + if vol > 1e-6: # Threshold for meaningful collision + total_collision += vol + collision_count += 1 + + result["collision_volume"] = total_collision + result["num_collisions"] = collision_count + + # Compute out-of-bound volumes + # Pre-compute room voxels once for efficiency + total_out_of_bound = 0.0 + out_of_bound_count = 0 + room_voxels = None + room_origin = None + room_bounds_min = None + + # Create room mesh and voxelize once + if boundary_polygon and len(boundary_polygon) >= 3: + try: + points_2d = [(p[0], p[1]) for p in boundary_polygon] + room_poly = ShapelyPolygon(points_2d) + if not room_poly.is_valid: + room_poly = room_poly.buffer(0) + + room_mesh = trimesh.creation.extrude_polygon(room_poly, room_height) + room_mesh.apply_translation([0, 0, 0.0]) # floor_z = 0 + + room_voxels = voxelize_mesh(room_mesh, voxel_size) + if room_voxels is not None: + # Use bounding box minimum for offset calculation (following eval_example.py approach) + room_bounds_min = room_mesh.bounds[0] + room_origin = np.array(room_voxels.shape) / 2.0 # kept for compatibility + except Exception as e: + result["errors"].append(f"Failed to voxelize room: {e}") + + for idx, uid, mesh in transformed_meshes: + vol = compute_out_of_bound_volume( + mesh, boundary_polygon, 0.0, room_height, voxel_size, + room_voxels, room_origin, room_bounds_min + ) + if vol > 1e-6: + total_out_of_bound += vol + out_of_bound_count += 1 + + result["out_of_bound_volume"] = total_out_of_bound + result["num_out_of_bound"] = out_of_bound_count + + return result + + +def find_layout_files(input_dir: str, dataset: str = None) -> List[str]: + """Find all layout.json files in input directory.""" + layout_files = [] + + input_path = Path(input_dir).expanduser() + + if dataset: + # Process specific dataset + dataset_dir = input_path / dataset + if dataset_dir.exists(): + for layout_file in dataset_dir.rglob("layout.json"): + layout_files.append(str(layout_file)) + # Also check for .json files directly in subdirs + for json_file in dataset_dir.rglob("*.json"): + if json_file.name != "layout.json" and "layout" in json_file.stem.lower(): + layout_files.append(str(json_file)) + else: + # Process all datasets + for layout_file in input_path.rglob("layout.json"): + layout_files.append(str(layout_file)) + + return layout_files + + +def worker_init(): + """Initialize worker process.""" + global _loader, _embedding_manager, _asset_finder + _loader = get_loader() + _embedding_manager, _asset_finder = get_managers() + + +def worker_process_scene(args): + """Worker function to process a single scene.""" + layout_path, input_coord_system = args + global _loader, _embedding_manager, _asset_finder + + try: + return process_single_scene( + layout_path, _loader, _embedding_manager, _asset_finder, input_coord_system + ) + except Exception as e: + return { + "scene_path": layout_path, + "collision_volume": 0.0, + "out_of_bound_volume": 0.0, + "num_assets": 0, + "num_collisions": 0, + "num_out_of_bound": 0, + "errors": [f"Worker error: {e}\n{traceback.format_exc()}"] + } + + +def main(): + parser = argparse.ArgumentParser(description="Compute collision and out-of-bound metrics") + parser.add_argument("--input-dir", "-i", type=str, + default=os.path.expanduser("~/backup/datas/unified-layout-aligned"), + help="Input directory with layout files") + parser.add_argument("--dataset", "-d", type=str, default=None, + choices=["scannet", "arkitscenes", "3rscan", "3d-front", None], + help="Specific dataset to process (default: all)") + parser.add_argument("--output", "-o", type=str, default="collision_metrics.json", + help="Output JSON file for metrics") + parser.add_argument("--workers", "-w", type=int, default=1, + help="Number of parallel workers (default: 1 for debugging)") + parser.add_argument("--limit", type=int, default=3, + help="Limit number of scenes to process (for testing)") + parser.add_argument("--coord-system", type=str, default="z-up", + choices=["z-up", "y-up"], + help="Input coordinate system (default: z-up for aligned data)") + + args = parser.parse_args() + + # Find layout files + print(f"Scanning for layout files in {args.input_dir}...") + if args.dataset: + print(f" Dataset filter: {args.dataset}") + + layout_files = find_layout_files(args.input_dir, args.dataset) + print(f"Found {len(layout_files)} layout files") + + if args.limit: + layout_files = layout_files[:args.limit] + print(f" Limited to {len(layout_files)} files") + + if not layout_files: + print("No layout files found!") + return + + # Process scenes + all_results = [] + + if args.workers == 1: + # Single process mode (easier debugging) + print("Initializing managers...") + loader = get_loader() + embedding_manager, asset_finder = get_managers() + + print("Processing scenes...") + for layout_path in tqdm(layout_files, desc="Processing"): + result = process_single_scene( + layout_path, loader, embedding_manager, asset_finder, args.coord_system + ) + all_results.append(result) + else: + # Multi-process mode + print(f"Processing with {args.workers} workers...") + tasks = [(lp, args.coord_system) for lp in layout_files] + + with ProcessPoolExecutor(max_workers=args.workers, initializer=worker_init) as executor: + futures = [executor.submit(worker_process_scene, task) for task in tasks] + + for future in tqdm(as_completed(futures), total=len(futures), desc="Processing"): + result = future.result() + all_results.append(result) + + # Aggregate statistics + total_collision = sum(r["collision_volume"] for r in all_results) + total_out_of_bound = sum(r["out_of_bound_volume"] for r in all_results) + total_assets = sum(r["num_assets"] for r in all_results) + total_collisions = sum(r["num_collisions"] for r in all_results) + total_out_of_bounds = sum(r["num_out_of_bound"] for r in all_results) + num_scenes = len(all_results) + + scenes_with_errors = sum(1 for r in all_results if r["errors"]) + + summary = { + "input_dir": args.input_dir, + "dataset": args.dataset, + "num_scenes": num_scenes, + "total_assets": total_assets, + "total_collision_volume_m3": total_collision, + "total_out_of_bound_volume_m3": total_out_of_bound, + "avg_collision_volume_per_scene_m3": total_collision / num_scenes if num_scenes > 0 else 0, + "avg_out_of_bound_volume_per_scene_m3": total_out_of_bound / num_scenes if num_scenes > 0 else 0, + "total_collision_pairs": total_collisions, + "total_out_of_bound_objects": total_out_of_bounds, + "scenes_with_errors": scenes_with_errors, + "per_scene_results": all_results + } + + # Print summary + print("\n" + "=" * 60) + print("METRICS SUMMARY") + print("=" * 60) + print(f"Scenes processed: {num_scenes}") + print(f"Total assets: {total_assets}") + print(f"Total collision volume: {total_collision:.6f} m³") + print(f"Total out-of-bound volume: {total_out_of_bound:.6f} m³") + print(f"Avg collision per scene: {total_collision / num_scenes if num_scenes > 0 else 0:.6f} m³") + print(f"Avg out-of-bound per scene: {total_out_of_bound / num_scenes if num_scenes > 0 else 0:.6f} m³") + print(f"Collision pairs: {total_collisions}") + print(f"Out-of-bound objects: {total_out_of_bounds}") + print(f"Scenes with errors: {scenes_with_errors}") + print("=" * 60) + + # Save results + output_path = Path(args.output) + output_path.parent.mkdir(parents=True, exist_ok=True) + + with open(output_path, 'w') as f: + json.dump(summary, f, indent=2) + + print(f"\nResults saved to {output_path}") + + +if __name__ == "__main__": + main() diff --git a/tools/data_gen/compute_single_metrics.py b/tools/data_gen/compute_single_metrics.py new file mode 100644 index 0000000000000000000000000000000000000000..0fc662d2ef458f5ba99f4338526ceb996dafe31c --- /dev/null +++ b/tools/data_gen/compute_single_metrics.py @@ -0,0 +1,773 @@ +#!/usr/bin/env python3 +""" +Compute Collision and Out-of-Bound Metrics for Scene Layouts + +计算场景布局中的: +1. 物体间碰撞体积 (Collision Volume) - 单位: m³ +2. 物体出界体积 (Out-of-Bound Volume) - 单位: m³ + +使用 layout_retrieval.py 的逻辑检索 3D 资产，然后基于 compose_generated.py 的变换逻辑 +计算真实的 mesh 碰撞。 + +Usage: + python tools/data_gen/compute_collision_metrics.py --input-dir ~/backup/datas/unified-layout-aligned --output metrics.json + python tools/data_gen/compute_collision_metrics.py --input-dir ~/backup/datas/unified-layout-aligned --dataset scannet --workers 8 +""" + +import os +import json +import sys +import numpy as np +import argparse +from pathlib import Path +from typing import Dict, List, Tuple, Optional +from concurrent.futures import ProcessPoolExecutor, as_completed +from tqdm import tqdm +import traceback +from copy import deepcopy + +import trimesh +from shapely.geometry import Polygon as ShapelyPolygon, Point +from shapely.ops import unary_union +from tools.asset_description.normalized_asset_loader import NormalizedAssetMeshLoader + +# Add project root to path +SCRIPT_DIR = Path(__file__).parent +REPO_ROOT = SCRIPT_DIR.parent.parent +sys.path.insert(0, str(REPO_ROOT)) + +# Fallback loader for assets not in normalized library +_FALLBACK_LOADER = None + +def _get_fallback_loader(): + """Get fallback loader (original AssetMeshLoader from compose_scenes.py).""" + global _FALLBACK_LOADER + if _FALLBACK_LOADER is None: + sys.path.insert(0, str(REPO_ROOT / "InternScenes" / "InternScenes_Real2Sim")) + from compose_scenes import AssetMeshLoader as OriginalAssetMeshLoader + _FALLBACK_LOADER = OriginalAssetMeshLoader() + return _FALLBACK_LOADER + + +class FallbackAssetMeshLoader: + """ + Asset loader that tries normalized loader first, then falls back to original loader. + """ + def __init__(self): + self.normalized_loader = NormalizedAssetMeshLoader() + self._fallback_loader = None + + @property + def fallback_loader(self): + if self._fallback_loader is None: + self._fallback_loader = _get_fallback_loader() + return self._fallback_loader + + def load_canonical_mesh(self, uid: str, use_texture: bool = True, category: str = None): + """ + Load mesh, trying normalized loader first, then falling back to original loader. + """ + # Try normalized loader first + if self.normalized_loader.asset_exists(uid): + try: + return self.normalized_loader.load_canonical_mesh(uid, use_texture, category) + except Exception: + pass # Fall through to fallback + + # Fallback to original loader + try: + return self.fallback_loader.load_canonical_mesh(uid, use_texture) + except Exception as e: + raise FileNotFoundError(f"Mesh not found in both normalized and original loaders: {uid}. Error: {e}") + + +# These imports need to be inside functions for multiprocessing +def get_managers(): + """Get embedding manager and asset finder (for multiprocessing).""" + from tools.asset_description.asset_embedding_manager import AssetEmbeddingManager + from tools.asset_description.asset_finder import AssetFinder + + # Priority: environment variable > default path + asset_library_dir = os.environ.get('PTH_ASSET_NORMALIZED_LIBRARY') + if not asset_library_dir: + # 优先使用 /backup (集群环境)，如果不存在则使用 ~/backup (本地环境) + if os.path.exists("/backup/datas/InternScenes/asset_library_normalized"): + asset_library_dir = "/backup/datas/InternScenes/asset_library_normalized" + else: + asset_library_dir = os.path.expanduser("~/backup/datas/InternScenes/asset_library_normalized") + + embeddings_file = os.environ.get('PTH_ASSET_EMBEDDINGS') + if not embeddings_file: + embeddings_file = os.path.join(REPO_ROOT, "tools/asset_embeddings.pkl") + + embedding_manager = AssetEmbeddingManager(embeddings_file=embeddings_file) + asset_finder = AssetFinder(asset_library_dir) + + return embedding_manager, asset_finder + +def get_loader(): + """Get asset mesh loader with fallback support.""" + + return FallbackAssetMeshLoader() + + +def normalize_rotation(rot): + """Normalize rotation to radians.""" + rot = np.array(rot, dtype=np.float64) + if np.any(np.abs(rot) > 2 * np.pi + 1e-3): + return np.radians(rot) + return rot + + +def get_scale_transform(mesh_size, target_size, category): + """Calculate scale matrix based on target size and mesh size. + + Note: carpet Z-axis compression is now handled in normalized_asset_loader.py, + so we don't apply /100.0 here anymore. + """ + scale_matrix = np.eye(4) + mesh_size = np.maximum(mesh_size, 1e-6) + + if category == "clothes": + # Clothes: uniform scaling to preserve proportions + scale = target_size / mesh_size + min_scale = min(scale) + scale_matrix = np.diag([min_scale, min_scale, min_scale, 1]) + else: + # Normal scaling (carpet Z compression already applied in loader) + scale = target_size / mesh_size + scale_matrix = np.diag([scale[0], scale[1], scale[2], 1]) + + return scale_matrix + + +def retrieve_asset_for_instance(instance: Dict, embedding_manager, asset_finder) -> Optional[str]: + """ + Retrieve the best matching asset for an instance based on description. + """ + description = instance.get("description") + if not description: + # Fallback to category + description = instance.get("category", "") + + if not description: + return None + + # Use embedding manager to search + candidates = embedding_manager.search_similar(description, top_k=1) + if candidates: + return candidates[0][0] # Return uid + return None + + +def transform_mesh(mesh, pos, rot, size, category, input_coord_system="z-up"): + """ + Apply transforms to mesh (similar to compose_generated.py logic). + Returns the transformed mesh in Z-up coordinate system (no global rotation to Y-up). + + Key assumption aligned with eval.py: + - pos represents the BOTTOM CENTER of the asset (not geometric center) + - In Z-up: pos[2] is the floor Z coordinate (bottom of the asset) + """ + pos = np.array(pos, dtype=np.float64) + rot = np.array(rot, dtype=np.float64) + size = np.array(size, dtype=np.float64) + + # Coordinate system handling + if input_coord_system == "y-up": + pos = np.array([pos[0], pos[2], pos[1]]) + size = np.array([size[0], size[2], size[1]]) + rot = np.array([rot[0], rot[2], rot[1]]) + + # Normalize rotation + rot = normalize_rotation(rot) + + # Get mesh bounds before any transform + mesh_bounds = mesh.bounds + mesh_size = mesh_bounds[1] - mesh_bounds[0] + mesh_center = (mesh_bounds[0] + mesh_bounds[1]) / 2.0 + + # Step 1: Center the mesh at origin (bottom center) + # Move mesh so that its bottom center is at origin + # In Z-up: bottom is at min Z + bottom_center = np.array([mesh_center[0], mesh_center[1], mesh_bounds[0][2]]) + mesh_copy = mesh.copy() + mesh_copy.apply_translation(-bottom_center) + + # Step 2: Scale + mesh_size = np.maximum(mesh_size, 1e-6) + scale_mat = get_scale_transform(mesh_size, size, category) + mesh_copy.apply_transform(scale_mat) + + # Step 3: Rotation (rzxy order) around the bottom center (which is now at origin) + rot_mat = trimesh.transformations.euler_matrix(rot[0], rot[1], rot[2], axes='rzxy') + mesh_copy.apply_transform(rot_mat) + + # Step 4: Translation to final position + # pos is the bottom center position, so we translate directly to pos + mesh_copy.apply_translation(pos) + + return mesh_copy + + +def create_room_boundary_mesh(boundary_polygon: List[List[float]], height: float = 2.6) -> trimesh.Trimesh: + """ + Create a room boundary mesh from boundary polygon for out-of-bound checking. + The boundary is extruded from floor to ceiling. + """ + if not boundary_polygon or len(boundary_polygon) < 3: + return None + + # Extract 2D points (assuming Z-up, take X and Y) + points_2d = [(p[0], p[1]) for p in boundary_polygon] + + # Create shapely polygon + try: + poly = ShapelyPolygon(points_2d) + if not poly.is_valid: + poly = poly.buffer(0) + except Exception: + return None + + # Create 3D extruded mesh + try: + path = trimesh.load_path(poly.exterior.coords) + mesh = trimesh.creation.extrude_polygon(poly, height) + return mesh + except Exception: + return None + + +# ============================================================================ +# Voxelization-based collision computation +# Based on eval_example.py approach: voxelize once, use position offsets +# ============================================================================ + +# Global cache for voxelized meshes +_voxel_cache = {} + + +def voxelize_mesh(mesh: trimesh.Trimesh, voxel_size: float = 0.05) -> np.ndarray: + """ + Voxelize a mesh and return the voxel matrix. + Uses trimesh's built-in voxelization with mesh simplification for speed. + """ + try: + # Simplify mesh if too complex (>10k faces) + if len(mesh.faces) > 10000: + mesh = mesh.simplify_quadric_decimation(5000) + + voxels = mesh.voxelized(pitch=voxel_size).fill() + return voxels.matrix + except Exception: + return None + + +def occupancy_overlap(voxel_matrix_a: np.ndarray, voxel_matrix_b: np.ndarray, + offset_b: np.ndarray) -> int: + """ + Count overlapping voxels between two voxel matrices. + + Based on eval_example.py approach: + - offset_b specifies where B's voxels should be placed in A's coordinate system + - For each filled voxel in B at position (i,j,k), check if position (i+offset_b) is filled in A + + Args: + voxel_matrix_a: First voxel matrix (reference coordinate system) + voxel_matrix_b: Second voxel matrix (to be shifted) + offset_b: Offset to apply to B's voxels to map them to A's coordinate system + + Returns: + int: Number of overlapping voxels + """ + # Get indices of filled voxels in B + b_indices = np.argwhere(voxel_matrix_b) + if len(b_indices) == 0: + return 0 + + # Shift to A's coordinate system + offset_b_int = np.floor(offset_b).astype(int) + shifted_pos = b_indices + offset_b_int + + # Filter valid positions (within A's bounds) + valid_mask = ( + (shifted_pos[:, 0] >= 0) & (shifted_pos[:, 0] < voxel_matrix_a.shape[0]) & + (shifted_pos[:, 1] >= 0) & (shifted_pos[:, 1] < voxel_matrix_a.shape[1]) & + (shifted_pos[:, 2] >= 0) & (shifted_pos[:, 2] < voxel_matrix_a.shape[2]) + ) + + valid_pos = shifted_pos[valid_mask] + if len(valid_pos) == 0: + return 0 + + # Count overlaps + overlap_count = np.sum(voxel_matrix_a[valid_pos[:, 0], valid_pos[:, 1], valid_pos[:, 2]]) + return int(overlap_count) + + +def get_mesh_voxel_info(mesh: trimesh.Trimesh, voxel_size: float = 0.05) -> Tuple[np.ndarray, np.ndarray]: + """ + Get voxel matrix and the voxel-space origin for a mesh. + + For a mesh centered at world origin, the voxel origin is at the center of the voxel grid. + Returns (voxel_matrix, voxel_start) where voxel_start is the offset from mesh center. + """ + voxel_matrix = voxelize_mesh(mesh, voxel_size) + if voxel_matrix is None: + return None, None + + # The voxel grid starts at mesh bounds min + # voxel_start is in voxel units from mesh origin + bounds = mesh.bounds + mesh_center = (bounds[0] + bounds[1]) / 2.0 + + # Voxel grid origin is at bounds[0] + # We need offset from mesh center to voxel grid center + voxel_grid_center = np.array([ + voxel_matrix.shape[0] / 2.0, + voxel_matrix.shape[1] / 2.0, + voxel_matrix.shape[2] / 2.0 + ]) + + return voxel_matrix, voxel_grid_center + + +def compute_mesh_intersection_volume(mesh1: trimesh.Trimesh, mesh2: trimesh.Trimesh, + voxel_size: float = 0.05) -> float: + """ + Compute intersection volume between two meshes using voxelization. + + Method (adapted from eval_example.py for Z-up coordinate system): + 1. Voxelize both meshes + 2. Calculate position offset based on mesh positions in world coordinates + 3. Count overlapping voxels + + Key insight from eval_example.py: + - In Y-up: asset_start_voxels = [shape[0]//2, 0, shape[2]//2] (floor-aligned on Y) + - In Z-up: asset_start_voxels = [shape[0]//2, shape[1]//2, 0] (floor-aligned on Z) + - The offset accounts for both mesh positions and voxel grid centers + """ + voxel_volume = voxel_size ** 3 + + # Quick bounding box check first + try: + min1, max1 = mesh1.bounds + min2, max2 = mesh2.bounds + + if np.any(max1 <= min2) or np.any(max2 <= min1): + return 0.0 + except Exception: + return 0.0 + + try: + # Voxelize both meshes + voxel_matrix_1 = voxelize_mesh(mesh1, voxel_size) + voxel_matrix_2 = voxelize_mesh(mesh2, voxel_size) + + if voxel_matrix_1 is None or voxel_matrix_2 is None: + return 0.0 + + # Following eval_example.py's approach (adapted for Z-up): + # 1. Get mesh positions in world coordinates (using bounding box minimum as reference) + # The mesh has already been transformed to world position, so bounds[0] gives us + # the minimum corner which we can use to compute voxel positions + + # Calculate mesh positions in voxel units + # Use bounding box minimum as the anchor point for each mesh + pos1_voxels = np.floor(min1 / voxel_size) + pos2_voxels = np.floor(min2 / voxel_size) + + # For transformed meshes, we use the actual bounds to compute offset + # offset_b = where mesh2's voxel grid starts relative to mesh1's voxel grid + offset_b = pos2_voxels - pos1_voxels + + # Count overlaps + overlap_count = occupancy_overlap(voxel_matrix_1, voxel_matrix_2, offset_b) + + return overlap_count * voxel_volume + + except Exception as e: + return 0.0 + + +def compute_out_of_bound_volume(mesh: trimesh.Trimesh, boundary_polygon: List[List[float]], + floor_z: float = 0.0, ceiling_z: float = 2.6, + voxel_size: float = 0.05, + room_voxels: np.ndarray = None, + room_origin: np.ndarray = None, + room_bounds_min: np.ndarray = None) -> float: + """ + Compute volume of mesh that is outside the room boundary using voxelization. + + Method (adapted from eval_example.py for Z-up coordinate system): + 1. Voxelize room and asset + 2. Calculate offset based on bounding box minimums (like eval_example.py's prepare_asset) + 3. Count asset voxels that overlap with room voxels + 4. Return volume of non-overlapping voxels + + Args: + mesh: Asset mesh (already transformed to world position) + boundary_polygon: Room boundary polygon vertices + floor_z: Floor Z coordinate + ceiling_z: Ceiling Z coordinate + voxel_size: Voxel size in meters + room_voxels: Pre-computed room voxel matrix (for efficiency) + room_origin: Room voxel grid center in voxel units (deprecated, kept for compatibility) + room_bounds_min: Room bounding box minimum corner in world coordinates + """ + if not boundary_polygon or len(boundary_polygon) < 3: + return 0.0 + + voxel_volume = voxel_size ** 3 + + try: + # Voxelize asset + asset_voxels = voxelize_mesh(mesh, voxel_size) + if asset_voxels is None: + return 0.0 + + num_asset_voxels = np.sum(asset_voxels) + if num_asset_voxels == 0: + return 0.0 + + # Get asset bounds + asset_bounds = mesh.bounds + asset_min = asset_bounds[0] + + # Create room voxels if not provided + if room_voxels is None: + # Extract floor vertices only (z ≈ 0) + floor_verts = [p for p in boundary_polygon if len(p) >= 3 and abs(p[2]) < 0.1] + if len(floor_verts) < 3: + floor_verts = boundary_polygon[:len(boundary_polygon)//2] + + points_2d = [(p[0], p[1]) for p in floor_verts] + room_poly = ShapelyPolygon(points_2d) + if not room_poly.is_valid: + room_poly = room_poly.buffer(0) + + room_height = ceiling_z - floor_z + room_mesh = trimesh.creation.extrude_polygon(room_poly, room_height) + room_mesh.apply_translation([0, 0, floor_z]) + + room_voxels = voxelize_mesh(room_mesh, voxel_size) + if room_voxels is None: + return 0.0 + + room_bounds_min = room_mesh.bounds[0] + + # Calculate offset following eval_example.py's approach: + # In eval_example.py (Y-up): + # asset_pos_voxels = floor(asset_pos / voxel_size) + # asset_start_voxels = [shape[0]//2, 0, shape[2]//2] # X,Z centered, Y from 0 + # asset_shift = asset_pos_voxels - asset_start_voxels + # asset_offset = room_origin_shift + asset_shift + # + # For Z-up with transformed meshes, we use bounding box minimums: + # The offset is simply the difference in voxel positions of the two bounding boxes + asset_pos_voxels = np.floor(asset_min / voxel_size) + room_pos_voxels = np.floor(room_bounds_min / voxel_size) + + # Offset to map asset voxels into room voxel coordinate system + offset_asset = asset_pos_voxels - room_pos_voxels + + # Count asset voxels that overlap with room + # Note: we check if asset voxels are INSIDE the room + overlap_count = occupancy_overlap(room_voxels, asset_voxels, offset_asset) + + # Out of bound = total asset voxels - voxels inside room + num_outside = num_asset_voxels - overlap_count + + return max(0, num_outside) * voxel_volume + + except Exception as e: + return 0.0 + + +def extract_instances_from_layout(layout: Dict) -> List[Dict]: + """Extract all asset instances from layout.""" + instances = [] + + # Handle different layout structures + if "assets" in layout: + instances.extend(layout["assets"]) + + if "functional_zones" in layout: + for zone in layout["functional_zones"]: + if "assets" in zone: + instances.extend(zone["assets"]) + + if "groups" in layout: + for group in layout["groups"]: + if "objects" in group: + instances.extend(group["objects"]) + + return instances + + +def get_transform_from_instance(instance: Dict) -> Tuple[Optional[List], Optional[List], Optional[List]]: + """Extract pos, rot, size from instance.""" + pos = None + rot = None + size = None + + # Case 1: Nested transform + if "transform" in instance and isinstance(instance["transform"], dict): + t = instance["transform"] + pos = t.get("pos") + rot = t.get("rot") + size = t.get("size") + + # Case 2: Flat structure + if pos is None: + pos = instance.get("pos") + if rot is None: + rot = instance.get("rot") + if size is None: + size = instance.get("size") + + # Case 3: Legacy bbox + if pos is None and "bbox" in instance: + bbox = instance["bbox"] + if len(bbox) >= 9: + pos = bbox[0:3] + size = bbox[3:6] + rot = bbox[6:9] + + return pos, rot, size + + +def process_single_scene(layout_path: str, loader, embedding_manager, asset_finder, + input_coord_system: str = "z-up") -> Dict: + """ + Process a single scene and compute metrics. + + Returns: + Dict with collision_volume, out_of_bound_volume, num_assets, etc. + """ + result = { + "scene_path": layout_path, + "collision_volume": 0.0, + "out_of_bound_volume": 0.0, + "num_assets": 0, + "num_collisions": 0, + "num_out_of_bound": 0, + "errors": [] + } + + try: + with open(layout_path, 'r') as f: + layout = json.load(f) + except Exception as e: + result["errors"].append(f"Failed to load layout: {e}") + return result + + # Get room boundary + boundary_polygon = layout.get("architecture", {}).get("boundary_polygon", []) + room_height = layout.get("architecture", {}).get("height", 2.6) + + # Extract instances + instances = extract_instances_from_layout(layout) + result["num_assets"] = len(instances) + + if not instances: + return result + + # Load and transform meshes + transformed_meshes = [] + + for i, instance in enumerate(instances): + try: + # Get or retrieve model_uid (support both model_uid and model_id) + # uid = instance.get("model_uid") or instance.get("model_id") + uid = None + + if not uid: + # Retrieve based on description + uid = retrieve_asset_for_instance(instance, embedding_manager, asset_finder) + + if not uid: + continue + + # Get transform + pos, rot, size = get_transform_from_instance(instance) + if pos is None or rot is None or size is None: + continue + + # Get category + category = instance.get("category", "") + + # Load canonical mesh (with category for special handling like carpet/clothes) + try: + mesh = loader.load_canonical_mesh(uid, use_texture=False, category=category) + except Exception as e: + result["errors"].append(f"Failed to load mesh {uid}: {e}") + continue + + if mesh is None: + continue + + # Convert Scene to single mesh if needed + if isinstance(mesh, trimesh.Scene): + try: + mesh = mesh.dump(concatenate=True) + except Exception: + continue + + if not isinstance(mesh, trimesh.Trimesh): + continue + + # Transform mesh + category = instance.get("category", "") + transformed = transform_mesh(mesh, pos, rot, size, category, input_coord_system) + transformed_meshes.append((i, uid, transformed)) + + except Exception as e: + result["errors"].append(f"Error processing instance {i}: {e}") + + # Compute collision volumes (pairwise) + total_collision = 0.0 + collision_count = 0 + voxel_size = 0.05 # 10cm voxel size for speed (vs 5cm for accuracy) + + for i in range(len(transformed_meshes)): + for j in range(i + 1, len(transformed_meshes)): + idx_i, uid_i, mesh_i = transformed_meshes[i] + idx_j, uid_j, mesh_j = transformed_meshes[j] + + vol = compute_mesh_intersection_volume(mesh_i, mesh_j, voxel_size) + if vol > 1e-6: # Threshold for meaningful collision + total_collision += vol + collision_count += 1 + + result["collision_volume"] = total_collision + result["num_collisions"] = collision_count + + # Compute out-of-bound volumes + # Pre-compute room voxels once for efficiency + total_out_of_bound = 0.0 + out_of_bound_count = 0 + room_voxels = None + room_origin = None + room_bounds_min = None + + # Create room mesh and voxelize once + if boundary_polygon and len(boundary_polygon) >= 3: + try: + # Extract floor vertices only (z ≈ 0) + # boundary_polygon may contain both floor and ceiling vertices + floor_verts = [p for p in boundary_polygon if len(p) >= 3 and abs(p[2]) < 0.1] + if len(floor_verts) < 3: + # Fallback: use first half of vertices (assuming floor comes first) + floor_verts = boundary_polygon[:len(boundary_polygon)//2] + + points_2d = [(p[0], p[1]) for p in floor_verts] + room_poly = ShapelyPolygon(points_2d) + if not room_poly.is_valid: + room_poly = room_poly.buffer(0) + + room_mesh = trimesh.creation.extrude_polygon(room_poly, room_height) + room_mesh.apply_translation([0, 0, 0.0]) # floor_z = 0 + + room_voxels = voxelize_mesh(room_mesh, voxel_size) + if room_voxels is not None: + # Use bounding box minimum for offset calculation (following eval_example.py approach) + room_bounds_min = room_mesh.bounds[0] + room_origin = np.array(room_voxels.shape) / 2.0 # kept for compatibility + except Exception as e: + result["errors"].append(f"Failed to voxelize room: {e}") + + for idx, uid, mesh in transformed_meshes: + vol = compute_out_of_bound_volume( + mesh, boundary_polygon, 0.0, room_height, voxel_size, + room_voxels, room_origin, room_bounds_min + ) + if vol > 1e-6: + total_out_of_bound += vol + out_of_bound_count += 1 + + result["out_of_bound_volume"] = total_out_of_bound + result["num_out_of_bound"] = out_of_bound_count + + return result + + +def find_layout_files(input_dir: str, dataset: str = None) -> List[str]: + """Find all layout.json files in input directory.""" + layout_files = [] + + input_path = Path(input_dir).expanduser() + + if dataset: + # Process specific dataset + dataset_dir = input_path / dataset + if dataset_dir.exists(): + for layout_file in dataset_dir.rglob("layout.json"): + layout_files.append(str(layout_file)) + # Also check for .json files directly in subdirs + for json_file in dataset_dir.rglob("*.json"): + if json_file.name != "layout.json" and "layout" in json_file.stem.lower(): + layout_files.append(str(json_file)) + else: + # Process all datasets + for layout_file in input_path.rglob("layout.json"): + layout_files.append(str(layout_file)) + + return layout_files + + +def worker_init(): + """Initialize worker process.""" + global _loader, _embedding_manager, _asset_finder + _loader = get_loader() + _embedding_manager, _asset_finder = get_managers() + + +def worker_process_scene(args): + """Worker function to process a single scene.""" + layout_path, input_coord_system = args + global _loader, _embedding_manager, _asset_finder + + try: + return process_single_scene( + layout_path, _loader, _embedding_manager, _asset_finder, input_coord_system + ) + except Exception as e: + return { + "scene_path": layout_path, + "collision_volume": 0.0, + "out_of_bound_volume": 0.0, + "num_assets": 0, + "num_collisions": 0, + "num_out_of_bound": 0, + "errors": [f"Worker error: {e}\n{traceback.format_exc()}"] + } + + +def main(): + parser = argparse.ArgumentParser(description="Compute collision and out-of-bound metrics") + parser.add_argument("--input", "-i", type=str, + default="/home/v-meiszhang/amlt-project/InternScenes/test_examples/data_example.json", + help="Input directory with layout files") + parser.add_argument("--output", "-o", type=str, default="collision_metrics.json", + help="Output JSON file for metrics") + parser.add_argument("--coord-system", type=str, default="z-up", + choices=["z-up", "y-up"], + help="Input coordinate system (default: z-up for aligned data)") + + args = parser.parse_args() + + # Single process mode (easier debugging) + print("Initializing managers...") + loader = get_loader() + embedding_manager, asset_finder = get_managers() + + result = process_single_scene( + args.input, loader, embedding_manager, asset_finder, args.coord_system + ) + + print(result) + + +if __name__ == "__main__": + main() diff --git a/tools/data_gen/convert_rot_format.py b/tools/data_gen/convert_rot_format.py new file mode 100644 index 0000000000000000000000000000000000000000..8fc7f77ad45da474c03ed72480f9037779022e8a --- /dev/null +++ b/tools/data_gen/convert_rot_format.py @@ -0,0 +1,333 @@ +#!/usr/bin/env python3 +""" +将杂乱数据的rot格式转换为干净数据的格式 + +杂乱数据格式：rot用于 euler_matrix(rot[0], rot[1], rot[2], axes='rzxy') + - 即 ZXY 顺序：rot = [rz, rx, ry] + +干净数据格式：rot用于标准 XYZ 顺序 + - 即 rot = [rx, ry, rz] + +转换方法： + 1. 用 ZXY 顺序构建旋转矩阵 + 2. 分解为 XYZ 顺序的euler角 + +使用方法： + python convert_rot_format.py analyze [-v] + python convert_rot_format.py convert [-o output_path] + python convert_rot_format.py batch --output-dir +""" + +import json +import numpy as np +import argparse +import os +import copy +from pathlib import Path +from typing import List, Dict, Tuple +from scipy.spatial.transform import Rotation as R + + +def convert_euler_zxy_to_xyz(rot_zxy: List[float]) -> List[float]: + """ + 将ZXY顺序的euler角转换为XYZ顺序 + + 输入：rot_zxy = [rz, rx, ry]（杂乱格式，用于axes='rzxy'） + 输出：rot_xyz = [rx, ry, rz]（干净格式，标准XYZ顺序） + """ + # 用ZXY顺序构建旋转矩阵 + R_mat = R.from_euler('zxy', rot_zxy).as_matrix() + # 分解为XYZ顺序 + rot_xyz = R.from_matrix(R_mat).as_euler('xyz') + return rot_xyz.tolist() + + +def is_pure_yaw(rot: List[float], threshold_deg: float = 2.0) -> bool: + """ + 检查旋转是否是纯yaw（只有绕Z轴的旋转） + + 对于ZXY格式：纯yaw意味着 rot[1]≈0 且 rot[2]≈0 + """ + rx_deg = abs(np.degrees(rot[1])) + ry_deg = abs(np.degrees(rot[2])) + return rx_deg < threshold_deg and ry_deg < threshold_deg + + +def is_clean_format(rot: List[float], threshold: float = 1e-6) -> bool: + """ + 检查rot是否已经是干净格式 [0, 0, θ] 或接近 + + 干净格式：rot[0]≈0 且 rot[1]≈0 + """ + return abs(rot[0]) < threshold and abs(rot[1]) < threshold + + +def detect_layout_format(layout) -> str: + """检测layout格式""" + if isinstance(layout, list): + return 'old' # 旧格式：直接是asset列表 + elif isinstance(layout, dict): + if 'functional_zones' in layout: + return 'new' # 新格式：有functional_zones + elif 'meta' in layout: + return 'new' + return 'unknown' + + +def convert_layout_rot_format(layout) -> Tuple[dict, dict]: + """ + 转换整个layout的rot格式：从ZXY顺序到XYZ顺序 + + Args: + layout: 原始layout + + Returns: + (new_layout, stats): 转换后的layout和统计信息 + """ + new_layout = copy.deepcopy(layout) + layout_format = detect_layout_format(layout) + + stats = { + 'total': 0, + 'converted': 0, + 'already_clean': 0, # 已经是干净格式（可能不需要转换） + 'pure_yaw': 0, + 'tilted': 0, + } + + if layout_format == 'old': + # 旧格式：列表，每个元素有bbox + for item in new_layout: + stats['total'] += 1 + old_rot = item['bbox'][6:9] + + # 检查是否已经是干净格式（可能是3d-front数据混进来了） + if is_clean_format(old_rot): + stats['already_clean'] += 1 + continue + + # 转换 ZXY -> XYZ + new_rot = convert_euler_zxy_to_xyz(old_rot) + item['bbox'][6] = new_rot[0] + item['bbox'][7] = new_rot[1] + item['bbox'][8] = new_rot[2] + stats['converted'] += 1 + + if is_pure_yaw(old_rot): + stats['pure_yaw'] += 1 + else: + stats['tilted'] += 1 + + elif layout_format == 'new': + # 新格式：有functional_zones + for zone in new_layout.get('functional_zones', []): + for asset in zone.get('assets', []): + stats['total'] += 1 + transform = asset.get('transform', {}) + old_rot = transform.get('rot', [0, 0, 0]) + + # 检查是否已经是干净格式 + if is_clean_format(old_rot): + stats['already_clean'] += 1 + continue + + # 转换 ZXY -> XYZ + new_rot = convert_euler_zxy_to_xyz(old_rot) + asset['transform']['rot'] = new_rot + stats['converted'] += 1 + + if is_pure_yaw(old_rot): + stats['pure_yaw'] += 1 + else: + stats['tilted'] += 1 + + return new_layout, stats + + +def analyze_layout(layout_path: str) -> dict: + """分析layout文件的rot分布""" + with open(layout_path, 'r') as f: + layout = json.load(f) + + layout_format = detect_layout_format(layout) + + rots = [] + if layout_format == 'old': + for item in layout: + rot = item['bbox'][6:9] + rots.append({ + 'category': item.get('category', 'unknown'), + 'rot_deg': [np.degrees(r) for r in rot], + 'is_pure_yaw': is_pure_yaw(rot), + 'is_clean_format': abs(rot[0]) < 1e-6 and abs(rot[1]) < 1e-6 + }) + elif layout_format == 'new': + for zone in layout.get('functional_zones', []): + for asset in zone.get('assets', []): + rot = asset.get('transform', {}).get('rot', [0, 0, 0]) + rots.append({ + 'category': asset.get('category', 'unknown'), + 'rot_deg': [np.degrees(r) for r in rot], + 'is_pure_yaw': is_pure_yaw(rot), + 'is_clean_format': abs(rot[0]) < 1e-6 and abs(rot[1]) < 1e-6 + }) + + # 统计 + total = len(rots) + pure_yaw = sum(1 for r in rots if r['is_pure_yaw']) + clean_format = sum(1 for r in rots if r['is_clean_format']) + tilted = total - pure_yaw + + return { + 'path': layout_path, + 'format': layout_format, + 'total': total, + 'pure_yaw': pure_yaw, + 'tilted': tilted, + 'clean_format': clean_format, + 'needs_conversion': pure_yaw - clean_format, + 'details': rots + } + + +def cmd_analyze(args): + """分析命令""" + result = analyze_layout(args.layout_path) + + print(f"\n{'='*60}") + print(f"Rot格式分析: {args.layout_path}") + print(f"{'='*60}") + print(f"Layout格式: {result['format']}") + print(f"总资产数: {result['total']}") + print(f"纯yaw旋转: {result['pure_yaw']} ({100*result['pure_yaw']/result['total']:.1f}%)") + print(f"有倾斜: {result['tilted']} ({100*result['tilted']/result['total']:.1f}%)") + print(f"已是干净格式 [0,0,θ]: {result['clean_format']}") + print(f"需要转换: {result['needs_conversion']}") + + if args.verbose: + print(f"\n{'='*60}") + print("详细信息:") + print(f"{'='*60}") + for i, r in enumerate(result['details'][:20]): + status = "✓" if r['is_clean_format'] else ("→" if r['is_pure_yaw'] else "✗") + print(f" {status} [{i:3d}] {r['category']:15s} rot=[{r['rot_deg'][0]:7.1f}, {r['rot_deg'][1]:7.1f}, {r['rot_deg'][2]:7.1f}]") + if len(result['details']) > 20: + print(f" ... 还有 {len(result['details'])-20} 个资产") + + +def cmd_convert(args): + """转换命令""" + with open(args.layout_path, 'r') as f: + layout = json.load(f) + + new_layout, stats = convert_layout_rot_format(layout) + + print(f"\n{'='*60}") + print(f"转换完成: {args.layout_path}") + print(f"{'='*60}") + print(f"总资产数: {stats['total']}") + print(f"已转换: {stats['converted']} (纯yaw: {stats['pure_yaw']}, 有倾斜: {stats['tilted']})") + print(f"已是干净格式: {stats['already_clean']}") + + if args.output: + os.makedirs(os.path.dirname(args.output) or '.', exist_ok=True) + with open(args.output, 'w') as f: + json.dump(new_layout, f, indent=2) + print(f"保存到: {args.output}") + else: + # 打印到stdout + print(f"\n转换后的rot示例:") + if detect_layout_format(new_layout) == 'old': + for item in new_layout[:5]: + rot = item['bbox'][6:9] + print(f" {item['category']:15s} rot=[{np.degrees(rot[0]):7.1f}, {np.degrees(rot[1]):7.1f}, {np.degrees(rot[2]):7.1f}]") + + +def cmd_batch(args): + """批量转换命令""" + import glob + + layout_files = glob.glob(os.path.join(args.input_dir, '**/layout.json'), recursive=True) + print(f"找到 {len(layout_files)} 个layout文件") + + total_stats = { + 'files': 0, + 'total': 0, + 'converted': 0, + 'pure_yaw': 0, + 'tilted': 0, + 'already_clean': 0, + } + + for layout_path in layout_files: + try: + with open(layout_path, 'r') as f: + layout = json.load(f) + + new_layout, stats = convert_layout_rot_format(layout) + + # 计算相对路径 + rel_path = os.path.relpath(layout_path, args.input_dir) + output_path = os.path.join(args.output_dir, rel_path) + + os.makedirs(os.path.dirname(output_path), exist_ok=True) + with open(output_path, 'w') as f: + json.dump(new_layout, f, indent=2) + + total_stats['files'] += 1 + total_stats['total'] += stats['total'] + total_stats['converted'] += stats['converted'] + total_stats['pure_yaw'] += stats['pure_yaw'] + total_stats['tilted'] += stats['tilted'] + total_stats['already_clean'] += stats['already_clean'] + + except Exception as e: + print(f"错误处理 {layout_path}: {e}") + + print(f"\n{'='*60}") + print(f"批量转换完成") + print(f"{'='*60}") + print(f"处理文件数: {total_stats['files']}") + print(f"总资产数: {total_stats['total']}") + print(f"已转换: {total_stats['converted']} (纯yaw: {total_stats['pure_yaw']}, 有倾斜: {total_stats['tilted']})") + print(f"已是干净格式: {total_stats['already_clean']}") + print(f"输出目录: {args.output_dir}") + + +def main(): + parser = argparse.ArgumentParser( + description='转换layout的rot格式：从[rz,rx,ry]到[0,0,θ]', + formatter_class=argparse.RawDescriptionHelpFormatter + ) + + subparsers = parser.add_subparsers(dest='command', help='子命令') + + # analyze命令 + p_analyze = subparsers.add_parser('analyze', help='分析layout的rot分布') + p_analyze.add_argument('layout_path', help='layout.json文件路径') + p_analyze.add_argument('-v', '--verbose', action='store_true', help='显示详细信息') + + # convert命令 + p_convert = subparsers.add_parser('convert', help='转换单个layout文件') + p_convert.add_argument('layout_path', help='layout.json文件路径') + p_convert.add_argument('-o', '--output', help='输出文件路径') + + # batch命令 + p_batch = subparsers.add_parser('batch', help='批量转换目录下的layout文件') + p_batch.add_argument('input_dir', help='输入目录') + p_batch.add_argument('--output-dir', required=True, help='输出目录') + + args = parser.parse_args() + + if args.command == 'analyze': + cmd_analyze(args) + elif args.command == 'convert': + cmd_convert(args) + elif args.command == 'batch': + cmd_batch(args) + else: + parser.print_help() + + +if __name__ == '__main__': + main() diff --git a/tools/data_gen/eval_example.py b/tools/data_gen/eval_example.py new file mode 100644 index 0000000000000000000000000000000000000000..8bb37233deb00ad0368132121fff0819a1e8aee3 --- /dev/null +++ b/tools/data_gen/eval_example.py @@ -0,0 +1,924 @@ +import numpy as np +import pandas as pd +import torch +import json +from shapely.geometry import box, Polygon +from matplotlib import pyplot as plt +import pdb +import os +from tqdm import tqdm +import trimesh +import trimesh.transformations as tf +from scipy.spatial.transform import Rotation as R +import pickle +from dotenv import load_dotenv +import argparse +from pathlib import Path +from trimesh.voxel.encoding import DenseEncoding +from trimesh.transformations import quaternion_matrix +from scipy.spatial.transform import Rotation as R +import copy +from transformers import AutoProcessor, AutoModelForVision2Seq, PaliGemmaForConditionalGeneration, AutoModelForCausalLM, AutoTokenizer, Qwen2_5_VLForConditionalGeneration +from accelerate import Accelerator +from qwen_vl_utils import process_vision_info +import gc + +from src.utils import get_pth_mesh, create_floor_plan_polygon, compute_fid_scores, get_scene_hash, get_vlm_prompt, compute_diversity_score +from src.viz import render_full_scene_and_export_with_gif, render_instr_scene_and_export_with_gif +from src.dataset import create_full_scene_from_before_and_added + +def get_xz_bbox_from_obj(obj): + + bbox_position = obj.get("pos") + bbox_size = obj.get("size") + + rotation_xyzw = np.array(obj.get("rot")) + asset_rot_angle_euler, asset_rot_angle_radians = get_y_angle_from_xyzw_quaternion(rotation_xyzw) + + half_size_x = bbox_size[0] / 2 + half_size_z = bbox_size[2] / 2 + corners_2d_floor = np.array([ + [half_size_x, half_size_z], + [-half_size_x, half_size_z], + [-half_size_x, -half_size_z], + [half_size_x, -half_size_z] + ]) + + cos_theta = np.cos(asset_rot_angle_radians) + sin_theta = np.sin(asset_rot_angle_radians) + rotation_matrix = np.array([ + [cos_theta, -sin_theta], + [sin_theta, cos_theta] + ]) + + rotated_corners_2d_floor = np.dot(corners_2d_floor, rotation_matrix.T) + translated_corners_2d_floor = rotated_corners_2d_floor + np.array([bbox_position[0], bbox_position[2]]) + + polygon_coords_2d_floor = [(corner[0], corner[1]) for corner in translated_corners_2d_floor] + bbox_2d_obj = Polygon(polygon_coords_2d_floor) + + # get height information of 3D bbox + obj_height = bbox_size[1] + obj_y_start = bbox_position[1] + obj_y_end = bbox_position[1] + obj_height + + return bbox_2d_obj, obj_height, obj_y_start, obj_y_end + +def create_room_mesh(bounds_bottom, bounds_top, floor_plan_polygon): + num_verts = len(bounds_bottom) + all_vertices = np.array(bounds_bottom + bounds_top) + + vtx, floor_faces = trimesh.creation.triangulate_polygon(floor_plan_polygon, engine="triangle") + idxs = [] + for i, row in enumerate(floor_faces): + if np.any(row == num_verts): + idxs.append(i) + floor_faces = np.delete(floor_faces, idxs, axis=0) + + floor_mesh = trimesh.Trimesh(vertices=vtx, faces=floor_faces) + + ceiling_faces = floor_faces + num_verts + + side_faces = [] + for i in range(num_verts): + next_i = (i + 1) % num_verts + side_faces.append([i, next_i, i + num_verts]) + side_faces.append([next_i, next_i + num_verts, i + num_verts]) + side_faces = np.array(side_faces) + + all_faces = np.concatenate((floor_faces, ceiling_faces, side_faces), axis=0) + + room_mesh = trimesh.Trimesh(vertices=all_vertices, faces=all_faces) + + trimesh.repair.fix_normals(room_mesh) + + # fig = plt.figure() + # ax = fig.add_subplot(projection='3d') + # ax.plot_trisurf(room_mesh.vertices[:, 0], room_mesh.vertices[:,2], room_mesh.vertices[:,1], triangles=room_mesh.faces); + # plt.show() + + return room_mesh + +def get_intersection_area(obj_x, obj_y, epsilon=1e-7): + intersection = obj_x.intersection(obj_y) + if intersection.is_empty: + return 0.0 + area = intersection.area + if area < epsilon: + return 0.0 + return area + +def compute_oob(obj, floor_plan_polygon, bounds_bottom, bounds_top, epsilon=1e-7, is_debug=False): + + bbox_obj, obj_height, obj_y_start, obj_y_end = get_xz_bbox_from_obj(obj) + + intersection_area = get_intersection_area(floor_plan_polygon, bbox_obj) + + room_bottom = bounds_bottom[0][1] + room_top = bounds_top[0][1] + + if (obj_y_start < room_bottom and obj_y_end < room_bottom) or (obj_y_start > room_top and obj_y_end > room_top): + obj_intersection_height = 0 + else: + obj_intersection_height = abs(np.clip(obj_y_end, room_bottom, room_top) - np.clip(obj_y_start, room_bottom, room_top)) + + bbox_vol_total = (bbox_obj.area)*obj_height + bbox_vol_inside = (intersection_area*obj_intersection_height) + + oob = bbox_vol_total - bbox_vol_inside + + # if is_debug: + # # visualize intersection with matplotlib + # print(f"desc: {obj.get('desc')}") + # print(f"oob: {oob}") + # fig, ax = plt.subplots() + # x, y = floor_plan_polygon.exterior.xy + # ax.plot(x, y, color='b') + # x, y = bbox_obj.exterior.xy + # ax.plot(x, y, color='r') + # ax.invert_yaxis() + # plt.xticks(rotation=90) + # plt.gca().set_aspect('equal') + # plt.show() + + if oob < epsilon: + return 0.0 + + return oob + +def compute_bbl(obj_x, obj_y, epsilon=1e-7, is_debug=False): + + bbox_obj_x, height_x, y_start_x, y_end_x = get_xz_bbox_from_obj(obj_x) + bbox_obj_y, height_y, y_start_y, y_end_y = get_xz_bbox_from_obj(obj_y) + + intersection_area = get_intersection_area(bbox_obj_x, bbox_obj_y) + + # if is_debug: + # # visualize intersection with matplotlib + # print(f"desc: {obj_x.get('desc')} and {obj_y.get('desc')}") + # print(f"bbl: {intersection_area}") + # fig, ax = plt.subplots() + # x, y = bbox_obj_x.exterior.xy + # ax.plot(x, y, color='b') + # x, y = bbox_obj_y.exterior.xy + # ax.plot(x, y, color='r') + # ax.invert_yaxis() + # plt.xticks(rotation=90) + # plt.gca().set_aspect('equal') + # plt.show() + + if intersection_area == 0.0: + return 0.0 + + y_start_intersection = max(y_start_x, y_start_y) + y_end_intersection = min(y_end_x, y_end_y) + overlap_height = max(0, y_end_intersection - y_start_intersection) + + bbl = intersection_area * overlap_height + + if bbl < epsilon: + return 0.0 + + return bbl + +# def visualize_voxels_matplotlib(voxel_matrix, voxel_size): + +# # Create a figure and 3D axes +# fig = plt.figure() +# ax = fig.add_subplot(projection='3d') + +# # Get the dimensions of the voxel matrix +# x_dim, y_dim, z_dim = voxel_matrix.shape + +# # Create a color array the same shape as the voxel matrix +# colors = np.empty(voxel_matrix.shape, dtype=object) +# colors[voxel_matrix] = 'red' # Set all filled voxels to red + +# # Plot the voxels +# ax.voxels(voxel_matrix, +# facecolors=colors, +# edgecolor='k', # Black edges +# alpha=0.5) # Slight transparency to better see structure + +# # Scale the axes to reflect voxel_size +# ax.set_xlim(0, x_dim) +# ax.set_ylim(0, y_dim) +# ax.set_zlim(0, z_dim) + +# # Set labels +# ax.set_xlabel('X') +# ax.set_ylabel('Y') +# ax.set_zlabel('Z') + +# # Optional: make the plot more visually appealing +# ax.grid(True) + +# plt.show() + +def show_colored_voxels_as_trimesh_scene(voxel_matrix, colors_matrix=None, pitch=0.05, origin=[0, 0, 0]): + + import pyglet.app + + if colors_matrix is None: + colors_matrix = np.zeros((*voxel_matrix.shape, 3)) + colors_matrix[voxel_matrix] = [0, 