debug

data_capturing/DataCapturer.py

@@ -115,3 +115,7 @@ def start_capture(self):
 
         meta_file.close()
         data_file.close()
+
+        print("All data saved!")
+        print("Run process_data to perform synchronization and extract capture phase.")
+        print("Additionally, please fill scene_meta.yaml with the objects that are in this scene.")

data_processing/CameraPoseSynchronizer.py

@@ -66,7 +66,7 @@ def synchronize_camera_poses_and_frames(scene_dir, cleaned_opti_poses, show_sync
 
         #calculate virtual -> opti from ARUCO and extrinsic
 
-        camera_opti_calc = CameraOptiExtrinsicCalculator(None, None)
+        camera_opti_calc = CameraOptiExtrinsicCalculator()
         aruco_to_opti = camera_opti_calc.get_aruco_to_opti()
 
         dictionary = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250)
@@ -94,8 +94,7 @@ def calculate_virtual_to_opti(row):
                 aruco_to_sensor[3,3] = 1
                 sensor_to_aruco = np.linalg.inv(aruco_to_sensor) # sensor -> aruco 
                 sensor_to_opti = aruco_to_opti @ sensor_to_aruco # sensor -> opti
-                virtual_to_opti = sensor_to_opti
-                xyz_pos = virtual_to_opti[:3, -1]
+                xyz_pos = sensor_to_opti[:3, -1]
                 return xyz_pos
 
             else:

utils/depth_utils.py

@@ -1,4 +1,3 @@
-import normalSpeed
 from PIL import Image
 import os
 import numpy as np
@@ -36,11 +35,6 @@ def norm2bgr(norm):
     norm = ((norm + 1.0) * 127).astype("uint8")
     return norm
 
-#depth should be in millimeters
-def compute_normals(depth, fx, fy, k_size=5, distance_threshold=2000, difference_threshold=20, point_into_surface=False):
-    normals = normalSpeed.depth_normal(depth, fx, fy, k_size, distance_threshold, difference_threshold, point_into_surface)
-    return normals
-
 def main():
     ycb_root = "datasets/ycb/YCB_Video_Dataset/"
     test_img = np.array(Image.open(os.path.join(ycb_root, "data/0000/000001-depth.png")))