0, 1] + + # Create transform matrix for origin offset + transform = np.eye(4) + transform[:3, 3] = origin + transform[:3, :3] *= pitch # Apply pitch scaling + + # Get coordinates of filled voxels + filled_voxels = np.argwhere(voxel_matrix) + + if len(filled_voxels) == 0: + return + + # Create a scene + scene = trimesh.Scene() + + # Create vertices and faces for all boxes at once + unit_box = trimesh.creation.box(extents=[1, 1, 1]) + vertices = np.tile(unit_box.vertices, (len(filled_voxels), 1)) + faces = np.tile(unit_box.faces, (len(filled_voxels), 1)) + + # Adjust face indices + for i in range(len(filled_voxels)): + faces[i*12:(i+1)*12] += i * 8 # 8 vertices per box + + # Transform vertices for each box + for i, (x, y, z) in enumerate(filled_voxels): + start_idx = i * 8 + end_idx = start_idx + 8 + vertices[start_idx:end_idx] = (vertices[start_idx:end_idx] * pitch) + ([x * pitch, y * pitch, z * pitch]) + + # Create colors array for all faces + face_colors = np.zeros((len(faces), 4)) + for i, (x, y, z) in enumerate(filled_voxels): + color = colors_matrix[x, y, z] + if len(color) == 3: + color = np.append(color, 0.8) + face_colors[i*12:(i+1)*12] = color + + # Create single mesh for all boxes + mesh = trimesh.Trimesh( + vertices=vertices, + faces=faces, + face_colors=face_colors + ) + + scene.add_geometry(mesh) + + # Add coordinate axes + # axis_length = max(voxel_matrix.shape) * pitch + # axis = trimesh.creation.axis(origin_size=pitch, axis_length=axis_length) + # scene.add_geometry(axis) + + # Handle pyglet event loop + event_loop_constructor = pyglet.app.EventLoop + event_loop_instance = pyglet.app.event_loop + pyglet.app.EventLoop = pyglet.app.base.EventLoop + pyglet.app.event_loop = pyglet.app.EventLoop() + + background_color = [240, 240, 240, 255] # [R, G, B, A] + scene.show(smooth=False, background=background_color) + # scene.show() + + pyglet.app.EventLoop = event_loop_constructor + pyglet.app.event_loop = event_loop_instance + +def voxelize_mesh_and_get_matrix(asset_mesh, voxel_size): + asset_voxels = asset_mesh.voxelized(pitch=voxel_size).fill() + asset_voxel_matrix = asset_voxels.matrix + return asset_voxel_matrix + +def voxelize_raw_asset(pth_voxelized_mesh, obj, voxel_size, rotation_matrix=None): + # print(f"voxelizing asset... for {pth_voxelized_mesh}") + + asset_jid = obj.get("sampled_asset_jid") if obj.get("sampled_asset_jid") is not None else obj.get("jid") + + pth_mesh = get_pth_mesh(asset_jid) + asset_scene = trimesh.load(pth_mesh) + + if isinstance(asset_scene, trimesh.Scene): + # asset_mesh = asset_scene.dump(concatenate=True) + asset_mesh = asset_scene.to_geometry() + else: + asset_mesh = asset_scene + + if rotation_matrix is not None: + #transform_matrix = np.eye(4) + #transform_matrix[:3, :3] = rotation_matrix + asset_mesh.apply_transform(rotation_matrix) + + asset_voxel_matrix = voxelize_mesh_and_get_matrix(asset_mesh, voxel_size) + + with open(pth_voxelized_mesh, 'wb') as fp: + pickle.dump(asset_voxel_matrix, fp) + else: + asset_voxel_matrix = voxelize_mesh_and_get_matrix(asset_mesh, voxel_size) + + return asset_voxel_matrix + +def get_y_angle_from_xyzw_quaternion(quaternion_xyzw): + x, y, z, w = quaternion_xyzw + + angle_yaw_radians = np.arctan2(2 * (w * y + x * z), 1 - 2 * (y**2 + z**2)) + angle_yaw_degrees = np.degrees(angle_yaw_radians) + angle_yaw_degrees = np.round(angle_yaw_degrees, 1) + + return angle_yaw_degrees, angle_yaw_radians + +def prepare_asset(obj, voxel_size, metric_type, is_debug=False): + + rotation_xyzw = np.array(obj.get("rot")) + asset_rot_y_euler_angle, _ = get_y_angle_from_xyzw_quaternion(rotation_xyzw) + + # print(obj.get("sampled_asset_jid"), obj) + asset_jid = obj.get("sampled_asset_jid") if obj.get("sampled_asset_jid") is not None else obj.get("jid") + + if is_debug: + print(f"[{metric_type}] prepare asset with rot {asset_rot_y_euler_angle} and asset_jid {asset_jid}") + + # read from cache or create new voxelization + # print(os.getenv("PTH_3DFUTURE_ASSETS"), asset_jid, f"rot-{str(asset_rot_y_euler_angle)}-scale-{str(voxel_size)}") + pth_voxelized_mesh = os.path.join(os.getenv("PTH_3DFUTURE_ASSETS"), asset_jid, f"rot-{str(asset_rot_y_euler_angle)}-scale-{str(voxel_size)}.pkl") + + if os.path.isfile(pth_voxelized_mesh): + with open(pth_voxelized_mesh, 'rb') as fp: + asset_voxel_matrix = pickle.load(fp) + else: + # trimesh expects wxyz instead of xyzw so we need to convert + # we assume that rotation is roughly precise although we cache by single digit precision only + quat_wxyz = [rotation_xyzw[3], rotation_xyzw[0], rotation_xyzw[1], rotation_xyzw[2]] + rotation_matrix = quaternion_matrix(quat_wxyz) + asset_voxel_matrix = voxelize_raw_asset(pth_voxelized_mesh, obj, voxel_size, rotation_matrix) + + # if obj.get("desc") == "A modern minimalist dark gray wardrobe with sliding mirror doors, shelves, and a hanging rod.": + #if obj.get("desc") == "Modern minimalist king-size bed with dark brown fabric upholstery, low-profile wooden frame, and sleek design.": + #raw_asset_matrix = voxelize_raw_asset(pth_voxelized_mesh, obj, voxel_size, None) # Get raw + #rotated_asset_matrix = voxelize_raw_asset(pth_voxelized_mesh, obj, voxel_size, rotation_matrix) # Get rotated + #show_colored_voxels_as_trimesh_scene(raw_asset_matrix, pitch=voxel_size) + #show_colored_voxels_as_trimesh_scene(rotated_asset_matrix, pitch=voxel_size) + # visualize_raw_and_rotated_asset(raw_asset_matrix, rotated_asset_matrix) + + asset_pos = np.array(obj.get("pos")) + asset_pos_voxels = np.floor(asset_pos / voxel_size) + + asset_start_voxels = np.array([asset_voxel_matrix.shape[0] // 2, 0, asset_voxel_matrix.shape[2] // 2]) + asset_shift_from_origin = asset_pos_voxels - asset_start_voxels + + # print("asset_pos", asset_pos) + # print("asset_pos_voxels", asset_pos_voxels) + # print("asset_size", asset_voxel_matrix.shape) + # print("asset_start_voxels", asset_start_voxels) + # print("asset_shift_from_origin", asset_shift_from_origin) + + return asset_voxel_matrix, asset_shift_from_origin + +def occupancy_overlap(voxel_matrix_a, voxel_matrix_b, offset_b): + # overlap_matrix = voxel_matrix_a.copy().astype(int) + overlap_matrix = copy.deepcopy(voxel_matrix_a).astype(int) + for i in range(voxel_matrix_b.shape[0]): + for j in range(voxel_matrix_b.shape[1]): + for k in range(voxel_matrix_b.shape[2]): + if voxel_matrix_b[i, j, k]: + shifted_pos = (i + offset_b[0], j + offset_b[1], k + offset_b[2]) + if 0 <= shifted_pos[0] < overlap_matrix.shape[0] and 0 <= shifted_pos[1] < overlap_matrix.shape[1] and 0 <= shifted_pos[2] < overlap_matrix.shape[2]: + # print(shifted_pos) + overlap_matrix[shifted_pos[0], shifted_pos[1], shifted_pos[2]] += 1 + # visualize_voxels_mayavi(overlap_matrix == 2, voxel_size) + return (overlap_matrix == 2) + +def compute_mesh_oob(obj, voxel_size, room_origin_shift, room_voxel_matrix, voxel_volume, is_debug=False): + + asset_voxel_matrix, asset_shift_from_origin = prepare_asset(obj, voxel_size, "oob", is_debug) + asset_offset = np.floor(room_origin_shift + asset_shift_from_origin).astype(int) + + inside_voxels = occupancy_overlap(room_voxel_matrix, asset_voxel_matrix, asset_offset) + num_asset_voxels = np.sum(asset_voxel_matrix) + asset_volume = num_asset_voxels * voxel_volume + + num_inside_voxels = np.sum(inside_voxels) + inside_volume = num_inside_voxels * voxel_volume + + num_outside_voxels = num_asset_voxels - num_inside_voxels + outside_volume = num_outside_voxels * voxel_volume + + if is_debug: + print(f"desc: {obj.get('desc')}") + print(f"total: {num_asset_voxels}") + print(f"total volume asset: {asset_volume}") + print(f"inside: {num_inside_voxels}") + print(f"outside: {num_outside_voxels} ({round(num_outside_voxels/num_asset_voxels * 100, 2)}%)", ) + print(f"outside volume: {outside_volume}") + print("") + + mesh_oob = asset_volume - inside_volume + + if mesh_oob > 0.0 and is_debug: + colors = np.zeros((*asset_voxel_matrix.shape, 3)) + positions = np.argwhere(asset_voxel_matrix) + room_space_positions = positions + asset_offset + # Create mask for valid positions + valid_mask = ( + (room_space_positions[:, 0] >= 0) & + (room_space_positions[:, 0] < inside_voxels.shape[0]) & + (room_space_positions[:, 1] >= 0) & + (room_space_positions[:, 1] < inside_voxels.shape[1]) & + (room_space_positions[:, 2] >= 0) & + (room_space_positions[:, 2] < inside_voxels.shape[2]) + ) + # Set all asset voxels to red first + colors[asset_voxel_matrix] = [1, 0, 0] + # Set green for valid inside voxels + valid_positions = positions[valid_mask] + room_positions = room_space_positions[valid_mask] + inside_mask = inside_voxels[room_positions[:, 0], room_positions[:, 1], room_positions[:, 2]] + colors[valid_positions[inside_mask][:, 0], valid_positions[inside_mask][:, 1], valid_positions[inside_mask][:, 2]] = [0.9, 0.9, 0.9] + show_colored_voxels_as_trimesh_scene(asset_voxel_matrix, colors, pitch=voxel_size) + + return mesh_oob + +def compute_mesh_bbl(obj_x, obj_y, voxel_size, voxel_volume, is_debug=False): + + asset_voxel_matrix_x, asset_shift_from_origin_x = prepare_asset(obj_x, voxel_size, "bbl", is_debug) + asset_voxel_matrix_y, asset_shift_from_origin_y = prepare_asset(obj_y, voxel_size, "bbl", is_debug) + + inside_voxels = occupancy_overlap(asset_voxel_matrix_x, asset_voxel_matrix_y, np.floor(asset_shift_from_origin_y - asset_shift_from_origin_x).astype(int)) + + num_inside_voxels = np.sum(inside_voxels) + intersection_volume = num_inside_voxels * voxel_volume + + num_asset_voxels_x = np.sum(asset_voxel_matrix_x) + # asset_volume_x = num_asset_voxels_x * voxel_volume + num_asset_voxels_y = np.sum(asset_voxel_matrix_y) + # asset_volume_y = num_asset_voxels_y * voxel_volume + # asset_volume_union = asset_volume_x + asset_volume_y - intersection_volume + + mesh_bbl = intersection_volume + + if mesh_bbl > 0.0 and is_debug: + # visualize in 3D + colors = np.zeros((*asset_voxel_matrix_x.shape, 3)) + colors[asset_voxel_matrix_x] = [0.9, 0.9, 0.9] + colors[inside_voxels] = [1, 0, 1] + show_colored_voxels_as_trimesh_scene(asset_voxel_matrix_x, colors, pitch=0.05) + + # some stats + print(f"obj_x: {obj_x.get('desc')}") + print(f"obj_y: {obj_y.get('desc')}") + print(f"num_asset_voxels_x: {num_asset_voxels_x}") + print(f"num_asset_voxels_y: {num_asset_voxels_y}") + print(f"intersection (inside x):", num_inside_voxels) + print(f"intersection volume:", intersection_volume) + print("") + + return mesh_bbl + +def compute_pms_score(prompt, new_obj_desc): + if prompt == None: + return float("inf") + + prompt_words = prompt.split(" ") + correct_words = 0 + for word in prompt_words: + if word in new_obj_desc.lower(): + correct_words += 1 + + # for pms, compute recall: how many words from the prompt are in the generated desc + score = correct_words / len(prompt_words) + # print(prompt_words, new_obj_desc, score) + + return score + +def compute_dss_score(new_obj_desc, gt_obj_desc, sampling_engine): + txt_dss_score = sampling_engine.compute_text_similarity(new_obj_desc, gt_obj_desc) + return txt_dss_score + +def compute_size_l2_dist(new_obj_size, gt_obj_size): + w_pred, h_pred, d_pred = new_obj_size + w_gt, h_gt, d_gt = gt_obj_size + epsilon = 1e-6 + l2_dist_norm = np.sqrt(((w_pred - w_gt)/(w_gt + epsilon))**2 + ((h_pred - h_gt)/(h_gt + epsilon))**2 + ((d_pred - d_gt)/(d_gt + epsilon))**2) + return l2_dist_norm + +def eval_bounds(scene): + floor_plan_polygon = create_floor_plan_polygon(scene.get("bounds_bottom")) + if floor_plan_polygon.area > 0 and np.array(scene.get("bounds_bottom")).shape == np.array(scene.get("bounds_top")).shape: + return True + else: + return False + +def eval_scene(scene, is_debug=True, voxel_size=0.05, total_loss_threshold=0.1, idx=None, do_pms_full_scene=False): + + bounds_top = scene.get("bounds_top") + bounds_bottom = scene.get("bounds_bottom") + floor_plan_polygon = create_floor_plan_polygon(bounds_bottom) + objs = scene.get("objects") + voxel_volume = voxel_size ** 3 + + # voxelize room mesh + room_mesh = create_room_mesh(bounds_bottom, bounds_top, floor_plan_polygon) + room_voxels = room_mesh.voxelized(pitch=voxel_size).fill() + room_voxel_matrix = room_voxels.matrix + room_size_voxels = np.ceil(abs(room_mesh.bounds[0] - room_mesh.bounds[1]) / voxel_size) + room_origin_shift = np.array([room_size_voxels[0] / 2.0, 0, room_size_voxels[2] / 2.0]) + + mesh_oobs, mesh_bbls = [], [] + + idx_highest_pbl_loss = None + highest_pbl_loss = float("-inf") + + if objs is not None: + for i, obj_x in enumerate(objs): + obj_pbl = 0.0 + + # oob = out of bounds loss + oob = compute_oob(obj_x, floor_plan_polygon, bounds_bottom, bounds_top, is_debug=is_debug) + if oob > 0.0: + if is_debug: + print("oob is not zero!", oob, "computing voxelized mesh loss...") + try: + mesh_oob = compute_mesh_oob(obj_x, voxel_size, room_origin_shift, room_voxel_matrix, voxel_volume, is_debug=is_debug) + except Exception as e: + print(f"Error computing mesh oob for {obj_x.get('desc')}: {e}") + mesh_oob = 0.0 + obj_pbl += mesh_oob + else: + mesh_oob = 0.0 + mesh_oobs.append(mesh_oob) + + # mbl = mesh based loss + for obj_y in objs[i + 1:]: + bbl = compute_bbl(obj_x, obj_y, is_debug=is_debug) + if bbl > 0.0: + if is_debug: + print("bbl is not zero!", bbl, "computing voxelized mesh loss...") + try: + mesh_bbl = compute_mesh_bbl(obj_x, obj_y, voxel_size, voxel_volume, is_debug=is_debug) + except Exception as e: + print(f"Error computing mesh bbl for {obj_x.get('desc')} and {obj_y.get('desc')}: {e}") + mesh_bbl = 0.0 + obj_pbl += mesh_bbl + else: + mesh_bbl = 0.0 + mesh_bbls.append(mesh_bbl) + + if obj_pbl > highest_pbl_loss: + idx_highest_pbl_loss = i + highest_pbl_loss = obj_pbl + + metrics = { + 'total_oob_loss': np.sum(mesh_oobs).item() if len(mesh_oobs) > 0 else 0.0, + 'total_mbl_loss': np.sum(mesh_bbls).item() if len(mesh_bbls) > 0 else 0.0, + 'obj_with_highest_pbl_loss': { + 'idx': idx_highest_pbl_loss, + 'pbl': highest_pbl_loss, + } + } + + metrics["total_pbl_loss"] = metrics['total_oob_loss'] + metrics['total_mbl_loss'] + metrics['is_valid_scene_pbl'] = bool(metrics['total_pbl_loss'] <= total_loss_threshold) + + # metrics["txt_pms_score"] = float('inf') + # metrics["txt_pms_sampled_score"] = float('inf') + metrics["txt_pms_score"] = 0.0 + metrics["txt_pms_sampled_score"] = 0.0 + + if objs is not None and len(objs) > 0: + all_txt_pms_scores = [] + all_txt_pms_sampled_scores = [] + objs_pms = objs if do_pms_full_scene else [ objs[-1] ] + for obj in objs_pms: + if obj.get("prompt") != None: + new_obj_desc = obj.get("desc") + + txt_pms_score = compute_pms_score(obj.get("prompt"), new_obj_desc) + all_txt_pms_scores.append(txt_pms_score) + + txt_pms_score_sampled = compute_pms_score(obj.get("prompt"), obj.get("sampled_asset_desc")) + # print(f"prompt: {obj.get('prompt')}, new_obj_desc: {new_obj_desc}, txt_pms_score: {txt_pms_score}, txt_pms_score_sampled: {txt_pms_score_sampled}") + all_txt_pms_sampled_scores.append(txt_pms_score_sampled) + + if len(all_txt_pms_scores) > 0: + metrics["txt_pms_score"] = np.mean(all_txt_pms_scores) + + if len(all_txt_pms_sampled_scores) > 0: + metrics["txt_pms_sampled_score"] = np.mean(all_txt_pms_sampled_scores) + + if is_debug: + print(f">> ✅ valid scene according to metrics ({metrics['total_pbl_loss']})" if metrics['is_valid_scene_pbl'] else f">> ⛔️ INVALID scene according to metrics ({metrics['total_pbl_loss']})") + + return metrics + +def eval_scene_before_after_with_delta(scene_before, scene_after, is_debug=False): + before_metrics = eval_scene(scene_before, is_debug=False) + + if is_debug: + print(f"before metrics: {before_metrics}") + + after_metrics = eval_scene(scene_after, is_debug=is_debug) + + return { + 'is_valid_scene_pbl': after_metrics['is_valid_scene_pbl'], + 'scene': scene_after, + 'total_oob_loss': after_metrics['total_oob_loss'], + 'total_mbl_loss': after_metrics['total_mbl_loss'], + 'total_pbl_loss': after_metrics['total_pbl_loss'], + 'delta_oob_loss': after_metrics['total_oob_loss'] - before_metrics['total_oob_loss'], + 'delta_mbl_loss': after_metrics['total_mbl_loss'] - before_metrics['total_mbl_loss'], + 'delta_pbl_loss': after_metrics['total_pbl_loss'] - before_metrics['total_pbl_loss'], + 'txt_pms_score': after_metrics['txt_pms_score'], + 'txt_pms_sampled_score': after_metrics['txt_pms_sampled_score'], + } + +def compute_mean_metrics_for_seed(room_type, is_full_scene, metrics_list, pth_output, n_test_scenes): + + mean_metrics = { + 'total_oob_loss': np.mean([m['total_oob_loss'] for m in metrics_list]), + 'total_mbl_loss': np.mean([m['total_mbl_loss'] for m in metrics_list]), + 'total_pbl_loss': np.mean([m['total_pbl_loss'] for m in metrics_list]), + + 'valid_scene_ratio_pbl': np.mean([m['is_valid_scene_pbl'] for m in metrics_list]), + 'valid_scene_ratio_json': len([ 1 for m in metrics_list if m.get('total_pbl_loss') is not None ]) / n_test_scenes, + + # 'novel_scene_ratio': np.mean([m['is_novel_scene'] for m in metrics_list]), + # 'unique_scene_ratio': np.mean([m['is_unique_scene'] for m in metrics_list]), + + 'txt_pms_score': np.mean([m['txt_pms_score'] for m in metrics_list]), + 'txt_pms_sampled_score': np.mean([m['txt_pms_sampled_score'] for m in metrics_list]), + } + + if metrics_list[0].get('delta_oob_loss') != None: + mean_metrics['delta_oob_loss'] = np.mean([m['delta_oob_loss'] for m in metrics_list]) + mean_metrics['delta_mbl_loss'] = np.mean([m['delta_mbl_loss'] for m in metrics_list]) + mean_metrics['delta_pbl_loss'] = np.mean([m['delta_pbl_loss'] for m in metrics_list]) + + compute_fid_scores("diag", fid_score_name=f"3d-front-train-{'full' if is_full_scene else 'instr'}-scenes-{room_type}-diag", pth_src=f"{os.getenv('PTH_EVAL_VIZ_CACHE')}/3d-front-train-{'full' if is_full_scene else 'instr'}-scenes-{room_type}/diag", pth_gen=f"{pth_output}/diag", aggregated_metrics=mean_metrics, do_renderings=True, dataset_res=1024) + compute_fid_scores("top", fid_score_name=f"3d-front-train-{'full' if is_full_scene else 'instr'}-scenes-{room_type}-top", pth_src=f"{os.getenv('PTH_EVAL_VIZ_CACHE')}/3d-front-train-{'full' if is_full_scene else 'instr'}-scenes-{room_type}/top", pth_gen=f"{pth_output}/top", aggregated_metrics=mean_metrics, do_renderings=True, dataset_res=1024) + + compute_diversity_score("top", pth_gen=f"{pth_output}/diag", do_renderings=True, dvc="cuda", aggregated_metrics=mean_metrics) + + return mean_metrics + +def get_all_train_scene_hashes_for_room_type(room_type): + # precompute hashes of all full scenes for given room_type in training set (if not done already) + hash_file = os.getenv("PTH_DATASET_CACHE") + f"/scene_hashes_train_{room_type}.pkl" + if os.path.isfile(hash_file): + print("loading train scene hashes...") + with open(hash_file, 'rb') as fp: + hashes = pickle.load(fp) + else: + print("precomputing train scene hashes...") + hashes = set() + pth_root = os.getenv("PTH_STAGE_2_DEDUP") + all_pths_train = [f for f in os.listdir(pth_root) if f.endswith('.json') and not f.startswith(".")] + for pth in tqdm(all_pths_train): + scene = json.load(open(os.path.join(pth_root, pth))) + if scene.get("room_type") != "all" and scene.get("room_type") != room_type: + continue + scene_hash = get_scene_hash(scene) + hashes.add(scene_hash) + with open(hash_file, 'wb') as fp: + pickle.dump(hashes, fp) + + return hashes + +def get_simplified_scene_for_novelty_and_uniqueness(scene, all_assets_metadata_simple_descs): + scene_simplified = copy.deepcopy(scene) + for obj in scene_simplified.get("objects"): + obj["desc"] = all_assets_metadata_simple_descs.get(obj["desc"]) + +def compute_mean_and_std_from_list(metrics_list, all_n_samples_actual, n_test_scenes): + # Initialize dictionaries to store means and standard deviations + mean_metrics = {} + std_metrics = {} + + # Get all keys from the first dictionary + all_keys = metrics_list[0].keys() + + # scale oob / mbl / pbl loss and their delta losses by 1e-3 + for key in all_keys: + if key in ['total_oob_loss', 'total_mbl_loss', 'total_pbl_loss', 'delta_oob_loss', 'delta_mbl_loss', 'delta_pbl_loss']: + for metrics in metrics_list: + metrics[key] *= 1e3 + + # Calculate mean and standard deviation for each key + for key in all_keys: + values = [metrics[key] for metrics in metrics_list if key in metrics] + if values: + mean_metrics[key] = np.mean(values) + std_metrics[key] = np.std(values) + + print(f"\n============== eval ({','.join([str(n) for n in all_n_samples_actual])} / {n_test_scenes}) ==============\n") + + # Create a dictionary for formatted metrics with 3 decimal places + print_metrics = {} + + # Helper function to format metrics with mean and std + def format_metric(key, suffix=""): + formatted = f"{mean_metrics[key]:.2f} (+/- {std_metrics[key]:.2f}){suffix}" + print(f"{key}: {formatted}") + return formatted + + # Format and print all metrics + print_metrics['fid_score_top'] = format_metric('fid_score_top') + print_metrics['fid_clip_score_top'] = format_metric('fid_clip_score_top') + print_metrics['kid_score_top'] = format_metric('kid_score_top', " (x 0.001)") + print("") + + print_metrics['total_oob_loss'] = format_metric('total_oob_loss', " (x 0.001)") + print_metrics['total_mbl_loss'] = format_metric('total_mbl_loss', " (x 0.001)") + print_metrics['total_pbl_loss'] = format_metric('total_pbl_loss', " (x 0.001)") + print("") + + if metrics_list[0].get('delta_oob_loss') is not None: + print_metrics['delta_oob_loss'] = format_metric('delta_oob_loss', " (x 0.001)") + print_metrics['delta_mbl_loss'] = format_metric('delta_mbl_loss', " (x 0.001)") + print_metrics['delta_pbl_loss'] = format_metric('delta_pbl_loss', " (x 0.001)") + print("") + + print_metrics['valid_scene_ratio_pbl'] = format_metric('valid_scene_ratio_pbl') + print_metrics['valid_scene_ratio_json'] = format_metric('valid_scene_ratio_json') + print("") + + print_metrics['txt_pms_score'] = format_metric('txt_pms_score') + print_metrics['txt_pms_sampled_score'] = format_metric('txt_pms_sampled_score') + print("") + + print_metrics['diversity_score_top'] = format_metric('diversity_score_top') + print("") + + # print_metrics['novel_scene_ratio'] = format_metric('novel_scene_ratio') + # print_metrics['unique_scene_ratio'] = format_metric('unique_scene_ratio') + # print("") + + print("==================================\n") + + # save mean and std to file + final_metrics = { + "mean_metrics": mean_metrics, + "std_metrics": std_metrics, + "print_metrics": print_metrics, + "all_n_samples_actual": all_n_samples_actual, + } + + return final_metrics + +def run_eval(args): + + print("running eval for pth_output:", args.pth_output) + + env_file = f".env.{args.env}" + load_dotenv(env_file) + + # train_scene_hashes = get_all_train_scene_hashes_for_room_type(args.room_type) + # gen_scene_hashes = set() + + all_metrics_mean_seed = [] + all_metrics_raw_seed = [] + all_n_samples_actual = [] + + rand_seeds = [1234, 3456, 5678] + # rand_seeds = [ 5678 ] + + # all_metrics_raw_seed = json.load(open("/home/martinbucher/git/stan-24-sgllm/eval/metrics-raw/eval_samples_respace_instr_bedroom_qwen1.5B_raw_V2.json")) + + for idx_seed, rand_seed in enumerate(rand_seeds): + print(f"evaluating samples for seed {rand_seed}...") + + metrics_list = [] + + pth_input = Path(args.pth_input) / str(rand_seed) + pth_viz_output = Path(args.pth_output) / str(rand_seed) + + n_samples_actual = len([f for f in os.listdir(Path(args.pth_input) / str(rand_seed)) if f.endswith('.json') and not f.startswith(".")]) + if n_samples_actual == 0: + print("no scenes found... skipping eval for rand seed", rand_seed) + return + + n_samples_actual = min(n_samples_actual, args.n_test_scenes) + all_n_samples_actual.append(n_samples_actual) + + all_pths_scenes = [f for f in os.listdir(Path(args.pth_input) / str(rand_seed)) if f.endswith('.json') and not f.startswith(".")] + all_pths_scenes = sorted(all_pths_scenes, key=lambda x: int(x.split("_")[0])) + + all_pths_scenes = all_pths_scenes[:args.n_test_scenes] + # all_pths_scenes = all_pths_scenes[413:414] + + for pth in tqdm(all_pths_scenes): + # print(f"evaluating scene {pth}...") + scene = json.load(open(pth_input / pth)) + idx = int(pth.split("_")[0]) + + if args.is_full_scene: + render_full_scene_and_export_with_gif(scene, idx, pth_output=pth_viz_output, create_gif=args.create_gifs) + metrics = eval_scene(scene, is_debug=False) + metrics["scene"] = scene + else: + render_instr_scene_and_export_with_gif(scene, idx, pth_output=pth_viz_output, create_gif=args.create_gifs) + scene_before = copy.deepcopy(scene) + scene_before["objects"] = scene_before["objects"][:-1] + metrics = eval_scene_before_after_with_delta(scene_before, scene_after=scene, is_debug=False) + # render_instr_scene_and_export_with_gif(scene_before, f"{idx}-before", pth_output=pth_viz_output, create_gif=args.create_gifs) + + # replace raw file: + # metrics_raw = json.load(open("/home/martinbucher/git/stan-24-sgllm/eval/metrics-raw/eval_samples_respace_instr_bedroom_qwen1.5B_raw.json")) + # metrics_raw[2][413] = metrics + # with open("/home/martinbucher/git/stan-24-sgllm/eval/metrics-raw/eval_samples_respace_instr_bedroom_qwen1.5B_raw_V2.json", 'w') as f: + # json.dump(metrics_raw, f, indent=4) + # print(metrics) + # exit() + + metrics_list.append(metrics) + + if args.do_metrics: + # save raw list of metrics for each scene + all_metrics_raw_seed.append(metrics_list) + + # from cache + # metrics_list = all_metrics_raw_seed[idx_seed] + + # compute mean metrics for this seed across all test scenes + metrics_mean_seed = compute_mean_metrics_for_seed(args.room_type, args.is_full_scene, metrics_list, os.path.join(args.pth_output, str(rand_seed)), args.n_test_scenes) + all_metrics_mean_seed.append(metrics_mean_seed) + + if args.do_metrics: + # construct filename from props + filename = args.pth_output.split("/")[:-1] + filename = filename[1:] + filename = "_".join(filename) + if args.metrics_file_postfix is not None: + filename += "_" + args.metrics_file_postfix + + final_metrics = compute_mean_and_std_from_list(all_metrics_mean_seed, all_n_samples_actual, args.n_test_scenes) + with open(f"./eval/metrics/{filename}.json", 'w') as f: + json.dump(final_metrics, f, indent=4) + + # save metrics to file + with open(f"./eval/metrics-raw/{filename}_raw.json", 'w') as f: + json.dump(all_metrics_raw_seed, f, indent=4) + + print("EVALUATION FINISHED!") + +def eval_full_scenes_autogressively(): + # for midiff and atiss, load each scene from folder, then eval scene with increasing number objects from list in the same order + # save each list of metrics to json file + + os.makedirs("./eval/metrics-full-objs", exist_ok=True) + + for room_type in ["bedroom", "livingroom", "all"]: + for baseline in ["midiff", "atiss"]: + for seed in [1234, 3456, 5678]: + all_metrics = {} + pth_root = f"./eval/samples/baseline-{baseline}/full/{room_type}/json/{seed}" + for idx in range(500): + pth = os.path.join(pth_root, f"{idx}_{seed}.json") + if os.path.isfile(pth): + metrics_for_scene = {} + scene = json.load(open(pth)) + n_objects = len(scene.get("objects")) + for i in range(1, n_objects): + print("doing eval: ", i, "/", n_objects, "for scene", pth, seed, baseline, room_type) + scene_cp = copy.deepcopy(scene) + scene_cp["objects"] = scene_cp["objects"][:i + 1] + metrics = eval_scene(scene_cp, is_debug=False) + metrics_for_scene[i] = metrics + all_metrics[idx] = metrics_for_scene + else: + print(f"scene {pth} not found...") + + # save metrics to file + filename = f"eval_samples_{baseline}_{room_type}_{seed}" + with open(f"./eval/metrics-full-objs/{filename}.json", 'w') as f: + json.dump(all_metrics, f, indent=4) + + +if __name__ == "__main__": + + load_dotenv(".env.stanley") + # load_dotenv(".env.local") + + parser = argparse.ArgumentParser(description='Author: Martin Juan José Bucher') + + parser.add_argument('--env', dest='env', type=str, choices=["sherlock", "local", "stanley"], default="local") + parser.add_argument('--pth-input', type=str) + parser.add_argument('--pth-output', type=str) + parser.add_argument('--do-metrics', action='store_true', default=False) + parser.add_argument('--room-type', type=str, choices=["bedroom", "diningroom", "livingroom", "all"]) + parser.add_argument('--is-full-scene', action='store_true', default=False) + parser.add_argument('--n-test-scenes', type=int, default=500) + parser.add_argument('--create-gifs', action='store_true', default=False) + + parser.add_argument('--metrics-file-postfix', type=str, default=None) + + run_eval(parser.parse_args()) + + # scene = json.loads('{"room_type": "bedroom", "bounds_top": [[-1.45, 2.6, 2.45], [0.45, 2.6, 2.45], [0.45, 2.6, 1.45], [1.45, 2.6, 1.45], [1.45, 2.6, -2.45], [-1.45, 2.6, -2.45]], "bounds_bottom": [[-1.45, 0.0, 2.45], [0.45, 0.0, 2.45], [0.45, 0.0, 1.45], [1.45, 0.0, 1.45], [1.45, 0.0, -2.45], [-1.45, 0.0, -2.45]], "objects": [{"desc": "A modern minimalist artificial plant featuring a black ceramic planter, twisted trunk, and lush green foliage, ideal for contemporary spaces.", "size": [0.57, 1.21, 0.63], "pos": [1.25, 0.0, 1.25], "rot": [0, 0, 0, 1], "sampled_asset_jid": "ef223247-429e-43b4-bd72-ba6f0ae3c1f6-(0.68)-(0.68)-(0.68)"}, {"desc": "Elegant wooden wardrobe with three geometric-patterned glass doors, two drawers, and modern metal handles.", "size": [1.45, 2.28, 0.62], "pos": [0.87, 0.0, -2.1], "rot": [0, 0, 0, 0], "sampled_asset_jid": "a0b67c64-15a4-4969-91a6-89e365d87d12"}, {"desc": "Modern contemporary pendant lamp featuring white fabric conical shades on a geometric gold metal frame with multiple light sources.", "size": [1.06, 1.03, 0.47], "pos": [0.02, 2.08, -0.44], "rot": [0, -0.71254, 0, 0.70164], "sampled_asset_jid": "5a72093d-b9e5-4823-906b-331ced5e08d7"}, {"desc": "Modern beige upholstered king-size bed with minimalist design and neatly tailored edges.", "size": [1.9, 1.11, 2.23], "pos": [-0.29, 0.0, -0.3], "rot": [0, 0.70711, 0, 0.70711], "sampled_asset_jid": "6c7bf8e0-37a2-4661-a554-3af2b1e242d6"}, {"desc": "A modern-traditional nightstand in dark brown wood with a gold geometric patterned front, featuring two drawers and sleek elevated legs.", "size": [0.58, 0.59, 0.46], "pos": [-1.31, 0.0, -1.31], "rot": [0, 0.70711, 0, 0.70711], "sampled_asset_jid": "8b8cdbde-57e3-432a-a46a-89a77f8e6294"}, {"desc": "This modern mid-century desk features a dark brown wooden frame with an elevated shelf, clean lines, and tapered legs supported by crossbars, blending functionality with aesthetic appeal.", "pos": [-1.1, 0.0, 1.38], "rot": [0.0, 0.70711, 0.0, 0.70711], "size": [1.1, 1.36, 0.81], "prompt": "modern dark wooden desk", "sampled_asset_jid": "ec9190d1-cc42-4a85-bb1e-730ed7642f51", "sampled_asset_desc": "This modern mid-century desk features a dark brown wooden frame with an elevated shelf, clean lines, and tapered legs supported by crossbars, blending functionality with aesthetic appeal.", "sampled_asset_size": [1.1008340120315552, 1.3596680217888206, 0.8073000013828278], "uuid": "51b03ac6-941c-4beb-a8c1-84d69f8a41c1"}, {"desc": "A modern, ergonomic office chair with a mesh back, leather seat, metal frame, 360-degree swivel base, and rolling casters.", "pos": [-0.64, 0.0, 1.56], "rot": [0.0, -0.80486, 0.0, 0.59347], "size": [0.66, 0.95, 0.65], "prompt": "office chair", "sampled_asset_jid": "284277da-b2ed-4dea-bc97-498596443294", "sampled_asset_desc": "A modern, ergonomic office chair with a mesh back, leather seat, metal frame, 360-degree swivel base, and rolling casters.", "sampled_asset_size": [0.663752019405365, 0.9482090100936098, 0.6519539952278137], "uuid": "f2259272-7d9d-4015-8353-d8a5d46f1b33"}]}') + # eval_scene(scene, is_debug=True, voxel_size=0.05, total_loss_threshold=0.1, idx=None, do_pms_full_scene=False) + + # eval_full_scenes_autogressively() + + # scene = json.loads('{"room_type": "livingroom", "bounds_top": [[-1.95, 2.6, 2.45], [-1.95, 2.6, 3.45], [-0.45, 2.6, 3.45], [-0.45, 2.6, 2.45], [1.95, 2.6, 2.45], [1.95, 2.6, -2.45], [1.95, 2.6, -3.05], [1.05, 2.6, -3.05], [1.05, 2.6, -2.45], [-1.95, 2.6, -2.45]], "bounds_bottom": [[-1.95, 0.0, 2.45], [-1.95, 0.0, 3.45], [-0.45, 0.0, 3.45], [-0.45, 0.0, 2.45], [1.95, 0.0, 2.45], [1.95, 0.0, -2.45], [1.95, 0.0, -3.05], [1.05, 0.0, -3.05], [1.05, 0.0, -2.45], [-1.95, 0.0, -2.45]], "objects": [{"desc": "A modern minimalist wood bookcase with five open shelves and a single drawer, featuring a sleek and rectangular design ideal for contemporary settings.", "size": [0.8, 1.85, 0.32], "pos": [-1.77, 0.0, -1.17], "rot": [0, 0.70711, 0, 0.70711], "jid": "c97bf2e1-1fa0-4267-9795-b53b19655601", "sampled_asset_jid": "c97bf2e1-1fa0-4267-9795-b53b19655601", "sampled_asset_desc": "A modern minimalist wood bookcase with five open shelves and a single drawer, featuring a sleek and rectangular design ideal for contemporary settings.", "sampled_asset_size": [0.8001269996166229, 1.8525430085380865, 0.32494688034057617], "uuid": "626c5ca7-2f07-4559-947e-828304dc09ae"}, {"desc": "Modern pink fabric armchair with a cushioned seat, ribbed side details, and a metal swivel base.", "size": [0.75, 0.75, 0.75], "pos": [0.1, 0.0, 1.62], "rot": [0, 0.98113, 0, 0.19333], "jid": "4d5a0347-ad0b-4296-990d-06b4fa622ba2", "sampled_asset_jid": "4d5a0347-ad0b-4296-990d-06b4fa622ba2", "sampled_asset_desc": "Modern pink fabric armchair with a cushioned seat, ribbed side details, and a metal swivel base.", "sampled_asset_size": [0.7486140131950378, 0.7531509538074275, 0.7511670291423798], "uuid": "dfca7d6b-55c0-4037-8dde-d02e8d000763"}, {"desc": "Artificial plant with detailed green foliage and white floral accents in a yellow square pot, ideal for contemporary interiors.", "size": [1.11, 2.06, 0.86], "pos": [-1.55, 0.0, 1.8], "rot": [0, 0, 0, 1], "jid": "0f1d9021-594f-4413-ba81-092ae228b4d8-(1.0)-(1.0)-(0.75)", "sampled_asset_jid": "0f1d9021-594f-4413-ba81-092ae228b4d8-(1.0)-(1.0)-(0.75)", "sampled_asset_desc": "Artificial plant with detailed green foliage and white floral accents in a yellow square pot, ideal for contemporary interiors.", "sampled_asset_size": [1.11, 2.06, 0.86], "uuid": "4f4dc289-996e-4869-8694-633f78e9a8f8"}, {"desc": "Modern eclectic wooden TV stand with vibrant geometric drawers in brown, red, and yellow.", "size": [1.61, 0.54, 0.45], "pos": [-1.71, 0.0, 0.38], "rot": [0, 0.70711, 0, 0.70711], "jid": "43ba505f-1e4e-41ce-aabe-b45823c6b350", "sampled_asset_jid": "43ba505f-1e4e-41ce-aabe-b45823c6b350", "sampled_asset_desc": "Modern eclectic wooden TV stand with vibrant geometric drawers in brown, red, and yellow.", "sampled_asset_size": [1.6092499494552612, 0.5361420105615906, 0.45029403269290924], "uuid": "b1c1f1ae-c502-4476-9ce1-1c66bde8b906"}, {"desc": "Modern floor lamp with a gold metal frame, arc design, and white glass spherical shade for minimalist elegance.", "size": [0.79, 1.68, 0.33], "pos": [1.47, 0.0, -2.46], "rot": [0, 0.92388, 0, -0.38268], "jid": "c376c778-fab9-4f26-b494-fe0abdc17751-(0.88)-(1.0)-(1.0)", "sampled_asset_jid": "c376c778-fab9-4f26-b494-fe0abdc17751-(0.88)-(1.0)-(1.0)", "sampled_asset_desc": "Modern floor lamp with a gold metal frame, arc design, and white glass spherical shade for minimalist elegance.", "sampled_asset_size": [0.79, 1.68, 0.33], "uuid": "ed9d7915-21b2-43f4-998c-75650321f05f"}, {"desc": "Mid-century modern minimalist coffee table with a circular top, raised edge, and angular legs made of solid wood.", "pos": [0.01, 0.0, 0.41], "rot": [0.0, 0.70711, 0.0, 0.70711], "size": [0.77, 0.39, 0.77], "prompt": "large wooden coffee table", "sampled_asset_jid": "3bfeed24-ef65-45ec-b93f-3d1815947b02", "sampled_asset_desc": "Mid-century modern minimalist coffee table with a circular top, raised edge, and angular legs made of solid wood.", "sampled_asset_size": [0.7718539834022522, 0.39424204601546897, 0.7718579769134521], "uuid": "fc646ea9-d3e3-4bc2-8fae-a13982afa43d"}, {"desc": "Modern mid-century dark brown leather three-seat sofa with tufted backrest, padded arms, and silver decorative pillows.", "pos": [1.47, 0.0, 0.45], "rot": [0.0, -0.70711, 0.0, 0.70711], "size": [2.21, 0.92, 0.98], "prompt": "modern mid century brown couch", "sampled_asset_jid": "2d8e7040-14d8-4aba-84ee-356a1eae11e8", "sampled_asset_desc": "Modern three-seat sofa with classic tufting, brown leather upholstery, and contrasting cushions.", "sampled_asset_size": [2.214682102203369, 0.9059539784238559, 0.9729260504245758], "uuid": "13873eeb-191d-483a-aa61-254c446b0d7a"}]}') + # eval_scene(scene, is_debug=True, voxel_size=0.05, total_loss_threshold=0.1, idx=None, do_pms_full_scene=False) diff --git a/tools/data_gen/layout_retrieval.py b/tools/data_gen/layout_retrieval.py new file mode 100644 index 0000000000000000000000000000000000000000..578e3380765d06275c1ed751b2a19d0bea89f617 --- /dev/null +++ b/tools/data_gen/layout_retrieval.py @@ -0,0 +1,188 @@ +#!/usr/bin/env python3 +""" +Layout Retrieval & Alignment Script + +This script takes a generated layout JSON (with descriptions and target sizes), +retrieves the best matching 3D assets using CLIP embeddings and size alignment, +and updates the layout JSON with the selected model_uids and adjusted scales. +""" + +import os +import json +import sys +import numpy as np +import argparse +from pathlib import Path +import trimesh +from copy import deepcopy + +# Add project root to path +SCRIPT_DIR = Path(__file__).parent +REPO_ROOT = SCRIPT_DIR.parent.parent +sys.path.insert(0, str(REPO_ROOT)) + +from tools.asset_description.asset_embedding_manager import AssetEmbeddingManager +from tools.asset_description.asset_finder import AssetFinder + +# Configuration +ASSET_LIBRARY_DIR = os.path.join(REPO_ROOT, "data/asset_library") +EMBEDDINGS_FILE = os.path.join(REPO_ROOT, "tools/asset_embeddings.pkl") + +def calculate_size_similarity(asset_extents, target_extents): + """ + Calculate similarity between asset size and target size. + Returns a score between 0 and 1. + """ + # Avoid division by zero + asset_extents = np.maximum(asset_extents, 1e-6) + target_extents = np.maximum(target_extents, 1e-6) + + # Calculate ratio for each dimension + ratios = asset_extents / target_extents + + # We want the ratios to be close to 1, but we can scale the asset. + # However, we want the *aspect ratio* to match. + # So we normalize the extents by their max dimension (or volume) and compare. + + asset_norm = asset_extents / np.max(asset_extents) + target_norm = target_extents / np.max(target_extents) + + # Mean Squared Error of normalized dimensions + mse = np.mean((asset_norm - target_norm) ** 2) + + # Convert MSE to a score (1.0 is perfect match) + # Using a Gaussian kernel or similar + score = np.exp(-5.0 * mse) + + return score + +def retrieve_best_asset(description, embedding_manager, asset_finder, top_k=1): + """ + Retrieve the best matching asset for a description. + Geometric matching is NOT performed during retrieval. + """ + # 1. Semantic Search (Pure Text) + # We only need the top 1 since we don't filter by geometry anymore + candidates = embedding_manager.search_similar(description, top_k=1) + + if not candidates: + return None, None + + best_uid, best_score = candidates[0] + best_asset_extents = None + + # Get extents for scaling later + asset_info = asset_finder.find_asset_info(best_uid) + if asset_info['found']: + glb_path = asset_info['glb_path'] + try: + mesh = trimesh.load(glb_path, force='mesh', process=False) + best_asset_extents = mesh.bounding_box.extents + except Exception as e: + print(f"Error loading mesh for extents {best_uid}: {e}") + + return best_uid, best_asset_extents + +def process_layout(layout_data, embedding_manager, asset_finder): + """ + Process the layout data, retrieving assets for objects. + """ + processed_layout = deepcopy(layout_data) + + # Helper to process a list of objects + def process_objects(objects): + for obj in objects: + description = obj.get("description") + # Check if we need to retrieve + # Always retrieve based on description, ignoring existing model_uid from inference + if description: + # Get target size if available + target_size = obj.get("size") # [l, w, h] or similar + if not target_size and "bbox" in obj: + # Assuming bbox is [min, max] or similar, need to parse + pass + + # print(f"Retrieving for: '{description}' (Target size: {target_size})") + + uid, asset_extents = retrieve_best_asset( + description, + embedding_manager, + asset_finder + ) + + if uid: + # print(f" -> Found: {uid}") + obj["model_uid"] = uid + + # Update scale to match target size + if target_size and asset_extents is not None: + # Calculate scale factors + # We usually want uniform scale, or maybe non-uniform? + # Let's assume uniform scale based on max dimension to fit + target_max = np.max(target_size) + asset_max = np.max(asset_extents) + scale = target_max / asset_max if asset_max > 0 else 1.0 + + # Or non-uniform scale if allowed + # scale = np.array(target_size) / np.array(asset_extents) + + # Update transform/scale in object + # Assuming object has 'transform' or 'scale' field + if "scale" in obj: + obj["scale"] = [scale, scale, scale] # Uniform + elif "transform" in obj: + # Update scale in transform matrix? Complex. + # Usually layout has 'scale' or 'dimensions' + pass + + # Store the retrieved size for reference + obj["retrieved_size"] = asset_extents.tolist() + else: + print(f" -> No match found.") + + # Recursively process children if any + if "children" in obj: + process_objects(obj["children"]) + + # Handle different layout structures + if "assets" in processed_layout: + process_objects(processed_layout["assets"]) + elif "functional_zones" in processed_layout: + for zone in processed_layout["functional_zones"]: + if "assets" in zone: + process_objects(zone["assets"]) + elif "groups" in processed_layout: + for group in processed_layout["groups"]: + if "objects" in group: + process_objects(group["objects"]) + + return processed_layout + +def main(): + parser = argparse.ArgumentParser(description="Retrieve assets for generated layout") + parser.add_argument("--input", required=True, help="Input generated layout JSON") + parser.add_argument("--output", required=True, help="Output layout JSON with retrieved assets") + args = parser.parse_args() + + # Initialize managers + print("Initializing Asset Managers...") + embedding_manager = AssetEmbeddingManager(embeddings_file=EMBEDDINGS_FILE) + asset_finder = AssetFinder(ASSET_LIBRARY_DIR) + + # Load input layout + with open(args.input, 'r') as f: + layout_data = json.load(f) + + # Process + print("Processing layout...") + result_layout = process_layout(layout_data, embedding_manager, asset_finder) + + # Save output + os.makedirs(os.path.dirname(os.path.abspath(args.output)), exist_ok=True) + with open(args.output, 'w') as f: + json.dump(result_layout, f, indent=4) + + print(f"Saved processed layout to {args.output}") + +if __name__ == "__main__": + main() diff --git a/tools/data_gen/normalize_internscenes.py b/tools/data_gen/normalize_internscenes.py new file mode 100644 index 0000000000000000000000000000000000000000..7a9abdebcd799fd24db5f335e37c562ed11990fb --- /dev/null +++ b/tools/data_gen/normalize_internscenes.py @@ -0,0 +1,678 @@ +#!/usr/bin/env python3 +""" +InternScenes 数据归一化工具 + +将 InternScenes 的杂乱数据（scannet, 3rscan, arkitscenes）归一化为与 3D-FRONT 一致的格式： +1. 烘焙(Bake) 3D资产：把 init_rotation 烘焙进mesh顶点，生成干净的 Z-up 资产 +2. 清洗 Layout：rot 只保留 Z 轴旋转（yaw） + +原理： +- InternScenes 的 compose_scenes.py 变换链: + final_transform = Y_to_Z_convert @ euler_matrix(rot, axes='rzxy') @ init_rotation @ mesh + + 其中 init_rotation 是为了把各种来源的mesh（可能是Y-up或其他朝向）统一到一个canonical姿态 + +- 我们要做的是： + 把 init_rotation 烘焙进 mesh，这样新的 mesh 就是干净的 Z-up + 然后 rot 就只需要简单的 yaw 角度 + +使用方法： + python normalize_internscenes.py analyze + python normalize_internscenes.py bake-asset --output + python normalize_internscenes.py normalize --output-dir +""" + +import json +import numpy as np +import argparse +import os +import copy +import trimesh +from pathlib import Path +from typing import Dict, List, Tuple, Optional +from scipy.spatial.transform import Rotation as R +from concurrent.futures import ThreadPoolExecutor, as_completed +from tqdm import tqdm + +# 路径配置 +BASE_DIR = str(Path(__file__).resolve().parents[2]) +ASSET_LIBRARY_FOLDER = os.environ.get('PTH_ASSET_LIBRARY') or os.path.join(BASE_DIR, "data/asset_library") + + +class AssetProcessor: + """处理3D资产的烘焙和归一化""" + + def __init__(self, asset_library_path: str = ASSET_LIBRARY_FOLDER): + self.asset_dir = asset_library_path + + # 加载辅助数据 + uid_2_angle_path = os.path.join(asset_library_path, "uid_2_angle.json") + uid_2_cate_path = os.path.join(asset_library_path, "uid_2_origin_cate.json") + + self.obja_uid_2_rotation = {} + self.pm_uid_2_origin_cate = {} + + if os.path.exists(uid_2_angle_path): + with open(uid_2_angle_path) as f: + self.obja_uid_2_rotation = json.load(f) + + if os.path.exists(uid_2_cate_path): + with open(uid_2_cate_path) as f: + self.pm_uid_2_origin_cate = json.load(f) + + def get_mesh_path(self, uid: str) -> Optional[str]: + """获取mesh文件路径""" + if uid.startswith("objaverse/"): + objaverse_rel = uid.split("objaverse/")[-1] + ".glb" + candidates = [ + os.path.join(self.asset_dir, uid + ".glb"), + os.path.join(self.asset_dir, "objaverse", "objaverse", objaverse_rel) + ] + objaverse_root = os.environ.get("OBJAVERSE_ROOT") + if objaverse_root: + candidates.insert(0, os.path.join(objaverse_root, objaverse_rel)) + for path in candidates: + if os.path.exists(path): + return path + return None + elif uid.startswith("objaverse_old/"): + return os.path.join(self.asset_dir, uid + ".glb") + elif uid.startswith("partnet_mobility"): + return os.path.join(self.asset_dir, uid, "whole.glb") + elif uid.startswith("3D-FUTURE-model"): + return os.path.join(self.asset_dir, uid + ".glb") + elif uid.startswith("hssd-models"): + return os.path.join(self.asset_dir, uid + ".glb") + elif uid.startswith("gen_assets"): + return os.path.join(self.asset_dir, uid + ".glb") + elif uid.startswith("gr100"): + return os.path.join(self.asset_dir, uid + ".glb") + else: + return None + + def get_init_rotation_matrix(self, uid: str) -> np.ndarray: + """ + 获取 init_rotation 矩阵（4x4） + 这是 compose_scenes.py 中 load_init_rotation 的逻辑 + """ + def rotation_matrix(angle, axis): + """创建绕指定轴旋转的4x4矩阵""" + r = R.from_rotvec(angle * np.array(axis)) + mat = np.eye(4) + mat[:3, :3] = r.as_matrix() + return mat + + if uid.startswith("objaverse/"): + objaverse_id = uid.split("objaverse/")[-1] + rot_deg = self.obja_uid_2_rotation.get(objaverse_id, 0) + rot_rad = rot_deg / 180.0 * np.pi + transform = rotation_matrix(rot_rad, [0, 0, 1]) @ \ + rotation_matrix(0.5 * np.pi, [0, 0, 1]) @ \ + rotation_matrix(0.5 * np.pi, [1, 0, 0]) + + elif uid.startswith("objaverse_old/"): + transform = rotation_matrix(0.5 * np.pi, [0, 0, 1]) @ \ + rotation_matrix(0.5 * np.pi, [1, 0, 0]) + + elif uid.startswith("partnet_mobility"): + transform = rotation_matrix(np.pi, [0, 0, 1]) @ \ + rotation_matrix(0.5 * np.pi, [1, 0, 0]) + + # 特殊类别处理 + pm_cate = self.pm_uid_2_origin_cate.get(uid, "") + if pm_cate in ["Pen", "Remote", "Phone"]: + rotation_1 = rotation_matrix(np.pi, [0, 0, 1]) + rotation_2 = rotation_matrix(np.pi / 2, [0, 1, 0]) + transform = rotation_2 @ rotation_1 @ transform + + elif uid.startswith("3D-FUTURE-model"): + transform = rotation_matrix(0.5 * np.pi, [0, 0, 1]) @ \ + rotation_matrix(0.5 * np.pi, [1, 0, 0]) + + elif uid.startswith("hssd-models"): + transform = rotation_matrix(0.5 * np.pi, [0, 0, 1]) @ \ + rotation_matrix(0.5 * np.pi, [1, 0, 0]) + + elif uid.startswith("gen_assets"): + transform = rotation_matrix(0.5 * np.pi, [0, 0, 1]) @ \ + rotation_matrix(0.5 * np.pi, [1, 0, 0]) + + elif uid.startswith("gr100"): + transform = rotation_matrix(0.5 * np.pi, [0, 0, 1]) @ \ + rotation_matrix(0.5 * np.pi, [1, 0, 0]) + + else: + # 默认：无变换 + transform = np.eye(4) + + return transform + + def load_and_bake_mesh(self, uid: str, use_texture: bool = False) -> Optional[trimesh.Trimesh]: + """ + 加载mesh并烘焙 init_rotation + + 烘焙后的mesh是干净的 Z-up，且正面朝向统一 + """ + mesh_path = self.get_mesh_path(uid) + if mesh_path is None or not os.path.exists(mesh_path): + return None + + try: + if use_texture: + mesh = trimesh.load(mesh_path) + else: + mesh = trimesh.load(mesh_path, force="mesh") + + # 获取 init_rotation + init_transform = self.get_init_rotation_matrix(uid) + + # 居中 + if hasattr(mesh, 'bounding_box'): + centroid = mesh.bounding_box.centroid + mesh.apply_translation(-centroid) + + # 应用 init_rotation（烘焙） + mesh.apply_transform(init_transform) + + return mesh + + except Exception as e: + print(f"Error loading mesh {uid}: {e}") + return None + + +def euler_zxy_to_yaw(rot_zxy: List[float]) -> float: + """ + 从 ZXY 顺序的 euler 角提取等效的 yaw（绕Z轴旋转） + + 对于纯yaw情况，直接返回 rot[0] + 对于有倾斜的情况，计算完整旋转矩阵后提取 yaw + """ + # 构建旋转矩阵 + R_mat = R.from_euler('zxy', rot_zxy).as_matrix() + + # 提取 yaw：在 Z-up 坐标系中，yaw 是绕 Z 轴的旋转 + # 看 X 轴被转到哪里，取其在 XY 平面的角度 + x_transformed = R_mat @ np.array([1, 0, 0]) + yaw = np.arctan2(x_transformed[1], x_transformed[0]) + + return yaw + + +def is_pure_yaw_zxy(rot: List[float], threshold_deg: float = 2.0) -> bool: + """检查 ZXY 格式的旋转是否是纯yaw (rot[1]=rx, rot[2]=ry 接近0)""" + rx_deg = abs(np.degrees(rot[1])) + ry_deg = abs(np.degrees(rot[2])) + return rx_deg < threshold_deg and ry_deg < threshold_deg + + +def is_pure_yaw_xyz(rot: List[float], threshold_deg: float = 2.0) -> bool: + """检查 XYZ 格式的旋转是否是纯yaw (rot[0]=rx, rot[1]=ry 接近0)""" + rx_deg = abs(np.degrees(rot[0])) + ry_deg = abs(np.degrees(rot[1])) + return rx_deg < threshold_deg and ry_deg < threshold_deg + + +def analyze_layout(layout_path: str, asset_processor: AssetProcessor = None) -> dict: + """分析 layout 文件""" + with open(layout_path, 'r') as f: + layout = json.load(f) + + results = { + 'path': layout_path, + 'total_assets': 0, + 'pure_yaw': 0, + 'tilted': 0, + 'unique_uids': set(), + 'sources': {}, + 'details': [], + 'format': 'unknown' # 'zxy' (原始InternScenes) 或 'xyz' (归一化后/3D-FRONT) + } + + # 检测格式 + if isinstance(layout, list): + items = layout + get_rot = lambda item: item['bbox'][6:9] + get_uid = lambda item: item.get('model_uid', '') + get_cat = lambda item: item.get('category', 'unknown') + else: + items = [] + for zone in layout.get('functional_zones', []): + items.extend(zone.get('assets', [])) + get_rot = lambda item: item.get('transform', {}).get('rot', [0,0,0]) + get_uid = lambda item: item.get('model_uid', '') + get_cat = lambda item: item.get('category', 'unknown') + + # 自动检测是 ZXY 还是 XYZ 格式 + # 如果大多数 rot[0], rot[1] 接近0，那么是 XYZ 格式（归一化后） + # 如果大多数 rot[1], rot[2] 接近0，那么是 ZXY 格式（原始） + xyz_count = 0 + zxy_count = 0 + for item in items: + rot = get_rot(item) + if is_pure_yaw_xyz(rot): + xyz_count += 1 + if is_pure_yaw_zxy(rot): + zxy_count += 1 + + # 判断格式 + if xyz_count > zxy_count: + results['format'] = 'xyz' + is_pure_yaw = is_pure_yaw_xyz + else: + results['format'] = 'zxy' + is_pure_yaw = is_pure_yaw_zxy + + for item in items: + uid = get_uid(item) + rot = get_rot(item) + cat = get_cat(item) + + results['total_assets'] += 1 + results['unique_uids'].add(uid) + + # 统计来源 + source = uid.split('/')[0] if '/' in uid else 'unknown' + results['sources'][source] = results['sources'].get(source, 0) + 1 + + # 分析旋转 + pure = is_pure_yaw(rot) + if pure: + results['pure_yaw'] += 1 + else: + results['tilted'] += 1 + + # yaw 提取方式取决于格式 + if results['format'] == 'zxy': + yaw_deg = np.degrees(euler_zxy_to_yaw(rot)) + else: + yaw_deg = np.degrees(rot[2]) # XYZ格式，yaw在rot[2] + + results['details'].append({ + 'uid': uid, + 'category': cat, + 'rot_deg': [np.degrees(r) for r in rot], + 'is_pure_yaw': pure, + 'yaw_deg': yaw_deg + }) + + results['unique_uids'] = len(results['unique_uids']) + return results + + +def normalize_layout(layout, asset_processor: AssetProcessor = None) -> Tuple[dict, dict]: + """ + 归一化 layout + + 将 rot 从 [rz, rx, ry] (ZXY顺序) 转换为 [0, 0, yaw] (只有Z轴旋转) + + Returns: + (new_layout, stats) + """ + new_layout = copy.deepcopy(layout) + + stats = { + 'total': 0, + 'converted': 0, + 'pure_yaw': 0, + 'tilted': 0, + } + + # 检测格式 + if isinstance(new_layout, list): + # 旧格式 + for item in new_layout: + stats['total'] += 1 + old_rot = item['bbox'][6:9] + + # 提取 yaw + yaw = euler_zxy_to_yaw(old_rot) + + # 更新为干净格式 [0, 0, yaw] + item['bbox'][6] = 0.0 + item['bbox'][7] = 0.0 + item['bbox'][8] = yaw + + stats['converted'] += 1 + if is_pure_yaw_zxy(old_rot): + stats['pure_yaw'] += 1 + else: + stats['tilted'] += 1 + else: + # 新格式 + for zone in new_layout.get('functional_zones', []): + for asset in zone.get('assets', []): + stats['total'] += 1 + old_rot = asset.get('transform', {}).get('rot', [0, 0, 0]) + + # 提取 yaw + yaw = euler_zxy_to_yaw(old_rot) + + # 更新为干净格式 + asset['transform']['rot'] = [0.0, 0.0, yaw] + + stats['converted'] += 1 + if is_pure_yaw_zxy(old_rot): + stats['pure_yaw'] += 1 + else: + stats['tilted'] += 1 + + return new_layout, stats + + +def collect_unique_uids(input_dir: str) -> set: + """收集目录下所有layout文件中的唯一uid""" + import glob + + uids = set() + layout_files = glob.glob(os.path.join(input_dir, '**/layout.json'), recursive=True) + + for layout_path in layout_files: + try: + with open(layout_path, 'r') as f: + layout = json.load(f) + + if isinstance(layout, list): + for item in layout: + uid = item.get('model_uid', '') + if uid: + uids.add(uid) + else: + for zone in layout.get('functional_zones', []): + for asset in zone.get('assets', []): + uid = asset.get('model_uid', '') + if uid: + uids.add(uid) + except Exception as e: + print(f"Error reading {layout_path}: {e}") + + return uids + + +# ==================== 命令行接口 ==================== + +def cmd_analyze(args): + """分析命令""" + asset_processor = AssetProcessor() + result = analyze_layout(args.layout_path, asset_processor) + + print(f"\n{'='*60}") + print(f"Layout 分析: {args.layout_path}") + print(f"{'='*60}") + print(f"检测格式: {result['format'].upper()} (ZXY=原始InternScenes, XYZ=归一化后/3D-FRONT)") + print(f"总资产数: {result['total_assets']}") + print(f"唯一uid数: {result['unique_uids']}") + print(f"纯yaw旋转: {result['pure_yaw']} ({100*result['pure_yaw']/max(1,result['total_assets']):.1f}%)") + print(f"有倾斜: {result['tilted']} ({100*result['tilted']/max(1,result['total_assets']):.1f}%)") + + print(f"\n资产来源分布:") + for source, count in sorted(result['sources'].items(), key=lambda x: -x[1]): + print(f" {source}: {count}") + + if args.verbose: + print(f"\n{'='*60}") + print("详细信息 (前20个):") + print(f"{'='*60}") + for i, d in enumerate(result['details'][:20]): + status = "→" if d['is_pure_yaw'] else "✗" + print(f" {status} [{i:3d}] {d['category']:15s}") + print(f" rot=[{d['rot_deg'][0]:7.1f}, {d['rot_deg'][1]:7.1f}, {d['rot_deg'][2]:7.1f}] -> yaw={d['yaw_deg']:.1f}°") + + +def cmd_normalize(args): + """归一化命令：处理layout文件""" + import glob + + layout_files = glob.glob(os.path.join(args.input_dir, '**/layout.json'), recursive=True) + print(f"找到 {len(layout_files)} 个layout文件") + + total_stats = { + 'files': 0, + 'total': 0, + 'converted': 0, + 'pure_yaw': 0, + 'tilted': 0, + } + + for layout_path in tqdm(layout_files, desc="处理layout"): + try: + with open(layout_path, 'r') as f: + layout = json.load(f) + + new_layout, stats = normalize_layout(layout) + + # 计算输出路径 + rel_path = os.path.relpath(layout_path, args.input_dir) + output_path = os.path.join(args.output_dir, rel_path) + + os.makedirs(os.path.dirname(output_path), exist_ok=True) + with open(output_path, 'w') as f: + json.dump(new_layout, f, indent=2) + + total_stats['files'] += 1 + total_stats['total'] += stats['total'] + total_stats['converted'] += stats['converted'] + total_stats['pure_yaw'] += stats['pure_yaw'] + total_stats['tilted'] += stats['tilted'] + + except Exception as e: + print(f"错误处理 {layout_path}: {e}") + + print(f"\n{'='*60}") + print(f"Layout 归一化完成") + print(f"{'='*60}") + print(f"处理文件数: {total_stats['files']}") + print(f"总资产数: {total_stats['total']}") + print(f"已转换: {total_stats['converted']} (纯yaw: {total_stats['pure_yaw']}, 有倾斜: {total_stats['tilted']})") + print(f"输出目录: {args.output_dir}") + + +def cmd_bake_assets(args): + """烘焙资产命令：处理3D资产""" + import glob + + asset_processor = AssetProcessor() + + # 收集需要处理的uid + if args.uid: + uids = {args.uid} + else: + print("收集需要处理的uid...") + uids = collect_unique_uids(args.input_dir) + print(f"找到 {len(uids)} 个唯一uid") + + # 按来源分组 + sources = {} + for uid in uids: + source = uid.split('/')[0] if '/' in uid else 'unknown' + if source not in sources: + sources[source] = [] + sources[source].append(uid) + + print(f"\n来源分布:") + for source, uid_list in sorted(sources.items(), key=lambda x: -len(x[1])): + print(f" {source}: {len(uid_list)}") + + if args.dry_run: + print("\n[Dry run] 不会实际处理资产") + return + + # 处理资产 + success = 0 + failed = 0 + skipped = 0 + + for uid in tqdm(uids, desc="烘焙资产"): + try: + # 检查是否已存在 + output_path = os.path.join(args.output_dir, uid + ".glb") + if os.path.exists(output_path) and not args.force: + skipped += 1 + continue + + # 加载并烘焙 + mesh = asset_processor.load_and_bake_mesh(uid, use_texture=args.texture) + if mesh is None: + failed += 1 + continue + + # 保存 + os.makedirs(os.path.dirname(output_path), exist_ok=True) + mesh.export(output_path) + success += 1 + + except Exception as e: + print(f"错误处理 {uid}: {e}") + failed += 1 + + print(f"\n{'='*60}") + print(f"资产烘焙完成") + print(f"{'='*60}") + print(f"成功: {success}") + print(f"失败: {failed}") + print(f"跳过(已存在): {skipped}") + print(f"输出目录: {args.output_dir}") + + +def cmd_full_normalize(args): + """完整归一化：同时处理layout和资产""" + import glob + + print("="*60) + print("InternScenes 完整归一化") + print("="*60) + + asset_processor = AssetProcessor() + + # Step 1: 收集所有uid + print("\n[Step 1] 收集唯一uid...") + uids = collect_unique_uids(args.input_dir) + print(f"找到 {len(uids)} 个唯一uid") + + # Step 2: 烘焙资产（如果指定了资产输出目录） + if args.asset_output_dir: + print(f"\n[Step 2] 烘焙3D资产到 {args.asset_output_dir}...") + + success = 0 + failed = 0 + skipped = 0 + + for uid in tqdm(uids, desc="烘焙资产"): + try: + output_path = os.path.join(args.asset_output_dir, uid + ".glb") + if os.path.exists(output_path) and not args.force: + skipped += 1 + continue + + mesh = asset_processor.load_and_bake_mesh(uid, use_texture=False) + if mesh is None: + failed += 1 + continue + + os.makedirs(os.path.dirname(output_path), exist_ok=True) + mesh.export(output_path) + success += 1 + + except Exception as e: + failed += 1 + + print(f" 成功: {success}, 失败: {failed}, 跳过: {skipped}") + + # Step 3: 归一化layout + print(f"\n[Step 3] 归一化layout到 {args.output_dir}...") + + layout_files = glob.glob(os.path.join(args.input_dir, '**/layout.json'), recursive=True) + + total_stats = {'files': 0, 'assets': 0} + + for layout_path in tqdm(layout_files, desc="处理layout"): + try: + with open(layout_path, 'r') as f: + layout = json.load(f) + + new_layout, stats = normalize_layout(layout) + + rel_path = os.path.relpath(layout_path, args.input_dir) + output_path = os.path.join(args.output_dir, rel_path) + + os.makedirs(os.path.dirname(output_path), exist_ok=True) + with open(output_path, 'w') as f: + json.dump(new_layout, f, indent=2) + + total_stats['files'] += 1 + total_stats['assets'] += stats['total'] + + except Exception as e: + print(f"错误: {layout_path}: {e}") + + print(f" 处理了 {total_stats['files']} 个layout文件, {total_stats['assets']} 个资产") + + print(f"\n{'='*60}") + print("完成!") + print(f"{'='*60}") + + +def main(): + parser = argparse.ArgumentParser( + description='InternScenes 数据归一化工具', + formatter_class=argparse.RawDescriptionHelpFormatter, + epilog=""" +示例: + # 分析layout + python normalize_internscenes.py analyze layout.json -v + + # 归一化layout目录 + python normalize_internscenes.py normalize ./scannet --output-dir ./scannet_clean + + # 烘焙资产 + python normalize_internscenes.py bake-assets ./scannet --output-dir ./baked_assets + + # 完整归一化（layout + 资产） + python normalize_internscenes.py full ./scannet --output-dir ./clean --asset-output-dir ./baked +""" + ) + + subparsers = parser.add_subparsers(dest='command', help='子命令') + + # analyze + p_analyze = subparsers.add_parser('analyze', help='分析layout文件') + p_analyze.add_argument('layout_path', help='layout.json路径') + p_analyze.add_argument('-v', '--verbose', action='store_true') + + # normalize (只处理layout) + p_normalize = subparsers.add_parser('normalize', help='归一化layout文件') + p_normalize.add_argument('input_dir', help='输入目录') + p_normalize.add_argument('--output-dir', required=True, help='输出目录') + + # bake-assets (只处理资产) + p_bake = subparsers.add_parser('bake-assets', help='烘焙3D资产') + p_bake.add_argument('input_dir', help='包含layout的输入目录（用于收集uid）') + p_bake.add_argument('--output-dir', required=True, help='输出目录') + p_bake.add_argument('--uid', help='只处理指定uid') + p_bake.add_argument('--texture', action='store_true', help='保留纹理') + p_bake.add_argument('--force', action='store_true', help='强制覆盖已存在的文件') + p_bake.add_argument('--dry-run', action='store_true', help='只分析不处理') + + # full (完整归一化) + p_full = subparsers.add_parser('full', help='完整归一化（layout + 资产）') + p_full.add_argument('input_dir', help='输入目录') + p_full.add_argument('--output-dir', required=True, help='layout输出目录') + p_full.add_argument('--asset-output-dir', help='资产输出目录（可选）') + p_full.add_argument('--force', action='store_true', help='强制覆盖') + + args = parser.parse_args() + + if args.command == 'analyze': + cmd_analyze(args) + elif args.command == 'normalize': + cmd_normalize(args) + elif args.command == 'bake-assets': + cmd_bake_assets(args) + elif args.command == 'full': + cmd_full_normalize(args) + else: + parser.print_help() + + +if __name__ == '__main__': + main() diff --git a/tools/data_gen/reassign_assets.py b/tools/data_gen/reassign_assets.py new file mode 100644 index 0000000000000000000000000000000000000000..9faa47f8df4e14cf4be1be70a77fafbc255b7ff6 --- /dev/null +++ b/tools/data_gen/reassign_assets.py @@ -0,0 +1,404 @@ +#!/usr/bin/env python3 +""" +资产重分配工具 + +使用 CLIP 根据 description 检索干净的 3D 资产，替换 layout 中的 messy 资产。 + +流程： +1. 读取 layout 中每个 asset 的 description +2. 使用 CLIP embedding 搜索最相似的干净资产 +3. 更新 layout 中的 model_id/model_uid +4. 同时规范化 rot 为 [0, 0, yaw] 格式 + +使用方法： + python reassign_assets.py analyze # 分析当前资产分配 + python reassign_assets.py reassign --output-dir # 重分配资产 +""" + +import json +import os +import sys +import argparse +import numpy as np +from pathlib import Path +from typing import Dict, List, Tuple, Optional +from tqdm import tqdm +import glob + +# 添加工具目录到路径 +TOOLS_DIR = Path(__file__).resolve().parent.parent +sys.path.insert(0, str(TOOLS_DIR)) + +from asset_description.asset_embedding_manager import AssetEmbeddingManager +from asset_description.asset_finder import AssetFinder + + +class AssetReassigner: + """资产重分配器""" + + def __init__( + self, + embeddings_file: str = None, + asset_library_dir: str = None, + clean_sources: List[str] = None + ): + """ + 初始化重分配器 + + Args: + embeddings_file: CLIP embeddings 文件路径 + asset_library_dir: 资产库目录 + clean_sources: 干净资产来源列表（只从这些来源中检索） + """ + # 初始化 embedding 管理器 + self.embedding_manager = AssetEmbeddingManager(embeddings_file=embeddings_file) + + # 初始化资产查找器 + if asset_library_dir is None: + asset_library_dir = os.environ.get('PTH_ASSET_LIBRARY') or \ + os.path.join(TOOLS_DIR.parent, "data/asset_library") + self.asset_finder = AssetFinder(asset_library_dir) + + # 干净资产来源（默认只使用 3D-FRONT） + if clean_sources is None: + clean_sources = ['3D-FUTURE-model'] + self.clean_sources = clean_sources + + # 过滤出干净来源的 embeddings + self.clean_embeddings = {} + for uid, emb in self.embedding_manager.embeddings.items(): + source = uid.split('/')[0] if '/' in uid else 'unknown' + if source in self.clean_sources: + self.clean_embeddings[uid] = emb + + print(f"✓ 已加载 {len(self.clean_embeddings)} 个干净资产 embeddings") + print(f" 来源: {self.clean_sources}") + + def search_clean_asset( + self, + description: str, + category: str = None, + top_k: int = 5 + ) -> List[Tuple[str, float]]: + """ + 根据 description 搜索干净资产 + + Args: + description: 资产描述 + category: 可选的类别约束 + top_k: 返回前 k 个结果 + + Returns: + [(model_uid, similarity_score), ...] + """ + if not description: + return [] + + # 编码查询 + query_emb = self.embedding_manager.encode_text(description) + if query_emb is None: + return [] + + # 在干净资产中搜索 + results = [] + for uid, emb in self.clean_embeddings.items(): + similarity = float(np.dot(query_emb, emb)) + results.append((uid, similarity)) + + # 排序 + results.sort(key=lambda x: x[1], reverse=True) + return results[:top_k] + + def analyze_layout(self, layout_path: str) -> dict: + """分析 layout 中的资产分配情况""" + with open(layout_path, 'r') as f: + layout = json.load(f) + + results = { + 'path': layout_path, + 'total_assets': 0, + 'with_description': 0, + 'current_sources': {}, + 'reassignment_candidates': [] + } + + # 提取资产 + if isinstance(layout, list): + items = layout + get_desc = lambda item: item.get('description', '') + get_uid = lambda item: item.get('model_uid', item.get('model_id', '')) + get_cat = lambda item: item.get('category', 'unknown') + else: + items = [] + for zone in layout.get('functional_zones', []): + items.extend(zone.get('assets', [])) + get_desc = lambda item: item.get('description', '') + get_uid = lambda item: item.get('model_id', item.get('model_uid', '')) + get_cat = lambda item: item.get('category', 'unknown') + + for item in items: + results['total_assets'] += 1 + + uid = get_uid(item) + desc = get_desc(item) + cat = get_cat(item) + + # 统计来源 + source = uid.split('/')[0] if uid and '/' in uid else 'unknown' + results['current_sources'][source] = results['current_sources'].get(source, 0) + 1 + + if desc: + results['with_description'] += 1 + + # 检查是否需要重分配 + is_clean = source in self.clean_sources + + # 搜索干净资产 + candidates = self.search_clean_asset(desc, cat, top_k=3) + + results['reassignment_candidates'].append({ + 'category': cat, + 'current_uid': uid, + 'current_source': source, + 'is_clean': is_clean, + 'description': desc[:100] + '...' if len(desc) > 100 else desc, + 'top_candidates': candidates[:3] + }) + + return results + + def reassign_layout( + self, + layout: dict, + threshold: float = 0.2, + force_reassign: bool = False + ) -> Tuple[dict, dict]: + """ + 重分配 layout 中的资产 + + Args: + layout: 原始 layout + threshold: 相似度阈值（低于此值不重分配） + force_reassign: 是否强制重分配所有资产（即使已经是干净来源） + + Returns: + (new_layout, stats) + """ + import copy + from scipy.spatial.transform import Rotation as R + + new_layout = copy.deepcopy(layout) + + stats = { + 'total': 0, + 'reassigned': 0, + 'kept': 0, + 'failed': 0, + 'rot_normalized': 0 + } + + def euler_zxy_to_yaw(rot_zxy): + """从 ZXY euler 提取 yaw""" + R_mat = R.from_euler('zxy', rot_zxy).as_matrix() + x_transformed = R_mat @ np.array([1, 0, 0]) + yaw = np.arctan2(x_transformed[1], x_transformed[0]) + return yaw + + def process_asset(asset): + """处理单个资产""" + stats['total'] += 1 + + # 获取当前信息 + uid = asset.get('model_id', asset.get('model_uid', '')) + desc = asset.get('description', '') + + source = uid.split('/')[0] if uid and '/' in uid else 'unknown' + is_clean = source in self.clean_sources + + # 规范化 rot + if 'transform' in asset and 'rot' in asset['transform']: + old_rot = asset['transform']['rot'] + yaw = euler_zxy_to_yaw(old_rot) + asset['transform']['rot'] = [0.0, 0.0, float(yaw)] + stats['rot_normalized'] += 1 + + # 决定是否重分配 + if not desc: + stats['kept'] += 1 + return + + if is_clean and not force_reassign: + stats['kept'] += 1 + return + + # 搜索干净资产 + candidates = self.search_clean_asset(desc, top_k=1) + + if candidates and candidates[0][1] >= threshold: + new_uid, score = candidates[0] + asset['model_id'] = new_uid + if 'model_uid' in asset: + asset['model_uid'] = new_uid + stats['reassigned'] += 1 + else: + stats['failed'] += 1 + + # 处理所有资产 + if isinstance(new_layout, list): + for item in new_layout: + process_asset(item) + else: + for zone in new_layout.get('functional_zones', []): + for asset in zone.get('assets', []): + process_asset(asset) + + return new_layout, stats + + +def cmd_analyze(args): + """分析命令""" + reassigner = AssetReassigner( + embeddings_file=args.embeddings, + clean_sources=args.clean_sources.split(',') if args.clean_sources else None + ) + + result = reassigner.analyze_layout(args.layout_path) + + print(f"\n{'='*60}") + print(f"资产分配分析: {args.layout_path}") + print(f"{'='*60}") + print(f"总资产数: {result['total_assets']}") + print(f"有描述的: {result['with_description']}") + + print(f"\n当前来源分布:") + for source, count in sorted(result['current_sources'].items(), key=lambda x: -x[1]): + is_clean = '✓' if source in reassigner.clean_sources else '✗' + print(f" {is_clean} {source}: {count}") + + if args.verbose: + print(f"\n{'='*60}") + print("重分配候选 (前10个):") + print(f"{'='*60}") + for i, cand in enumerate(result['reassignment_candidates'][:10]): + status = '✓' if cand['is_clean'] else '→' + print(f"\n{status} [{i}] {cand['category']}") + print(f" 当前: {cand['current_uid'][:50]}...") + print(f" 描述: {cand['description'][:80]}...") + if cand['top_candidates']: + best = cand['top_candidates'][0] + print(f" 最佳匹配: [{best[1]:.3f}] {best[0][:50]}...") + + +def cmd_reassign(args): + """重分配命令""" + reassigner = AssetReassigner( + embeddings_file=args.embeddings, + clean_sources=args.clean_sources.split(',') if args.clean_sources else None + ) + + # 查找所有 layout 文件 + layout_files = glob.glob(os.path.join(args.input_dir, '**/layout.json'), recursive=True) + print(f"找到 {len(layout_files)} 个 layout 文件") + + total_stats = { + 'files': 0, + 'total': 0, + 'reassigned': 0, + 'kept': 0, + 'failed': 0, + 'rot_normalized': 0 + } + + for layout_path in tqdm(layout_files, desc="处理 layout"): + try: + with open(layout_path, 'r') as f: + layout = json.load(f) + + new_layout, stats = reassigner.reassign_layout( + layout, + threshold=args.threshold, + force_reassign=args.force + ) + + # 计算输出路径 + rel_path = os.path.relpath(layout_path, args.input_dir) + output_path = os.path.join(args.output_dir, rel_path) + + os.makedirs(os.path.dirname(output_path), exist_ok=True) + with open(output_path, 'w') as f: + json.dump(new_layout, f, indent=2) + + total_stats['files'] += 1 + for k in ['total', 'reassigned', 'kept', 'failed', 'rot_normalized']: + total_stats[k] += stats[k] + + except Exception as e: + print(f"错误处理 {layout_path}: {e}") + + print(f"\n{'='*60}") + print(f"资产重分配完成") + print(f"{'='*60}") + print(f"处理文件数: {total_stats['files']}") + print(f"总资产数: {total_stats['total']}") + print(f"已重分配: {total_stats['reassigned']}") + print(f"保持不变: {total_stats['kept']}") + print(f"匹配失败: {total_stats['failed']}") + print(f"rot已规范化: {total_stats['rot_normalized']}") + print(f"输出目录: {args.output_dir}") + + +def main(): + parser = argparse.ArgumentParser( + description='资产重分配工具 - 使用 CLIP 检索干净资产', + formatter_class=argparse.RawDescriptionHelpFormatter, + epilog=""" +示例: + # 分析 layout 的资产分配 + python reassign_assets.py analyze layout.json -v + + # 重分配整个目录 + python reassign_assets.py reassign ./scannet --output-dir ./scannet_clean + + # 指定干净资产来源 + python reassign_assets.py reassign ./scannet --output-dir ./scannet_clean --clean-sources "3D-FUTURE-model,hssd-models" +""" + ) + + parser.add_argument( + '--embeddings', + default=None, + help='CLIP embeddings 文件路径' + ) + + parser.add_argument( + '--clean-sources', + default='3D-FUTURE-model', + help='干净资产来源（逗号分隔）' + ) + + subparsers = parser.add_subparsers(dest='command', help='子命令') + + # analyze + p_analyze = subparsers.add_parser('analyze', help='分析资产分配') + p_analyze.add_argument('layout_path', help='layout.json 路径') + p_analyze.add_argument('-v', '--verbose', action='store_true') + + # reassign + p_reassign = subparsers.add_parser('reassign', help='重分配资产') + p_reassign.add_argument('input_dir', help='输入目录') + p_reassign.add_argument('--output-dir', required=True, help='输出目录') + p_reassign.add_argument('--threshold', type=float, default=0.2, help='相似度阈值') + p_reassign.add_argument('--force', action='store_true', help='强制重分配所有资产') + + args = parser.parse_args() + + if args.command == 'analyze': + cmd_analyze(args) + elif args.command == 'reassign': + cmd_reassign(args) + else: + parser.print_help() + + +if __name__ == '__main__': + main() diff --git a/tools/data_gen/render_retrieved_assets.py b/tools/data_gen/render_retrieved_assets.py new file mode 100644 index 0000000000000000000000000000000000000000..d8b82da554fb56d1407ba74bd1dd99f78953c7fa --- /dev/null +++ b/tools/data_gen/render_retrieved_assets.py @@ -0,0 +1,89 @@ +import os +import json +import argparse +import sys +import trimesh +import subprocess +from pathlib import Path +import numpy as np + +# Add project root +SCRIPT_DIR = Path(__file__).parent +REPO_ROOT = SCRIPT_DIR.parent.parent +sys.path.insert(0, str(REPO_ROOT)) + +# Add InternScenes_Real2Sim to path +sys.path.append(os.path.join(REPO_ROOT, "InternScenes", "InternScenes_Real2Sim")) +from compose_scenes import AssetMeshLoader + +def render_assets(layout_path, output_dir): + with open(layout_path, 'r') as f: + layout = json.load(f) + + loader = AssetMeshLoader() + os.makedirs(output_dir, exist_ok=True) + + instances = [] + if "assets" in layout: + instances.extend(layout["assets"]) + if "functional_zones" in layout: + for zone in layout["functional_zones"]: + if "assets" in zone: + instances.extend(zone["assets"]) + if "groups" in layout: + for group in layout["groups"]: + if "objects" in group: + instances.extend(group["objects"]) + + print(f"Found {len(instances)} assets to render...") + + for i, instance in enumerate(instances): + uid = instance.get("model_uid") + if not uid: + continue + + print(f"Processing asset {i}: {uid}") + try: + # Load canonical mesh + mesh = loader.load_canonical_mesh(uid, use_texture=True) + if mesh is None: + print(f" Warning: Mesh not found for {uid}") + continue + + # Export to temporary GLB + safe_uid = uid.replace('/', '_') + asset_glb_path = os.path.join(output_dir, f"asset_{i}_{safe_uid}.glb") + mesh.export(asset_glb_path) + + # Render + render_img_path = os.path.join(output_dir, f"asset_{i}_{safe_uid}.png") + + # Use blender_renderer.py settings from batch_render_scenes.py + # --engine BLENDER_EEVEE --samples 64 --view-mode diagonal --auto-crop + cmd = [ + "conda", "run", "-n", "blender", "python", + "InternScenes/InternScenes_Real2Sim/blender_renderer.py", + "--input", asset_glb_path, + "--output", render_img_path, + "--width", "800", + "--height", "800", + "--engine", "BLENDER_EEVEE", + "--samples", "64", + "--view-mode", "diagonal", + "--auto-crop" + ] + + print(f" Running render command for {uid}...") + subprocess.check_call(cmd) + print(f" Saved render to {render_img_path}") + + except Exception as e: + print(f" Error processing {uid}: {e}") + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("--input", required=True, help="Input layout JSON file") + parser.add_argument("--output", required=True, help="Output directory for asset renders") + args = parser.parse_args() + + render_assets(args.input, args.output) diff --git a/tools/data_gen/run_pipeline.sh b/tools/data_gen/run_pipeline.sh new file mode 100644 index 0000000000000000000000000000000000000000..e3190d9962d9783d44dd0f90b4c0f9b206665ad9 --- /dev/null +++ b/tools/data_gen/run_pipeline.sh @@ -0,0 +1,57 @@ +#!/bin/bash +# Usage: ./run_pipeline.sh + +INPUT_JSON=$1 +OUTPUT_DIR=$2 + +if [ -z "$INPUT_JSON" ] || [ -z "$OUTPUT_DIR" ]; then + echo "Usage: $0 " + exit 1 +fi + +mkdir -p "$OUTPUT_DIR" + +RETRIEVED_JSON="$OUTPUT_DIR/layout_retrieved.json" +SCENE_GLB="$OUTPUT_DIR/scene.glb" +RENDER_IMG="$OUTPUT_DIR/render.png" + +# Ensure we are in the project root +cd "$(dirname "$0")/../.." + +# 1. Retrieval (internscenes env) +echo "Step 1: Retrieving assets..." +# Assuming the current shell has 'internscenes' activated or compatible env +python tools/data_gen/layout_retrieval.py --input "$INPUT_JSON" --output "$RETRIEVED_JSON" + +if [ $? -ne 0 ]; then + echo "Retrieval failed." + exit 1 +fi + +# 2. Composition (internscenes env) +echo "Step 2: Composing scene..." +python tools/data_gen/compose_generated.py --input "$RETRIEVED_JSON" --output "$SCENE_GLB" + +if [ $? -ne 0 ]; then + echo "Composition failed." + exit 1 +fi + +# 3. Rendering (blender env) +echo "Step 3: Rendering..." +# Use conda run to execute in blender environment +# Adjust 'blender' to the actual name of your blender environment if different +conda run -n blender python InternScenes/InternScenes_Real2Sim/blender_renderer.py \ + --input "$SCENE_GLB" \ + --output "$RENDER_IMG" \ + --width 1600 --height 900 \ + --engine BLENDER_EEVEE --samples 128 \ + --view-mode diagonal \ + --auto-crop + +if [ $? -ne 0 ]; then + echo "Rendering failed." + exit 1 +fi + +echo "Done! Result saved to $RENDER_IMG" diff --git a/tools/data_gen/simplify_rotations.py b/tools/data_gen/simplify_rotations.py new file mode 100644 index 0000000000000000000000000000000000000000..9d94e56eb02e075b7dfc32af4248844e7dc99a36 --- /dev/null +++ b/tools/data_gen/simplify_rotations.py @@ -0,0 +1,705 @@ +""" +旋转角度分析和简化工具 + +用于分析和处理layout.json中的复杂旋转数据： +1. 分析每个物体的旋转，区分"有意倾斜"和"数据噪声" +2. 支持按物体类别设置不同的处理策略 +3. 输出详细的分析报告 + +坐标系统：Z-up +欧拉角顺序：'rzxy' (先绕Z，再绕X，再绕Y) +""" + +import numpy as np +import json +import argparse +from pathlib import Path +from typing import Dict, List, Tuple, Optional + + +def euler_to_rotation_matrix(rotation: List[float], order: str = 'rzxy') -> np.ndarray: + """ + 将欧拉角（度数）转换为旋转矩阵 + + Args: + rotation: [rx, ry, rz] 欧拉角（度数） + order: 欧拉角顺序，默认 'rzxy' + + Returns: + 3x3 旋转矩阵 + """ + rx, ry, rz = np.radians(rotation) + + # 绕X轴旋转 + Rx = np.array([ + [1, 0, 0], + [0, np.cos(rx), -np.sin(rx)], + [0, np.sin(rx), np.cos(rx)] + ]) + + # 绕Y轴旋转 + Ry = np.array([ + [np.cos(ry), 0, np.sin(ry)], + [0, 1, 0], + [-np.sin(ry), 0, np.cos(ry)] + ]) + + # 绕Z轴旋转 + Rz = np.array([ + [np.cos(rz), -np.sin(rz), 0], + [np.sin(rz), np.cos(rz), 0], + [0, 0, 1] + ]) + + # 按指定顺序组合旋转 + if order == 'rzxy': + R = Ry @ Rx @ Rz # 先Z，再X，再Y + elif order == 'xyz': + R = Rz @ Ry @ Rx + elif order == 'zyx': + R = Rx @ Ry @ Rz + else: + raise ValueError(f"Unsupported order: {order}") + + return R + + +def rotation_matrix_to_yaw(R: np.ndarray) -> float: + """ + 从旋转矩阵提取绕Z轴的yaw角度 + + 假设物体本来朝向+X轴，计算变换后在XY平面的朝向角度 + + Args: + R: 3x3 旋转矩阵 + + Returns: + yaw角度（度数），范围 [-180, 180] + """ + # 原始朝向 [1, 0, 0] + forward = R @ np.array([1, 0, 0]) + # 投影到XY平面 + yaw = np.degrees(np.arctan2(forward[1], forward[0])) + return yaw + + +def compute_z_tilt(R: np.ndarray) -> float: + """ + 计算物体相对于Z轴（直立）的倾斜角度 + + 通过看旋转后的Z轴（原本指向上方）与世界Z轴的夹角来判断倾斜程度 + + Args: + R: 3x3 旋转矩阵 + + Returns: + 倾斜角度（度数），0° = 完全直立，90° = 完全侧倒 + """ + # 原始up向量 [0, 0, 1] + up = R @ np.array([0, 0, 1]) + # 与世界Z轴的夹角 + cos_angle = np.clip(np.dot(up, np.array([0, 0, 1])), -1, 1) + tilt = np.degrees(np.arccos(cos_angle)) + return tilt + + +def analyze_rotation(rotation: List[float]) -> Dict: + """ + 分析单个物体的旋转 + + Args: + rotation: [rx, ry, rz] 欧拉角（度数） + + Returns: + 分析结果字典，包含： + - is_simple: 是否是简单的yaw旋转 + - is_axis_aligned: 是否只有绕某一轴的旋转（如只有rx，ry和rz为0） + - z_tilt: 相对Z轴的倾斜角度 + - yaw: 提取的yaw角度 + - original: 原始欧拉角 + """ + R = euler_to_rotation_matrix(rotation) + z_tilt = compute_z_tilt(R) + + rx, ry, rz = rotation + + # 判断是否是简单旋转（只有rz，rx和ry接近0） + is_simple = (abs(rx) < 1.0 and abs(ry) < 1.0) # 允许1度误差 + + # 判断是否是轴对齐旋转（只绕一个轴旋转，其他两个接近0） + # 这种情况通常是坐标系转换导致的，可以安全简化 + is_axis_aligned = ( + (abs(ry) < 1.0 and abs(rz) < 1.0) or # 只有rx + (abs(rx) < 1.0 and abs(rz) < 1.0) or # 只有ry + (abs(rx) < 1.0 and abs(ry) < 1.0) # 只有rz + ) + + # 检测是否是90度或180度的轴对齐旋转（坐标系转换的典型特征） + is_coord_transform = False + if is_axis_aligned: + for angle in [rx, ry, rz]: + # 检查是否接近90度的倍数 + normalized = abs(angle) % 90 + if normalized < 5 or normalized > 85: + is_coord_transform = True + break + + # 计算简化后的yaw + simplified = simplify_to_yaw(rotation) + yaw = simplified[2] + + return { + 'is_simple': is_simple, + 'is_axis_aligned': is_axis_aligned, + 'is_coord_transform': is_coord_transform, + 'z_tilt': z_tilt, + 'yaw': yaw, + 'original': rotation, + 'simplified': simplified + } + + +# 物体类别的预期状态 +# 'upright': 应该直立，复杂旋转可能是噪声 +# 'can_tilt': 可以倾斜，复杂旋转可能是有意的 +# 'any': 任意朝向都可能 +CATEGORY_EXPECTATIONS = { + # 家具类 - 应该直立 + 'cabinet': 'upright', + 'table': 'upright', + 'chair': 'upright', + 'sofa': 'upright', + 'bed': 'upright', + 'shelf': 'upright', + 'desk': 'upright', + 'wardrobe': 'upright', + 'nightstand': 'upright', + 'dresser': 'upright', + 'bookshelf': 'upright', + 'tv stand': 'upright', + 'counter': 'upright', + 'kitchen island': 'upright', + 'appliance': 'upright', + 'refrigerator': 'upright', + 'stove': 'upright', + 'oven': 'upright', + 'microwave': 'upright', + 'sink': 'upright', + 'toilet': 'upright', + 'bathtub': 'upright', + + # 可以倾斜的物品 + 'pillow': 'can_tilt', + 'cushion': 'can_tilt', + 'blanket': 'can_tilt', + 'bottle': 'can_tilt', + 'can': 'can_tilt', + 'cup': 'can_tilt', + 'mug': 'can_tilt', + 'book': 'can_tilt', + 'magazine': 'can_tilt', + 'remote control': 'can_tilt', + 'controller': 'can_tilt', + 'phone': 'can_tilt', + 'hat': 'can_tilt', + 'bag': 'can_tilt', + 'shoe': 'can_tilt', + 'clothes': 'can_tilt', + 'towel': 'can_tilt', + 'rug': 'can_tilt', + 'mat': 'can_tilt', + + # 挂墙物品 - 特殊朝向 + 'picture': 'any', + 'mirror': 'any', + 'clock': 'any', + 'poster': 'any', + 'frame': 'any', + 'tv': 'any', + 'monitor': 'any', + + # 植物类 - 一般直立但盆栽可能倾斜 + 'plant': 'can_tilt', + 'flower': 'can_tilt', + 'vase': 'upright', + 'pot': 'upright', + + # 灯具类 + 'lamp': 'upright', + 'light': 'any', + 'chandelier': 'upright', + + # 小物件 - 可以任意放置 + 'statue': 'can_tilt', + 'decoration': 'can_tilt', + 'ornament': 'can_tilt', + 'toy': 'can_tilt', + 'bin': 'can_tilt', + 'basket': 'can_tilt', + 'box': 'can_tilt', + 'fan': 'can_tilt', +} + + +def get_category_expectation(category: str) -> str: + """获取物体类别的预期状态""" + category_lower = category.lower() + + # 直接匹配 + if category_lower in CATEGORY_EXPECTATIONS: + return CATEGORY_EXPECTATIONS[category_lower] + + # 部分匹配 + for key, value in CATEGORY_EXPECTATIONS.items(): + if key in category_lower or category_lower in key: + return value + + # 默认为直立 + return 'upright' + + +def classify_rotation(rotation: List[float], category: str, + tilt_threshold: float = 15.0) -> Dict: + """ + 对旋转进行分类：有意倾斜 / 噪声 / 简单旋转 / 坐标系转换 + + Args: + rotation: [rx, ry, rz] 欧拉角（度数） + category: 物体类别 + tilt_threshold: 倾斜角度阈值，低于此值可能是噪声 + + Returns: + 分类结果字典： + - classification: 'simple' | 'intentional_tilt' | 'noise' | 'coord_transform' | 'uncertain' + - should_simplify: 是否建议简化为纯yaw旋转 + - analysis: 详细分析数据 + """ + analysis = analyze_rotation(rotation) + expectation = get_category_expectation(category) + + # 已经是简单旋转 + if analysis['is_simple']: + return { + 'classification': 'simple', + 'should_simplify': False, + 'analysis': analysis, + 'reason': '已经是简单的yaw旋转' + } + + # 轴对齐旋转（只绕一个轴旋转），且是90度的倍数 + # 这是坐标系转换的典型特征，应该简化 + if analysis['is_axis_aligned'] and analysis['is_coord_transform']: + return { + 'classification': 'coord_transform', + 'should_simplify': True, + 'analysis': analysis, + 'reason': f'轴对齐旋转 (只有单轴)，可能是坐标系转换导致，建议简化' + } + + z_tilt = analysis['z_tilt'] + + # 高倾斜角度（>threshold） + if z_tilt > tilt_threshold: + if expectation == 'can_tilt': + return { + 'classification': 'intentional_tilt', + 'should_simplify': False, + 'analysis': analysis, + 'reason': f'{category} 允许倾斜，{z_tilt:.1f}° 倾斜看起来是有意的' + } + elif expectation == 'any': + return { + 'classification': 'intentional_tilt', + 'should_simplify': False, + 'analysis': analysis, + 'reason': f'{category} 可以任意朝向' + } + else: # upright + # 如果是轴对齐旋转，仍然建议简化 + if analysis['is_axis_aligned']: + return { + 'classification': 'coord_transform', + 'should_simplify': True, + 'analysis': analysis, + 'reason': f'{category} 应直立，轴对齐旋转可能是坐标系转换' + } + return { + 'classification': 'uncertain', + 'should_simplify': True, # 建议简化，但需要人工确认 + 'analysis': analysis, + 'reason': f'{category} 应该直立，但有 {z_tilt:.1f}° 倾斜，可能是错误' + } + + # 低倾斜角度（<=threshold） + else: + if expectation == 'upright': + return { + 'classification': 'noise', + 'should_simplify': True, + 'analysis': analysis, + 'reason': f'{category} 应该直立，{z_tilt:.1f}° 小倾斜可能是噪声' + } + else: + return { + 'classification': 'uncertain', + 'should_simplify': False, + 'analysis': analysis, + 'reason': f'{z_tilt:.1f}° 小倾斜，不确定是否有意' + } + + +def simplify_to_yaw(rotation: List[float]) -> List[float]: + """ + 将复杂旋转简化为纯yaw旋转（只保留绕Z轴的旋转） + + 对于轴对齐旋转（只有rx或ry），直接提取rz作为yaw + 对于复杂旋转，从旋转矩阵中计算yaw + + Args: + rotation: [rx, ry, rz] 原始欧拉角（度数） + + Returns: + [0, 0, yaw] 简化后的欧拉角（度数） + """ + rx, ry, rz = rotation + + # 对于轴对齐旋转（只有rx或只有ry），直接使用rz作为yaw + # 这种情况下，rz本身就代表物体在水平面的朝向 + if abs(ry) < 1.0 and abs(rz) < 1.0: + # 只有rx，rz接近0，直接返回0度yaw + return [0.0, 0.0, 0.0] + elif abs(rx) < 1.0 and abs(rz) < 1.0: + # 只有ry，rz接近0，直接返回0度yaw + return [0.0, 0.0, 0.0] + elif abs(rx) < 1.0 and abs(ry) < 1.0: + # 只有rz，已经是纯yaw + return [0.0, 0.0, rz] + elif abs(ry) < 1.0: + # rx和rz都有值，rz本身就是yaw + return [0.0, 0.0, rz] + elif abs(rx) < 1.0: + # ry和rz都有值，rz本身就是yaw + return [0.0, 0.0, rz] + else: + # 复杂情况：从旋转矩阵计算yaw + R = euler_to_rotation_matrix(rotation) + yaw = rotation_matrix_to_yaw(R) + return [0.0, 0.0, yaw] + + +def extract_all_assets(layout: Dict) -> List[Dict]: + """ + 从各种layout格式中提取所有资产 + + 支持的格式： + 1. layout['layout'] - 直接列表 + 2. layout['assets'] - 直接列表 + 3. layout['functional_zones'][i]['assets'] - zone结构 + """ + assets = [] + + # 格式1: 顶层layout键 + if 'layout' in layout and isinstance(layout['layout'], list): + return layout['layout'] + + # 格式2: 顶层assets键 + if 'assets' in layout and isinstance(layout['assets'], list): + return layout['assets'] + + # 格式3: functional_zones结构 + if 'functional_zones' in layout: + for zone in layout['functional_zones']: + zone_assets = zone.get('assets', []) + for asset in zone_assets: + # 添加zone信息 + asset['_zone'] = zone.get('id', zone.get('semantic_label', 'unknown')) + assets.append(asset) + return assets + + return assets + + +def get_rotation_from_asset(asset: Dict, use_radians: bool = True) -> Tuple[List[float], bool]: + """ + 从asset中提取旋转数据，返回度数 + + Args: + asset: asset字典 + use_radians: 原始数据是否是弧度制 + + Returns: + (rotation_degrees, found): 旋转角度（度数）和是否找到旋转数据 + """ + rot = None + + # 尝试不同的数据结构 + if 'transform' in asset and 'rot' in asset['transform']: + rot = asset['transform']['rot'] + elif 'rotation' in asset: + rot = asset['rotation'] + elif 'rot' in asset: + rot = asset['rot'] + + if rot is None: + return [0.0, 0.0, 0.0], False + + # 处理字典格式 + if isinstance(rot, dict): + rot = [rot.get('x', 0), rot.get('y', 0), rot.get('z', 0)] + + # 转换为度数 + if use_radians: + rot = [np.degrees(r) for r in rot] + + return rot, True + + +def analyze_layout(layout_path: str, verbose: bool = True) -> Dict: + """ + 分析整个layout文件中的旋转数据 + + Args: + layout_path: layout.json文件路径 + verbose: 是否打印详细信息 + + Returns: + 分析报告字典 + """ + with open(layout_path, 'r') as f: + layout = json.load(f) + + # 检查是否是弧度制 + use_radians = layout.get('meta', {}).get('rotation_unit', 'degrees') == 'radians' + + results = { + 'total': 0, + 'simple': [], + 'intentional_tilt': [], + 'noise': [], + 'coord_transform': [], + 'uncertain': [], + 'by_category': {}, + 'use_radians': use_radians + } + + assets = extract_all_assets(layout) + + for i, asset in enumerate(assets): + rot, found = get_rotation_from_asset(asset, use_radians) + category = asset.get('category', asset.get('jid', 'unknown')) + uid = asset.get('id', asset.get('uid', str(i))) + + result = classify_rotation(rot, category) + result['uid'] = uid + result['category'] = category + result['index'] = i + result['asset_id'] = asset.get('id', i) + + classification = result['classification'] + results[classification].append(result) + results['total'] += 1 + + # 按类别统计 + if category not in results['by_category']: + results['by_category'][category] = { + 'simple': 0, 'intentional_tilt': 0, 'noise': 0, + 'coord_transform': 0, 'uncertain': 0 + } + results['by_category'][category][classification] += 1 + + if verbose: + print_report(results, layout_path) + + return results + + +def print_report(results: Dict, layout_path: str): + """打印分析报告""" + print(f"\n{'='*60}") + print(f"旋转分析报告: {layout_path}") + print(f"{'='*60}") + + print(f"\n总计: {results['total']} 个物体") + print(f" - 简单旋转 (纯yaw): {len(results['simple'])}") + print(f" - 坐标系转换 (建议简化): {len(results['coord_transform'])}") + print(f" - 有意倾斜: {len(results['intentional_tilt'])}") + print(f" - 疑似噪声: {len(results['noise'])}") + print(f" - 不确定: {len(results['uncertain'])}") + + # 打印坐标系转换的物体（建议简化） + if results['coord_transform']: + print(f"\n--- 坐标系转换 (建议简化为yaw) ---") + for r in results['coord_transform']: + orig = r['analysis']['original'] + print(f" [{r['asset_id']:3}] {r['category']:20s} " + f"原始: [{orig[0]:6.1f}, {orig[1]:6.1f}, {orig[2]:6.1f}] " + f"→ yaw: {r['analysis']['yaw']:7.1f}°") + + # 打印有意倾斜的物体 + if results['intentional_tilt']: + print(f"\n--- 有意倾斜的物体 (应保留) ---") + for r in sorted(results['intentional_tilt'], + key=lambda x: -x['analysis']['z_tilt']): + print(f" [{r['asset_id']:3}] {r['category']:20s} " + f"倾斜: {r['analysis']['z_tilt']:6.1f}° " + f"yaw: {r['analysis']['yaw']:7.1f}°") + + # 打印疑似噪声 + if results['noise']: + print(f"\n--- 疑似噪声 (建议简化) ---") + for r in results['noise']: + orig = r['analysis']['original'] + print(f" [{r['asset_id']:3}] {r['category']:20s} " + f"原始: [{orig[0]:6.1f}, {orig[1]:6.1f}, {orig[2]:6.1f}] " + f"→ 简化为 yaw: {r['analysis']['yaw']:7.1f}°") + print(f" 原因: {r['reason']}") + + # 打印不确定的 + if results['uncertain']: + print(f"\n--- 需要人工确认 ---") + for r in results['uncertain']: + orig = r['analysis']['original'] + print(f" [{r['asset_id']:3}] {r['category']:20s} " + f"倾斜: {r['analysis']['z_tilt']:6.1f}° " + f"原始: [{orig[0]:6.1f}, {orig[1]:6.1f}, {orig[2]:6.1f}]") + print(f" 原因: {r['reason']}") + + # 按类别统计 + print(f"\n--- 按类别统计 ---") + for cat, stats in sorted(results['by_category'].items()): + total = sum(stats.values()) + non_simple = stats['intentional_tilt'] + stats['noise'] + stats['coord_transform'] + stats['uncertain'] + if non_simple > 0: + print(f" {cat:25s}: 简单={stats['simple']}, 坐标转换={stats['coord_transform']}, " + f"倾斜={stats['intentional_tilt']}, 噪声={stats['noise']}, 不确定={stats['uncertain']}") + + +def simplify_layout(layout_path: str, output_path: str = None, + mode: str = 'noise_only') -> Dict: + """ + 简化layout文件中的旋转 + + Args: + layout_path: 输入layout.json路径 + output_path: 输出路径，默认为原文件名加_simplified后缀 + mode: 简化模式 + - 'noise_only': 只简化疑似噪声 + - 'all_complex': 简化所有非简单旋转 + - 'conservative': 只简化噪声和坐标转换 + - 'recommended': 同conservative + + Returns: + 处理结果统计 + """ + results = analyze_layout(layout_path, verbose=False) + + with open(layout_path, 'r') as f: + layout = json.load(f) + + # 检查是否是弧度制 + use_radians = layout.get('meta', {}).get('rotation_unit', 'degrees') == 'radians' + + # 收集要简化的asset_id -> simplified_rot的映射 + to_simplify_map = {} + + # 确定要简化的物体 + to_simplify_results = [] + if mode == 'noise_only': + to_simplify_results = results['noise'] + elif mode == 'all_complex': + to_simplify_results = (results['noise'] + results['intentional_tilt'] + + results['coord_transform'] + results['uncertain']) + elif mode in ('conservative', 'recommended'): + to_simplify_results = results['noise'] + results['coord_transform'] + + # 建立asset_id到简化后旋转的映射 + for r in to_simplify_results: + asset_id = r['asset_id'] + simplified = r['analysis']['simplified'] # 已经是度数 + to_simplify_map[asset_id] = simplified + + modified_count = 0 + + # 遍历原始layout数据结构进行修改 + if 'functional_zones' in layout: + for zone in layout['functional_zones']: + for asset in zone.get('assets', []): + asset_id = asset.get('id') + if asset_id in to_simplify_map: + simplified_deg = to_simplify_map[asset_id] + # 如果原始是弧度制，需要转换回弧度 + if use_radians: + simplified_rad = [np.radians(d) for d in simplified_deg] + if 'transform' in asset and 'rot' in asset['transform']: + asset['transform']['rot'] = simplified_rad + elif 'rotation' in asset: + asset['rotation'] = simplified_rad + elif 'rot' in asset: + asset['rot'] = simplified_rad + else: + if 'transform' in asset and 'rot' in asset['transform']: + asset['transform']['rot'] = simplified_deg + elif 'rotation' in asset: + asset['rotation'] = simplified_deg + elif 'rot' in asset: + asset['rot'] = simplified_deg + modified_count += 1 + elif 'layout' in layout: + for asset in layout['layout']: + asset_id = asset.get('id', asset.get('uid')) + if asset_id in to_simplify_map: + simplified_deg = to_simplify_map[asset_id] + if use_radians: + simplified_rad = [np.radians(d) for d in simplified_deg] + if 'rotation' in asset: + asset['rotation'] = simplified_rad + elif 'rot' in asset: + asset['rot'] = simplified_rad + else: + if 'rotation' in asset: + asset['rotation'] = simplified_deg + elif 'rot' in asset: + asset['rot'] = simplified_deg + modified_count += 1 + + # 保存结果 + if output_path is None: + base = Path(layout_path) + output_path = str(base.parent / f"{base.stem}_simplified{base.suffix}") + + with open(output_path, 'w') as f: + json.dump(layout, f, indent=2) + + print(f"\n处理完成!") + print(f" - 简化了 {modified_count} 个物体的旋转") + print(f" - 保存到: {output_path}") + + return { + 'input': layout_path, + 'output': output_path, + 'modified': modified_count, + 'mode': mode + } + + +def main(): + parser = argparse.ArgumentParser(description='分析和简化layout中的旋转数据') + parser.add_argument('layout_path', help='layout.json文件路径') + parser.add_argument('--simplify', action='store_true', + help='执行简化操作') + parser.add_argument('--mode', choices=['noise_only', 'all_complex', 'conservative', 'recommended'], + default='recommended', help='简化模式: noise_only=只简化噪声, recommended=简化噪声+坐标转换, conservative=同recommended, all_complex=简化所有复杂旋转') + parser.add_argument('--output', '-o', help='输出文件路径') + parser.add_argument('--threshold', type=float, default=15.0, + help='倾斜角度阈值（度），低于此值可能是噪声') + + args = parser.parse_args() + + if args.simplify: + simplify_layout(args.layout_path, args.output, args.mode) + else: + analyze_layout(args.layout_path) + + +if __name__ == '__main__': + main() diff --git a/tools/data_gen/update_split.py b/tools/data_gen/update_split.py new file mode 100644 index 0000000000000000000000000000000000000000..800a5009411ce94bd6a259ed1caeccc0c4e323cb --- /dev/null +++ b/tools/data_gen/update_split.py @@ -0,0 +1,151 @@ +#!/usr/bin/env python3 +""" +更新 zones_data_mixed.json 的 split 信息: +1. 从 zones_data_coarse.json 中读取已有的 split 映射 +2. matterport3d 数据全部设为 train +3. 从 3d-front 中额外随机选择 500 条作为 test +""" + +import json +import random +import argparse +from pathlib import Path +from collections import defaultdict + + +def main(): + parser = argparse.ArgumentParser(description="Update split in zones_data_mixed.json") + parser.add_argument("--input", type=str, + default="/home/v-meiszhang/amlt-project/InternScenes/data/zones_data_mixed.json", + help="Input zones_data_mixed.json file") + parser.add_argument("--reference", type=str, + default="/home/v-meiszhang/amlt-project/InternScenes/tools/data_gen/zones_data_coarse.json", + help="Reference file for split mapping") + parser.add_argument("--output", type=str, + default="/home/v-meiszhang/amlt-project/InternScenes/data/zones_data_mixed.json", + help="Output file path") + parser.add_argument("--3dfront-test-size", type=int, default=500, + help="Number of 3d-front samples to mark as test") + parser.add_argument("--seed", type=int, default=42, + help="Random seed") + + args = parser.parse_args() + + # 读取参考文件获取 split 映射 + print(f"Loading reference file: {args.reference}") + with open(args.reference, 'r') as f: + ref_data = json.load(f) + + # 构建 scene_path -> split 的映射 + split_mapping = {} + for entry in ref_data.get('data', []): + scene_path = entry.get('scene_path', '') + split = entry.get('split', 'train') + if scene_path: + split_mapping[scene_path] = split + + print(f"Loaded {len(split_mapping)} split mappings from reference") + + # 统计参考文件的 split 分布 + ref_split_counts = defaultdict(int) + for split in split_mapping.values(): + ref_split_counts[split] += 1 + print(f"Reference split distribution: {dict(ref_split_counts)}") + + # 读取要更新的文件 + print(f"\nLoading input file: {args.input}") + with open(args.input, 'r') as f: + mixed_data = json.load(f) + + # 统计数据集分布 + dataset_counts = defaultdict(int) + for entry in mixed_data.get('data', []): + scene_path = entry.get('scene_path', '') + if scene_path: + dataset = scene_path.split('/')[0] + dataset_counts[dataset] += 1 + print(f"Dataset distribution: {dict(dataset_counts)}") + + # 收集 3d-front 的 train 数据索引（用于后续选择 test） + front3d_train_indices = [] + + # 更新 split + updated_count = 0 + matterport_count = 0 + + for i, entry in enumerate(mixed_data.get('data', [])): + scene_path = entry.get('scene_path', '') + if not scene_path: + continue + + dataset = scene_path.split('/')[0] + + # matterport3d 全部设为 train + if dataset == 'matterport3d': + entry['split'] = 'train' + matterport_count += 1 + continue + + # 其他数据集使用参考文件的 split + if scene_path in split_mapping: + old_split = entry.get('split', 'train') + new_split = split_mapping[scene_path] + if old_split != new_split: + entry['split'] = new_split + updated_count += 1 + + # 收集 3d-front 的 train 索引 + if dataset == '3d-front' and entry.get('split') == 'train': + front3d_train_indices.append(i) + + print(f"\nUpdated {updated_count} entries based on reference split") + print(f"Set {matterport_count} matterport3d entries to train") + + # 从 3d-front 中随机选择额外的 test + random.seed(args.seed) + test_size = getattr(args, '3dfront_test_size', 500) + + if len(front3d_train_indices) >= test_size: + selected_test_indices = random.sample(front3d_train_indices, test_size) + for idx in selected_test_indices: + mixed_data['data'][idx]['split'] = 'test' + print(f"Selected {test_size} 3d-front entries as additional test") + else: + print(f"Warning: Only {len(front3d_train_indices)} 3d-front train entries available, selecting all as test") + for idx in front3d_train_indices: + mixed_data['data'][idx]['split'] = 'test' + + # 统计最终的 split 分布 + final_split_counts = defaultdict(int) + dataset_split_counts = defaultdict(lambda: defaultdict(int)) + + for entry in mixed_data.get('data', []): + split = entry.get('split', 'train') + scene_path = entry.get('scene_path', '') + dataset = scene_path.split('/')[0] if scene_path else 'unknown' + + final_split_counts[split] += 1 + dataset_split_counts[dataset][split] += 1 + + print(f"\nFinal split distribution: {dict(final_split_counts)}") + print("\nPer-dataset split distribution:") + for dataset, splits in sorted(dataset_split_counts.items()): + print(f" {dataset}: {dict(splits)}") + + # 更新 metadata + if 'metadata' in mixed_data: + mixed_data['metadata']['split_statistics'] = { + 'total': dict(final_split_counts), + 'per_dataset': {k: dict(v) for k, v in dataset_split_counts.items()} + } + + # 保存结果 + print(f"\nSaving to: {args.output}") + with open(args.output, 'w') as f: + json.dump(mixed_data, f, ensure_ascii=False, indent=2) + + print("Done!") + + +if __name__ == "__main__": + main() diff --git a/tools/data_gen/visualize_gt.py b/tools/data_gen/visualize_gt.py new file mode 100644 index 0000000000000000000000000000000000000000..174b80f48c26ba2a4230956f8b51af9803a3fcad --- /dev/null +++ b/tools/data_gen/visualize_gt.py @@ -0,0 +1,384 @@ +import os +import json +import re +import argparse +import subprocess +import sys +from pathlib import Path + +# Add project root +SCRIPT_DIR = Path(__file__).parent +REPO_ROOT = SCRIPT_DIR.parent.parent +sys.path.insert(0, str(REPO_ROOT)) + +from tools.asset_description.asset_embedding_manager import AssetEmbeddingManager +from tools.asset_description.asset_finder import AssetFinder +from tools.data_gen.layout_retrieval import process_layout +from tools.data_gen.compose_generated import compose_scene + +# Try to import mesh analysis tools +try: + import numpy as np + import trimesh + from tools.asset_description.normalized_asset_loader import NormalizedAssetMeshLoader + HAS_MESH_ANALYSIS = True +except ImportError: + HAS_MESH_ANALYSIS = False + + +def analyze_mesh_orientation(mesh): + """ + Analyze the orientation of a 3D mesh using PCA on vertices. + Returns the principal axes and their directions. + + The principal axes can help determine the "natural" orientation of the object: + - Longest axis typically corresponds to length/depth + - Second axis typically corresponds to width + - Shortest axis typically corresponds to height + """ + if mesh is None: + return None + + # Get vertices + if hasattr(mesh, 'vertices'): + vertices = np.array(mesh.vertices) + else: + return None + + # Center the vertices + centroid = vertices.mean(axis=0) + centered = vertices - centroid + + # Compute covariance matrix and eigendecomposition (PCA) + cov = np.cov(centered.T) + eigenvalues, eigenvectors = np.linalg.eigh(cov) + + # Sort by eigenvalue (largest first) + idx = np.argsort(eigenvalues)[::-1] + eigenvalues = eigenvalues[idx] + eigenvectors = eigenvectors[:, idx] + + # The eigenvectors are the principal axes + # eigenvalues indicate the variance along each axis + return { + 'centroid': centroid, + 'principal_axes': eigenvectors, # 3x3, columns are axes + 'variances': eigenvalues, # Variance along each axis + 'extents': mesh.bounding_box.extents if hasattr(mesh, 'bounding_box') else None, + 'bounds': mesh.bounds if hasattr(mesh, 'bounds') else None, + } + + +def compute_facing_direction(mesh): + """ + Attempt to compute the "front" facing direction of a mesh. + + Heuristics: + 1. For furniture, the front is often the side with the most vertices (detailed side) + 2. Or we can use the asymmetry of the mesh + """ + if mesh is None: + return None + + vertices = np.array(mesh.vertices) + centroid = vertices.mean(axis=0) + + # Compute the average direction of vertices from centroid + # weighted by distance (farther vertices have more influence) + directions = vertices - centroid + distances = np.linalg.norm(directions, axis=1, keepdims=True) + distances = np.maximum(distances, 1e-6) # Avoid division by zero + + # Weighted average direction + weighted_dirs = directions / distances + avg_direction = weighted_dirs.mean(axis=0) + + # Compute facing angle in XY plane (yaw) + yaw = np.arctan2(avg_direction[1], avg_direction[0]) + + return { + 'avg_direction': avg_direction, + 'yaw_radians': yaw, + 'yaw_degrees': np.degrees(yaw), + } + + +def print_mesh_orientations(layout, loader): + """ + Load each asset's mesh and print its actual orientation information. + """ + print("\n=== Mesh Orientation Analysis ===") + + # Get all instances from layout + instances = [] + if 'functional_zones' in layout: + for zone in layout.get('functional_zones', []): + zone_id = zone.get('zone_id', 'unknown') + for asset in zone.get('assets', []): + asset['_zone_id'] = zone_id + instances.append(asset) + elif 'groups' in layout: + for group in layout.get('groups', []): + group_id = group.get('group_id', 'unknown') + for obj in group.get('objects', []): + obj['_zone_id'] = group_id + instances.append(obj) + + for inst in instances: + uid = inst.get('model_uid') or inst.get('uid') + inst_id = inst.get('id', uid) + zone_id = inst.get('_zone_id', 'unknown') + + if not uid: + continue + + try: + mesh = loader.load_canonical_mesh(uid, use_texture=False) + if mesh is None: + print(f" [{zone_id}] {inst_id}: Could not load mesh") + continue + + # Get orientation analysis + orientation = analyze_mesh_orientation(mesh) + facing = compute_facing_direction(mesh) + + # Get specified rotation from layout + specified_rot = inst.get('rot', [0, 0, 0]) + + print(f"\n [{zone_id}] {inst_id} (uid: {uid})") + print(f" Specified rot (layout): {specified_rot}") + + if orientation: + print(f" Bounding box extents: {orientation['extents']}") + print(f" Principal axes variances: {orientation['variances']}") + # The principal axis directions + axes = orientation['principal_axes'] + print(f" Primary axis (longest): [{axes[0,0]:.3f}, {axes[1,0]:.3f}, {axes[2,0]:.3f}]") + print(f" Secondary axis: [{axes[0,1]:.3f}, {axes[1,1]:.3f}, {axes[2,1]:.3f}]") + + if facing: + print(f" Estimated facing direction: {facing['avg_direction']}") + print(f" Estimated yaw: {facing['yaw_degrees']:.1f}°") + + except Exception as e: + print(f" [{zone_id}] {inst_id}: Error analyzing mesh: {e}") + + print("\n=================================\n") + +def extract_answer(text): + """ + 提取 ... 中间的内容（不包含标签） + """ + pattern = r"(.*?)" + match = re.search(pattern, text, flags=re.DOTALL) + if match: + return match.group(1).strip() + return None + +def quick_fix_to_json(py_str): + # 单引号转双引号（避免转换引号内已有的双引号） + s = py_str + + # 替换 True / False / None + s = re.sub(r'\bTrue\b', 'true', s) + s = re.sub(r'\bFalse\b', 'false', s) + s = re.sub(r'\bNone\b', 'null', s) + + # 把 key 的单引号转成双引号 + s = re.sub(r"\'([A-Za-z0-9_]+)\'\s*:", r'"\1":', s) + + # 把值中的单引号转双引号 + # 注意：这里可能会误伤包含单引号的字符串内容，但按照用户要求逻辑实现 + s = re.sub(r":\s*\'([^']*)\'", r': "\1"', s) + + # 再把剩余的单引号（一般是列表里的）转换 + s = s.replace("'", '"') + + # 校验是否可 parse + try: + return json.dumps(json.loads(s), indent=2, ensure_ascii=False) + except json.JSONDecodeError as e: + print(f"JSON Decode Error: {e}") + print(f"Problematic string snippet: {s[:500]}...") + return None + +def run_command(cmd, env=None, quiet=False): + print(f"Running: {cmd}") + try: + if quiet: + # Suppress stdout/stderr + subprocess.check_call(cmd, shell=True, env=env, + stdout=subprocess.DEVNULL, + stderr=subprocess.DEVNULL) + else: + subprocess.check_call(cmd, shell=True, env=env) + return True + except subprocess.CalledProcessError as e: + print(f"Command failed: {e}") + return False + +def process_file(input_file, output_base_dir, embedding_manager, asset_finder): + print(f"Processing {input_file}...") + + with open(input_file, 'r') as f: + json_str = json.load(f) + + # Create output directory for this sample + filename = os.path.basename(input_file) + sample_name = os.path.splitext(filename)[0] + sample_dir = os.path.join(output_base_dir, sample_name) + os.makedirs(sample_dir, exist_ok=True) + + layout_path = os.path.join(sample_dir, "layout.json") + with open(layout_path, 'w') as f: + json.dump(json_str, f, indent=4) + + print(f"Saved layout to {layout_path}") + + # Define paths + retrieved_path = os.path.join(sample_dir, "layout_retrieved.json") + scene_glb_path = os.path.join(sample_dir, "scene.glb") + render_img_path1 = os.path.join(sample_dir, "render_diagonal.png") + render_img_path2 = os.path.join(sample_dir, "render_topdown.png") + # 新增的4个侧视角 + render_img_side_front = os.path.join(sample_dir, "render_side_front.png") + render_img_side_back = os.path.join(sample_dir, "render_side_back.png") + render_img_side_left = os.path.join(sample_dir, "render_side_left.png") + render_img_side_right = os.path.join(sample_dir, "render_side_right.png") + + # Get current env + current_env = os.environ.copy() + + # 1. Retrieval + print("Retrieving assets...") + with open(layout_path, 'r') as f: + layout_data = json.load(f) + + retrieved_layout = process_layout(layout_data, embedding_manager, asset_finder) + + with open(retrieved_path, 'w') as f: + json.dump(retrieved_layout, f, indent=4) + + # Analyze actual mesh orientations + if HAS_MESH_ANALYSIS: + print("\nAnalyzing actual mesh orientations...") + try: + loader = NormalizedAssetMeshLoader() + print_mesh_orientations(retrieved_layout, loader) + except Exception as e: + print(f"Warning: Could not analyze mesh orientations: {e}") + else: + # Print asset rotations from layout (fallback) + print("\n=== Asset Rotations (from layout) ===") + if 'functional_zones' in retrieved_layout: + for zone in retrieved_layout.get('functional_zones', []): + zone_id = zone.get('zone_id', 'unknown') + print(f"Zone: {zone_id}") + for asset in zone.get('assets', []): + asset_id = asset.get('id', 'unknown') + rot = asset.get('rot', [0, 0, 0]) + pos = asset.get('pos', [0, 0, 0]) + print(f" - {asset_id}: rot={rot}, pos={pos}") + elif 'groups' in retrieved_layout: + for group in retrieved_layout.get('groups', []): + group_id = group.get('group_id', 'unknown') + print(f"Group: {group_id}") + for obj in group.get('objects', []): + obj_id = obj.get('id', obj.get('uid', 'unknown')) + rot = obj.get('rot', [0, 0, 0]) + pos = obj.get('pos', [0, 0, 0]) + print(f" - {obj_id}: rot={rot}, pos={pos}") + print("=====================================\n") + + # 1.5 Render Individual Assets (Debug) + print("Rendering individual assets for verification...") + # cmd_render_assets = f"python tools/data_gen/render_retrieved_assets.py --input '{retrieved_path}' --output '{sample_dir}'" + # run_command(cmd_render_assets, env=current_env) + + # 2. Composition + # cmd_compose = f"python tools/data_gen/compose_generated.py --input '{retrieved_path}' --output '{scene_glb_path}' --no-walls --no-ceiling" + # if not run_command(cmd_compose, env=current_env): + # return + + compose_scene( + layout=retrieved_layout, + output_path=scene_glb_path, + add_walls=False, + add_ceiling=False + ) + + # 3. Rendering (using conda run -n blender) + # Assuming we are in the project root + # Use BLENDER_EEVEE which will auto-upgrade to BLENDER_EEVEE_NEXT if needed + # This matches the logic in batch_render_scenes.py + cmd_render = ( + f"conda run -n blender python InternScenes/InternScenes_Real2Sim/blender_renderer.py " + f"--input '{scene_glb_path}' " + f"--output '{render_img_path1}' " + f"--width 1600 --height 900 " + f"--engine BLENDER_EEVEE --samples 8 " + f"--view-mode diagonal --auto-crop " + f"--floor-material marble_hq" + ) + if not run_command(cmd_render, env=current_env, quiet=True): + return + + cmd_render = ( + f"conda run -n blender python InternScenes/InternScenes_Real2Sim/blender_renderer.py " + f"--input '{scene_glb_path}' " + f"--output '{render_img_path2}' " + f"--width 1600 --height 900 " + f"--engine BLENDER_EEVEE --samples 8 " + f"--view-mode topdown --auto-crop " + f"--floor-material marble_hq" + ) + if not run_command(cmd_render, env=current_env, quiet=True): + return + + # 渲染4个侧视角 (带俯视角度) + side_views = [ + # ("side_front", render_img_side_front), + # ("side_back", render_img_side_back), + # ("side_left", render_img_side_left), + # ("side_right", render_img_side_right), + ] + for view_mode, output_path in side_views: + cmd_render = ( + f"conda run -n blender python InternScenes/InternScenes_Real2Sim/blender_renderer.py " + f"--input '{scene_glb_path}' " + f"--output '{output_path}' " + f"--width 1600 --height 900 " + f"--engine BLENDER_EEVEE --samples 8 " + f"--view-mode {view_mode} --side-elevation-angle 30 --auto-crop " + f"--floor-material marble_hq" + ) + if not run_command(cmd_render, env=current_env, quiet=True): + print(f"Warning: Failed to render {view_mode} view") + + print(f"Successfully processed {sample_name}") + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("--input", default="/home/v-meiszhang/amlt-project/InternScenes/bench_test_step60/H-shaped_01_001536_1766364802273481/layout_retrieved.json", help="Input file or directory") + parser.add_argument("--output", default="my_demo", help="Output directory") + args = parser.parse_args() + + # Initialize managers + print("Initializing Asset Managers...") + asset_library_dir = os.path.join(REPO_ROOT, "data/asset_library") + embeddings_file = os.path.join(REPO_ROOT, "tools/asset_embeddings.pkl") + + embedding_manager = AssetEmbeddingManager(embeddings_file=embeddings_file) + asset_finder = AssetFinder(asset_library_dir) + + if os.path.isfile(args.input): + process_file(args.input, args.output, embedding_manager, asset_finder) + elif os.path.isdir(args.input): + files = [f for f in os.listdir(args.input) if f.endswith(".json")] + for f in files: + process_file(os.path.join(args.input, f), args.output, embedding_manager, asset_finder) + else: + print(f"Invalid input: {args.input}") + +if __name__ == "__main__": + main() diff --git a/tools/data_gen/visualize_gt_hq.py b/tools/data_gen/visualize_gt_hq.py new file mode 100644 index 0000000000000000000000000000000000000000..1f9330f2b7aee7e5d8096b0331206eace135efb1 --- /dev/null +++ b/tools/data_gen/visualize_gt_hq.py @@ -0,0 +1,344 @@ +#!/usr/bin/env python3 +""" +High-Quality Visualization Script for GT Layouts + +This is a high-quality version of visualize_gt.py, using: +- CYCLES ray tracing engine (instead of EEVEE) +- Higher sample count (512 vs 256) +- Fill lights for better illumination +- Studio-style gradient environment lighting + +Usage: + python tools/data_gen/visualize_gt_hq.py --input --output +""" + +import os +import json +import re +import argparse +import subprocess +import sys +from pathlib import Path + +# Add project root +SCRIPT_DIR = Path(__file__).parent +REPO_ROOT = SCRIPT_DIR.parent.parent +sys.path.insert(0, str(REPO_ROOT)) + +from tools.asset_description.asset_embedding_manager import AssetEmbeddingManager +from tools.asset_description.asset_finder import AssetFinder +from tools.data_gen.layout_retrieval import process_layout +from tools.data_gen.compose_generated import compose_scene + +# Try to import mesh analysis tools +try: + import numpy as np + import trimesh + from tools.asset_description.normalized_asset_loader import NormalizedAssetMeshLoader + HAS_MESH_ANALYSIS = True +except ImportError: + HAS_MESH_ANALYSIS = False + + +def analyze_mesh_orientation(mesh): + """ + Analyze the orientation of a 3D mesh using PCA on vertices. + Returns the principal axes and their directions. + """ + if mesh is None: + return None + + if hasattr(mesh, 'vertices'): + vertices = np.array(mesh.vertices) + else: + return None + + centroid = vertices.mean(axis=0) + centered = vertices - centroid + + cov = np.cov(centered.T) + eigenvalues, eigenvectors = np.linalg.eigh(cov) + + idx = np.argsort(eigenvalues)[::-1] + eigenvalues = eigenvalues[idx] + eigenvectors = eigenvectors[:, idx] + + return { + 'centroid': centroid, + 'principal_axes': eigenvectors, + 'variances': eigenvalues, + 'extents': mesh.bounding_box.extents if hasattr(mesh, 'bounding_box') else None, + 'bounds': mesh.bounds if hasattr(mesh, 'bounds') else None, + } + + +def compute_facing_direction(mesh): + """Attempt to compute the "front" facing direction of a mesh.""" + if mesh is None: + return None + + vertices = np.array(mesh.vertices) + centroid = vertices.mean(axis=0) + + directions = vertices - centroid + distances = np.linalg.norm(directions, axis=1, keepdims=True) + distances = np.maximum(distances, 1e-6) + + weighted_dirs = directions / distances + avg_direction = weighted_dirs.mean(axis=0) + + yaw = np.arctan2(avg_direction[1], avg_direction[0]) + + return { + 'avg_direction': avg_direction, + 'yaw_radians': yaw, + 'yaw_degrees': np.degrees(yaw), + } + + +def print_mesh_orientations(layout, loader): + """Load each asset's mesh and print its actual orientation information.""" + print("\n=== Mesh Orientation Analysis ===") + + instances = [] + if 'functional_zones' in layout: + for zone in layout.get('functional_zones', []): + zone_id = zone.get('zone_id', 'unknown') + for asset in zone.get('assets', []): + asset['_zone_id'] = zone_id + instances.append(asset) + elif 'groups' in layout: + for group in layout.get('groups', []): + group_id = group.get('group_id', 'unknown') + for obj in group.get('objects', []): + obj['_zone_id'] = group_id + instances.append(obj) + + for inst in instances: + uid = inst.get('model_uid') or inst.get('uid') + inst_id = inst.get('id', uid) + zone_id = inst.get('_zone_id', 'unknown') + + if not uid: + continue + + try: + mesh = loader.load_canonical_mesh(uid, use_texture=False) + if mesh is None: + print(f" [{zone_id}] {inst_id}: Could not load mesh") + continue + + orientation = analyze_mesh_orientation(mesh) + facing = compute_facing_direction(mesh) + specified_rot = inst.get('rot', [0, 0, 0]) + + print(f"\n [{zone_id}] {inst_id} (uid: {uid})") + print(f" Specified rot (layout): {specified_rot}") + + if orientation: + print(f" Bounding box extents: {orientation['extents']}") + print(f" Principal axes variances: {orientation['variances']}") + axes = orientation['principal_axes'] + print(f" Primary axis (longest): [{axes[0,0]:.3f}, {axes[1,0]:.3f}, {axes[2,0]:.3f}]") + print(f" Secondary axis: [{axes[0,1]:.3f}, {axes[1,1]:.3f}, {axes[2,1]:.3f}]") + + if facing: + print(f" Estimated facing direction: {facing['avg_direction']}") + print(f" Estimated yaw: {facing['yaw_degrees']:.1f}°") + + except Exception as e: + print(f" [{zone_id}] {inst_id}: Error analyzing mesh: {e}") + + print("\n=================================\n") + + +def run_command(cmd, env=None, quiet=False): + print(f"Running: {cmd}") + try: + if quiet: + subprocess.check_call(cmd, shell=True, env=env, + stdout=subprocess.DEVNULL, + stderr=subprocess.DEVNULL) + else: + subprocess.check_call(cmd, shell=True, env=env) + return True + except subprocess.CalledProcessError as e: + print(f"Command failed: {e}") + return False + + +def process_file(input_file, output_base_dir, embedding_manager, asset_finder): + print(f"Processing {input_file}...") + + with open(input_file, 'r') as f: + json_str = json.load(f) + + # Create output directory for this sample + filename = os.path.basename(input_file) + sample_name = os.path.splitext(filename)[0] + sample_dir = os.path.join(output_base_dir, sample_name) + os.makedirs(sample_dir, exist_ok=True) + + layout_path = os.path.join(sample_dir, "layout.json") + with open(layout_path, 'w') as f: + json.dump(json_str, f, indent=4) + + print(f"Saved layout to {layout_path}") + + # Define paths + retrieved_path = os.path.join(sample_dir, "layout_retrieved.json") + scene_glb_path = os.path.join(sample_dir, "scene.glb") + render_img_path1 = os.path.join(sample_dir, "render_diagonal.png") + render_img_path2 = os.path.join(sample_dir, "render_topdown.png") + # 4个侧视角 + render_img_side_front = os.path.join(sample_dir, "render_side_front.png") + render_img_side_back = os.path.join(sample_dir, "render_side_back.png") + render_img_side_left = os.path.join(sample_dir, "render_side_left.png") + render_img_side_right = os.path.join(sample_dir, "render_side_right.png") + render_img_diagonal1 = os.path.join(sample_dir, "render_diagonal2.png") + render_img_diagonal2 = os.path.join(sample_dir, "render_diagonal3.png") + render_img_diagonal3 = os.path.join(sample_dir, "render_diagonal4.png") + + current_env = os.environ.copy() + + # 1. Retrieval + print("Retrieving assets...") + with open(layout_path, 'r') as f: + layout_data = json.load(f) + + retrieved_layout = process_layout(layout_data, embedding_manager, asset_finder) + + with open(retrieved_path, 'w') as f: + json.dump(retrieved_layout, f, indent=4) + + # Analyze actual mesh orientations + if HAS_MESH_ANALYSIS: + print("\nAnalyzing actual mesh orientations...") + try: + loader = NormalizedAssetMeshLoader() + print_mesh_orientations(retrieved_layout, loader) + except Exception as e: + print(f"Warning: Could not analyze mesh orientations: {e}") + else: + print("\n=== Asset Rotations (from layout) ===") + if 'functional_zones' in retrieved_layout: + for zone in retrieved_layout.get('functional_zones', []): + zone_id = zone.get('zone_id', 'unknown') + print(f"Zone: {zone_id}") + for asset in zone.get('assets', []): + asset_id = asset.get('id', 'unknown') + rot = asset.get('rot', [0, 0, 0]) + pos = asset.get('pos', [0, 0, 0]) + print(f" - {asset_id}: rot={rot}, pos={pos}") + elif 'groups' in retrieved_layout: + for group in retrieved_layout.get('groups', []): + group_id = group.get('group_id', 'unknown') + print(f"Group: {group_id}") + for obj in group.get('objects', []): + obj_id = obj.get('id', obj.get('uid', 'unknown')) + rot = obj.get('rot', [0, 0, 0]) + pos = obj.get('pos', [0, 0, 0]) + print(f" - {obj_id}: rot={rot}, pos={pos}") + print("=====================================\n") + + # 2. Composition + compose_scene( + layout=retrieved_layout, + output_path=scene_glb_path, + add_walls=False, + add_ceiling=False + ) + + # ========================================================================== + # 3. High-Quality Rendering (EEVEE + fill lights + good floor material) + # ========================================================================== + # 高质量渲染参数: + # - engine: BLENDER_EEVEE (比CYCLES快很多，质量仍然很好) + # - samples: 256 (足够高质量) + # - fill-lights: 启用补光 + # - floor-material: marble_hq (高质量大理石地板) + # + # 如需最高质量可手动修改为： + # --engine CYCLES --samples 512 --studio-lighting + + HQ_RENDER_ARGS = ( + "--engine BLENDER_EEVEE --samples 256 " + "--fill-lights " + # "--floor-material tiled_wood" + ) + + # Diagonal view + cmd_render = ( + f"conda run -n blender python InternScenes/InternScenes_Real2Sim/blender_renderer.py " + f"--input '{scene_glb_path}' " + f"--output '{render_img_path1}' " + f"--width 2500 --height 1600 " + f"--view-mode diagonal --auto-crop " + f"{HQ_RENDER_ARGS}" + ) + if not run_command(cmd_render, env=current_env, quiet=True): + return + + # Topdown view + cmd_render = ( + f"conda run -n blender python InternScenes/InternScenes_Real2Sim/blender_renderer.py " + f"--input '{scene_glb_path}' " + f"--output '{render_img_path2}' " + f"--width 2500 --height 1600 " + f"--view-mode topdown --auto-crop " + f"{HQ_RENDER_ARGS}" + ) + if not run_command(cmd_render, env=current_env, quiet=True): + return + + # 4个侧视角 (带俯视角度) + side_views = [ + # ("side_front", render_img_side_front), + # ("side_back", render_img_side_back), + # ("side_left", render_img_side_left), + # ("side_right", render_img_side_right), + # ("diagonal2", render_img_diagonal1), # 重复渲染对角视图以供对比 + # ("diagonal3", render_img_diagonal2), # 重复渲染俯视图以供对比 + # ("diagonal4", render_img_diagonal3), # 重复渲染俯视图以供对比 + ] + for view_mode, output_path in side_views: + cmd_render = ( + f"conda run -n blender python InternScenes/InternScenes_Real2Sim/blender_renderer.py " + f"--input '{scene_glb_path}' " + f"--output '{output_path}' " + f"--width 2500 --height 1600 " + f"--view-mode {view_mode} --side-elevation-angle 30 --auto-crop " + f"{HQ_RENDER_ARGS}" + ) + if not run_command(cmd_render, env=current_env, quiet=True): + print(f"Warning: Failed to render {view_mode} view") + + print(f"Successfully processed {sample_name}") + + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("--input", default="case_hq/H-shaped_01_001536_1766364802273481/layout_retrieved/layout_retrieved.json", help="Input file or directory") + parser.add_argument("--output", default="appendix_case/bench/H-shaped_01_001536_1766364802273481", help="Output directory") + args = parser.parse_args() + + # Initialize managers + print("Initializing Asset Managers...") + asset_library_dir = os.path.join(REPO_ROOT, "data/asset_library") + embeddings_file = os.path.join(REPO_ROOT, "tools/asset_embeddings.pkl") + + embedding_manager = AssetEmbeddingManager(embeddings_file=embeddings_file) + asset_finder = AssetFinder(asset_library_dir) + + if os.path.isfile(args.input): + process_file(args.input, args.output, embedding_manager, asset_finder) + elif os.path.isdir(args.input): + files = [f for f in os.listdir(args.input) if f.endswith(".json")] + for f in files: + process_file(os.path.join(args.input, f), args.output, embedding_manager, asset_finder) + else: + print(f"Invalid input: {args.input}") + + +if __name__ == "__main__": + main() diff --git a/tools/data_gen/visualize_predictions.py b/tools/data_gen/visualize_predictions.py new file mode 100644 index 0000000000000000000000000000000000000000..afbe3d1b9a0fa2e14f7d641c432cf95ce335496f --- /dev/null +++ b/tools/data_gen/visualize_predictions.py @@ -0,0 +1,301 @@ +import os +import json +import re +import argparse +import subprocess +import sys +from pathlib import Path + +# Add project root +SCRIPT_DIR = Path(__file__).parent +REPO_ROOT = SCRIPT_DIR.parent.parent +sys.path.insert(0, str(REPO_ROOT)) + +# Auto-detect BACKUP_BASE for asset paths (cluster vs local) +if "BACKUP_BASE" not in os.environ: + if os.path.isdir("/backup/datas/InternScenes"): + os.environ["BACKUP_BASE"] = "/backup" + elif os.path.isdir("/mnt/data/zms/backup/datas/InternScenes"): + os.environ["BACKUP_BASE"] = "/mnt/data/zms/backup" + else: + os.environ["BACKUP_BASE"] = os.path.expanduser("~/backup") + +BACKUP_BASE = os.environ["BACKUP_BASE"] +os.environ.setdefault("PTH_ASSET_NORMALIZED_LIBRARY", f"{BACKUP_BASE}/datas/InternScenes/asset_library_normalized") + +from tools.asset_description.asset_embedding_manager import AssetEmbeddingManager +from tools.asset_description.asset_finder import AssetFinder +from tools.data_gen.layout_retrieval import process_layout +from tools.data_gen.compose_generated import compose_scene + +def extract_answer(text): + """ + 提取 ... 中间的内容（不包含标签） + """ + pattern = r"(.*?)" + match = re.search(pattern, text, flags=re.DOTALL) + if match: + return match.group(1).strip() + return None + + +def extract_user_input(prompt_text): + """ + 从 prompt 字段中提取用户输入内容。 + 用户输入位于 '\n\nuser\n' 和 '\nassistant\n' 之间。 + + Args: + prompt_text: JSON 中 prompt 键的内容 + + Returns: + 提取的用户输入文本，如果找不到则返回 None + """ + if not prompt_text: + return None + + # 匹配 \n\nuser\n 和 \nassistant\n 之间的内容 + pattern = r"\n\nuser\n(.*?)\nassistant\n" + match = re.search(pattern, prompt_text, flags=re.DOTALL) + if match: + return match.group(1).strip() + + # 备用模式：尝试匹配其他可能的格式 + # 例如: "user\n" 开头到 "\nassistant" 结尾 + pattern_alt = r"user\n(.*?)\nassistant" + match_alt = re.search(pattern_alt, prompt_text, flags=re.DOTALL) + if match_alt: + return match_alt.group(1).strip() + + return None + +def quick_fix_to_json(py_str): + # 单引号转双引号（避免转换引号内已有的双引号） + s = py_str + + # 替换 True / False / None + s = re.sub(r'\bTrue\b', 'true', s) + s = re.sub(r'\bFalse\b', 'false', s) + s = re.sub(r'\bNone\b', 'null', s) + + # 把 key 的单引号转成双引号 + s = re.sub(r"\'([A-Za-z0-9_]+)\'\s*:", r'"\1":', s) + + # 把值中的单引号转双引号 + # 注意：这里可能会误伤包含单引号的字符串内容，但按照用户要求逻辑实现 + s = re.sub(r":\s*\'([^']*)\'", r': "\1"', s) + + # 再把剩余的单引号（一般是列表里的）转换 + s = s.replace("'", '"') + + # 校验是否可 parse + try: + return json.dumps(json.loads(s), indent=2, ensure_ascii=False) + except json.JSONDecodeError as e: + print(f"JSON Decode Error: {e}") + print(f"Problematic string snippet: {s[:500]}...") + return None + +def run_command(cmd, env=None): + print(f"Running: {cmd}") + try: + subprocess.check_call(cmd, shell=True, env=env) + return True + except subprocess.CalledProcessError as e: + print(f"Command failed: {e}") + return False + +def process_file(input_file, output_base_dir, embedding_manager, asset_finder, render_diagonal=False, skip_existing=True): + try: + # Check if scene already exists (skip if output images exist) + filename = os.path.basename(input_file) + sample_name = os.path.splitext(filename)[0] + sample_dir = os.path.join(output_base_dir, sample_name) + render_img_path2 = os.path.join(sample_dir, "render_topdown.png") + + if skip_existing and os.path.exists(render_img_path2): + print(f"Skipping {sample_name} - already exists") + return + + print(f"Processing {input_file}...") + + with open(input_file, 'r') as f: + data = json.load(f) + + if "predict" not in data: + print("No 'predict' field found.") + return + + predict_text = data["predict"] + answer_text = extract_answer(predict_text) + + # 提取用户输入：优先读取 user_prompt 键，没有的话再从 prompt 中提取 + user_input = data.get("user_prompt", None) + if not user_input: + prompt_text = data.get("prompt", "") + user_input = extract_user_input(prompt_text) + + if not answer_text: + print("No tag found in predict.") + return + + #json_str = quick_fix_to_json(answer_text) + json_str = answer_text + if not json_str: + print("Failed to convert to JSON.") + return + + # Create output directory for this sample + filename = os.path.basename(input_file) + sample_name = os.path.splitext(filename)[0] + sample_dir = os.path.join(output_base_dir, sample_name) + os.makedirs(sample_dir, exist_ok=True) + + layout_path = os.path.join(sample_dir, "layout.json") + with open(layout_path, 'w') as f: + f.write(json_str) + + print(f"Saved layout to {layout_path}") + + # 保存用户输入 + if user_input: + user_input_path = os.path.join(sample_dir, "user_input.txt") + with open(user_input_path, 'w', encoding='utf-8') as f: + f.write(user_input) + print(f"Saved user input to {user_input_path}") + else: + print("Warning: No user input found in prompt") + + # Define paths + retrieved_path = os.path.join(sample_dir, "layout_retrieved.json") + scene_glb_path = os.path.join(sample_dir, "scene.glb") + render_img_path1 = os.path.join(sample_dir, "render_diagonal.png") + render_img_path2 = os.path.join(sample_dir, "render_topdown.png") + # 新增的4个侧视角 + render_img_side_front = os.path.join(sample_dir, "render_side_front.png") + render_img_side_back = os.path.join(sample_dir, "render_side_back.png") + render_img_side_left = os.path.join(sample_dir, "render_side_left.png") + render_img_side_right = os.path.join(sample_dir, "render_side_right.png") + + # Get current env + current_env = os.environ.copy() + + # 1. Retrieval + print("Retrieving assets...") + with open(layout_path, 'r') as f: + layout_data = json.load(f) + + retrieved_layout = process_layout(layout_data, embedding_manager, asset_finder) + + with open(retrieved_path, 'w') as f: + json.dump(retrieved_layout, f, indent=4) + + # 提取 room_type 用于地板材质选择 + room_type = "default" + if "meta" in layout_data and "scene_type" in layout_data["meta"]: + room_type = layout_data["meta"]["scene_type"] + elif "meta" in layout_data and "room_type" in layout_data["meta"]: + room_type = layout_data["meta"]["room_type"] + print(f"Detected room type: {room_type}") + + # 1.5 Render Individual Assets (Debug) + print("Rendering individual assets for verification...") + # cmd_render_assets = f"python tools/data_gen/render_retrieved_assets.py --input '{retrieved_path}' --output '{sample_dir}'" + # run_command(cmd_render_assets, env=current_env) + + # 2. Composition + # cmd_compose = f"python tools/data_gen/compose_generated.py --input '{retrieved_path}' --output '{scene_glb_path}' --no-walls --no-ceiling" + # if not run_command(cmd_compose, env=current_env): + # return + + compose_scene( + layout=retrieved_layout, + output_path=scene_glb_path, + add_walls=False, + add_ceiling=False + ) + + # 3. Rendering (using conda run -n blender) + # Assuming we are in the project root + # Use BLENDER_EEVEE which will auto-upgrade to BLENDER_EEVEE_NEXT if needed + # This matches the logic in batch_render_scenes.py + + # 对角视角 (仅在指定时渲染) + if render_diagonal: + cmd_render = ( + f"conda run -n blender python InternScenes/InternScenes_Real2Sim/blender_renderer.py " + f"--input '{scene_glb_path}' " + f"--output '{render_img_path1}' " + f"--width 1200 --height 900 " + f"--engine BLENDER_EEVEE --samples 16 " + f"--view-mode diagonal --auto-crop " + # f"--room-type '{room_type}'" + ) + if not run_command(cmd_render, env=current_env): + print("Warning: Failed to render diagonal view") + + # 俯视图 + cmd_render = ( + f"conda run -n blender python InternScenes/InternScenes_Real2Sim/blender_renderer.py " + f"--input '{scene_glb_path}' " + f"--output '{render_img_path2}' " + f"--width 1200 --height 900 " + f"--engine BLENDER_EEVEE --samples 16 " + f"--view-mode topdown --auto-crop " + # f"--room-type '{room_type}'" + ) + if not run_command(cmd_render, env=current_env): + return + + # 渲染4个侧视角 (带俯视角度) + side_views = [ + ("side_front", render_img_side_front), + ("side_back", render_img_side_back), + ("side_left", render_img_side_left), + ("side_right", render_img_side_right), + ] + for view_mode, output_path in side_views: + cmd_render = ( + f"conda run -n blender python InternScenes/InternScenes_Real2Sim/blender_renderer.py " + f"--input '{scene_glb_path}' " + f"--output '{output_path}' " + f"--width 1200 --height 900 " + f"--engine BLENDER_EEVEE --samples 16 " + f"--view-mode {view_mode} --side-elevation-angle 30 --auto-crop " + # f"--room-type '{room_type}'" + ) + if not run_command(cmd_render, env=current_env): + print(f"Warning: Failed to render {view_mode} view") + + print(f"Successfully processed {sample_name}") + except Exception as e: + print(f"Error processing {input_file}: {e}") + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("--input", default="/home/v-meiszhang/amlt-project/group-layout/infer_results/layout_instr_bench_v2/zone_layout_grpo_8gpu_SFT_RL_iter_s40_ckpt286/step110", help="Input file or directory") + parser.add_argument("--output", default="sft_rl_iter_bench_v2/zone_layout_grpo_8gpu_SFT_RL_iter_s40_ckpt286_s110", help="Output directory") + parser.add_argument("--render-diagonal", default="true", help="Also render diagonal view (disabled by default)") + parser.add_argument("--no-skip-existing", action="store_true", help="Do not skip existing scenes (re-render all)") + args = parser.parse_args() + + skip_existing = not args.no_skip_existing + + # Initialize managers + print("Initializing Asset Managers...") + asset_library_dir = os.path.join(REPO_ROOT, "data/asset_library") + embeddings_file = os.path.join(REPO_ROOT, "tools/asset_embeddings.pkl") + + embedding_manager = AssetEmbeddingManager(embeddings_file=embeddings_file) + asset_finder = AssetFinder(asset_library_dir) + + if os.path.isfile(args.input): + process_file(args.input, args.output, embedding_manager, asset_finder, args.render_diagonal, skip_existing) + elif os.path.isdir(args.input): + files = [f for f in os.listdir(args.input) if f.endswith(".json")] + for f in files: + process_file(os.path.join(args.input, f), args.output, embedding_manager, asset_finder, args.render_diagonal, skip_existing) + else: + print(f"Invalid input: {args.input}") + +if __name__ == "__main__": + main() diff --git a/tools/post_process/__init__.py b/tools/post_process/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/tools/post_process/convert_to_unified_layout.py b/tools/post_process/convert_to_unified_layout.py new file mode 100644 index 0000000000000000000000000000000000000000..4253c8b86b52c451cfeb3b52a7a12b0e8299220a --- /dev/null +++ b/tools/post_process/convert_to_unified_layout.py @@ -0,0 +1,296 @@ +#!/usr/bin/env python3 +""" +Convert Layout to Unified Format + +将 layout_with_boundary.json 转换为统一的 unified_layout.json 格式。 +从 unified_layout_scenes.txt 读取场景列表。 + +输出格式: +{ + "meta": { + "scene_id": "scannet/scene0000_00", + "scene_type": "bedroom" + }, + "architecture": { + "floor_polygon": [[x, y, z], ...], # 底部顶点 + 顶部顶点 + "height": 2.6 + }, + "assets": [ + { + "id": 0, + "model_id": "partnet_mobility/103311", + "category": "window", + "description": "...", + "pos": [x, y, z], + "size": [w, h, d], + "rot": [rx, ry, rz] # 角度制 + }, + ... + ] +} + +使用方法: + python tools/post_process/convert_to_unified_layout.py --workers 16 + python tools/post_process/convert_to_unified_layout.py --skip-existing +""" + +import argparse +import os +import sys +import json +import math +from pathlib import Path +from typing import Dict, List, Optional, Tuple +from concurrent.futures import ProcessPoolExecutor, as_completed +import traceback + +# 添加项目路径 +SCRIPT_DIR = Path(__file__).parent +TOOLS_DIR = SCRIPT_DIR.parent +REPO_ROOT = TOOLS_DIR.parent +sys.path.insert(0, str(REPO_ROOT)) + +# 路径配置 +LAYOUT_INFO_BASE = "/home/v-meiszhang/backup/datas/InternScenes/Layout_info" +UNIFIED_LAYOUT_SCENES = REPO_ROOT / "unified_layout_scenes.txt" + + +def rad_to_deg(rad: float) -> float: + """弧度转角度""" + return rad * 180.0 / math.pi + + +def convert_layout_to_unified( + layout_path: str, + scene_key: str, + scene_type: str, + output_path: str = None +) -> Optional[Dict]: + """ + 将 layout_with_boundary.json 转换为 unified_layout.json 格式 + + Args: + layout_path: layout_with_boundary.json 路径 + scene_key: 场景标识符 + scene_type: 场景类型 + output_path: 输出路径，如果为 None 则保存到同目录下的 unified_layout.json + + Returns: + 转换后的数据，如果失败返回 None + """ + try: + # 读取原始 layout + with open(layout_path, 'r', encoding='utf-8') as f: + layout = json.load(f) + + scene_dir = os.path.dirname(layout_path) + + # 构建 architecture + architecture = {} + if "room_boundary" in layout: + boundary = layout["room_boundary"] + floor_polygon = [] + + # 添加底部顶点 + if "vertices_bottom" in boundary: + floor_polygon.extend(boundary["vertices_bottom"]) + + # 添加顶部顶点 + if "vertices_top" in boundary: + floor_polygon.extend(boundary["vertices_top"]) + + # 计算高度 + height = 2.6 # 默认高度 + if "vertices_bottom" in boundary and "vertices_top" in boundary: + if len(boundary["vertices_bottom"]) > 0 and len(boundary["vertices_top"]) > 0: + bottom_y = boundary["vertices_bottom"][0][1] + top_y = boundary["vertices_top"][0][1] + height = round(top_y - bottom_y, 2) + + architecture = { + "floor_polygon": floor_polygon, + "height": height + } + + # 构建 assets + assets = [] + if "instances" in layout: + for i, instance in enumerate(layout["instances"]): + # 转换旋转从弧度到角度 + rot = instance.get("rot", [0, 0, 0]) + rot_deg = [round(rad_to_deg(r), 2) for r in rot] + + asset = { + "id": i, + "model_id": instance.get("model_uid", ""), + "category": instance.get("category", ""), + "description": instance.get("description", ""), + "pos": instance.get("pos", [0, 0, 0]), + "size": instance.get("size", [1, 1, 1]), + "rot": rot_deg + } + assets.append(asset) + + # 构建统一格式 + unified = { + "meta": { + "scene_id": scene_key, + "scene_type": scene_type + }, + "architecture": architecture, + "assets": assets + } + + # 确定输出路径 + if output_path is None: + output_path = os.path.join(scene_dir, "unified_layout.json") + + # 保存 + with open(output_path, 'w', encoding='utf-8') as f: + json.dump(unified, f, ensure_ascii=False, indent=2) + + return unified + + except Exception as e: + print(f"Error converting {layout_path}: {e}") + traceback.print_exc() + return None + + +def process_single_layout(args: Tuple[str, str, bool]) -> Tuple[str, bool, str]: + """处理单个 layout 文件 (用于多进程)""" + scene_key, base_dir, skip_existing = args + + # 构建路径 + scene_path = os.path.join(base_dir, scene_key) + layout_path = os.path.join(scene_path, "layout_with_boundary.json") + output_path = os.path.join(scene_path, "unified_layout.json") + + # 检查是否跳过已存在 + if skip_existing and os.path.exists(output_path): + return (scene_key, True, "skipped") + + # 检查文件是否存在 + if not os.path.isfile(layout_path): + return (scene_key, False, "layout not found") + + # 检查渲染图是否存在 + topdown_path = os.path.join(scene_path, "render_topdown.png") + diagonal_path = os.path.join(scene_path, "render_diagonal.png") + if not os.path.isfile(topdown_path) or not os.path.isfile(diagonal_path): + return (scene_key, False, "render images not found") + + # 转换 (scene_type 设为 "other"，后续可以单独分类) + result = convert_layout_to_unified(layout_path, scene_key, "other") + return (scene_key, result is not None, "success" if result else "convert failed") + + +def main(): + parser = argparse.ArgumentParser( + description="Convert layout_with_boundary.json to unified_layout.json format" + ) + + parser.add_argument( + "--base-dir", + default=LAYOUT_INFO_BASE, + help="Base directory containing Layout_info" + ) + + parser.add_argument( + "--scene-list", + default=str(UNIFIED_LAYOUT_SCENES), + help="Path to scene list file (unified_layout_scenes.txt)" + ) + + parser.add_argument( + "--workers", "-w", + type=int, + default=16, + help="Number of worker processes" + ) + + parser.add_argument( + "--limit", + type=int, + help="Limit number of scenes to process" + ) + + parser.add_argument( + "--skip-existing", "-s", + action="store_true", + help="Skip already converted scenes" + ) + + parser.add_argument( + "--dataset", "-d", + type=str, + default="all", + choices=["all", "scannet", "3rscan", "arkitscenes", "matterport3d"], + help="Dataset to process (default: all)" + ) + + args = parser.parse_args() + + # 读取场景列表 + print(f"Loading scene list from {args.scene_list}...") + scene_list_path = Path(args.scene_list) + if not scene_list_path.exists(): + print(f"Error: Scene list file not found: {args.scene_list}") + sys.exit(1) + + with open(scene_list_path, 'r') as f: + all_scenes = [line.strip() for line in f if line.strip()] + + # 过滤数据集 + if args.dataset != "all": + if args.dataset == "arkitscenes": + all_scenes = [s for s in all_scenes if s.startswith("arkitscenes/")] + else: + all_scenes = [s for s in all_scenes if s.startswith(args.dataset + "/")] + + print(f" Total scenes in list: {len(all_scenes)}") + + if args.limit: + all_scenes = all_scenes[:args.limit] + print(f" Limited to: {len(all_scenes)}") + + # 多进程处理 + print(f"\nConverting layouts with {args.workers} workers...") + + results = {"success": 0, "failed": 0, "skipped": 0} + + # 准备参数: (scene_key, base_dir, skip_existing) + task_args = [(scene_key, args.base_dir, args.skip_existing) for scene_key in all_scenes] + + with ProcessPoolExecutor(max_workers=args.workers) as executor: + futures = {executor.submit(process_single_layout, arg): arg[0] for arg in task_args} + + for i, future in enumerate(as_completed(futures), 1): + scene_key = futures[future] + scene_key, success, reason = future.result() + + if success: + if reason == "skipped": + results["skipped"] += 1 + else: + results["success"] += 1 + elif "not found" in reason: + results["skipped"] += 1 + else: + results["failed"] += 1 + + if i % 500 == 0 or i == len(all_scenes): + print(f"[{i}/{len(all_scenes)}] success={results['success']}, skipped={results['skipped']}, failed={results['failed']}") + + # 打印统计 + print("\n" + "=" * 60) + print("SUMMARY") + print("=" * 60) + print(f"Total scenes: {len(all_scenes)}") + print(f"Successfully converted: {results['success']}") + print(f"Skipped (missing/existing): {results['skipped']}") + print(f"Failed: {results['failed']}") + + +if __name__ == "__main__": + main() diff --git a/tools/post_process/restore_3dfront_model_id.py b/tools/post_process/restore_3dfront_model_id.py new file mode 100644 index 0000000000000000000000000000000000000000..6295d22230cf05803aaa411f518b9377f5f409de --- /dev/null +++ b/tools/post_process/restore_3dfront_model_id.py @@ -0,0 +1,173 @@ +#!/usr/bin/env python3 +""" +Restore `model_uid` information for 3D-FRONT unified layouts and save as `model_id`. + +Data sources: +- Target (missing model_id): ~/backup/datas/unified-layout/3d-front///layout.json +- Source (with model_uid): /home/v-meiszhang/amlt-project/respace/3d-front-converted//.json + +Matching strategy: +- First try exact description match (case/whitespace normalized). +- If no exact hit, fallback to best fuzzy match using difflib.SequenceMatcher (ratio >= 0.75). +- Multiple identical descriptions share the same model_uid (chairs, etc.). + +Outputs: +- Updates layout.json in-place, adding `model_id` to each asset in functional_zones[*].assets. +- Prints per-file mapping stats and unmatched counts. + +Usage examples: + python tools/post_process/restore_3dfront_model_id.py \ + --scene 00110bde-f580-40be-b8bb-88715b338a2a \ + --rooms LivingDiningRoom-44785 + + python tools/post_process/restore_3dfront_model_id.py --dry-run # preview only +""" + +import argparse +import json +import os +from collections import defaultdict +from difflib import SequenceMatcher +from pathlib import Path +from typing import Dict, List, Optional, Tuple + + +def normalize_desc(text: str) -> str: + """Lowercase + collapse whitespace for robust matching.""" + return " ".join(text.lower().split()) if text else "" + + +def load_json(path: Path) -> Optional[Dict]: + if not path.exists(): + return None + with path.open("r", encoding="utf-8") as f: + return json.load(f) + + +def gather_target_assets(layout: Dict) -> List[Dict]: + assets: List[Dict] = [] + for zone in layout.get("functional_zones", []): + for asset in zone.get("assets", []): + assets.append(asset) + return assets + + +def build_source_index(source_assets: List[Dict]) -> Tuple[Dict[str, List[str]], List[Dict]]: + """Return (exact_map, remaining list) for fallback fuzzy search.""" + exact_map: Dict[str, List[str]] = defaultdict(list) + remaining: List[Dict] = [] + for a in source_assets: + desc_norm = normalize_desc(a.get("description", "")) + model_uid = a.get("model_uid") + if desc_norm and model_uid: + exact_map[desc_norm].append(model_uid) + remaining.append({"desc_norm": desc_norm, "model_uid": model_uid}) + return exact_map, remaining + + +def match_model_id(asset: Dict, exact_map: Dict[str, List[str]], remaining: List[Dict]) -> Tuple[Optional[str], float, str]: + """ + Match a target asset to a source model_uid. + Returns (model_id, score, method) + """ + desc = asset.get("description", "") + desc_norm = normalize_desc(desc) + + # Exact match first + if desc_norm in exact_map and exact_map[desc_norm]: + models = exact_map[desc_norm] + model_id = models[0] + # allow reuse if only one entry; pop only if multiple to preserve duplicates + if len(models) > 1: + models.pop(0) + return model_id, 1.0, "exact" + + # Fuzzy match fallback + best_score = 0.0 + best_model = None + for item in remaining: + score = SequenceMatcher(None, desc_norm, item["desc_norm"]).ratio() + if score > best_score: + best_score = score + best_model = item["model_uid"] + if best_score >= 0.75 and best_model: + return best_model, best_score, "fuzzy" + + return None, 0.0, "miss" + + +def process_room(scene: str, room: str, target_root: Path, source_root: Path, dry_run: bool = False) -> Dict[str, int]: + target_path = target_root / scene / room / "layout.json" + source_path = source_root / scene / f"{room}.json" + + layout = load_json(target_path) + source = load_json(source_path) + + if layout is None: + print(f"[WARN] target missing: {target_path}") + return {"updated": 0, "total": 0} + if source is None: + print(f"[WARN] source missing: {source_path}") + return {"updated": 0, "total": 0} + + target_assets = gather_target_assets(layout) + source_assets = source.get("assets", []) + exact_map, remaining = build_source_index(source_assets) + + updated = 0 + for asset in target_assets: + model_id, score, method = match_model_id(asset, exact_map, remaining) + if model_id: + asset["model_id"] = model_id + updated += 1 + else: + print(f"[MISS] {scene}/{room} asset desc='{asset.get('description', '')[:60]}'") + + if not dry_run: + target_path.parent.mkdir(parents=True, exist_ok=True) + with target_path.open("w", encoding="utf-8") as f: + json.dump(layout, f, ensure_ascii=False, indent=4) + + print(f"[DONE] {scene}/{room}: updated {updated}/{len(target_assets)} assets") + return {"updated": updated, "total": len(target_assets)} + + +def main(): + parser = argparse.ArgumentParser(description="Restore 3D-FRONT model_id from source model_uid") + parser.add_argument("--scene", nargs="*", default=None, help="Scene id(s) to process (default: all under target root)") + parser.add_argument("--rooms", nargs="*", default=None, help="Specific room names to process (default: all rooms in scene)") + parser.add_argument("--target-root", default=str(Path("~/backup/datas/unified-layout/3d-front").expanduser()), help="Unified layout root") + parser.add_argument("--source-root", default="/home/v-meiszhang/amlt-project/respace/3d-front-converted", help="Source converted root with model_uid") + parser.add_argument("--dry-run", action="store_true", help="Preview without writing changes") + args = parser.parse_args() + + target_root = Path(args.target_root) + source_root = Path(args.source_root) + + scenes = args.scene + if not scenes: + scenes = [p.name for p in target_root.iterdir() if p.is_dir()] + + total_updated = 0 + total_assets = 0 + + for scene in scenes: + scene_dir = target_root / scene + if not scene_dir.exists(): + print(f"[WARN] scene not found: {scene_dir}") + continue + + rooms = args.rooms + if not rooms: + rooms = [p.name for p in scene_dir.iterdir() if p.is_dir()] + + for room in rooms: + stats = process_room(scene, room, target_root, source_root, dry_run=args.dry_run) + total_updated += stats["updated"] + total_assets += stats["total"] + + print(f"[SUMMARY] updated {total_updated}/{total_assets} assets across scenes") + + +if __name__ == "__main__": + main()