Merge pull request #186 from agimus-project/remove_open3d

drop open3d dependency

Author: MedericFourmy

environment.yml

@@ -1,4 +1,4 @@
-name: happypose_torch2
+#name: happypose_torch2
 channels:
    - conda-forge
    - pytorch

happypose/pose_estimators/megapose/docker/Dockerfile.megapose

@@ -56,7 +56,7 @@ RUN source $CONDA_DIR/bin/activate && \
   pip install selenium omegaconf simplejson line_profiler opencv-python \
   torchnet tqdm lxml transforms3d panda3d joblib xarray pandas xarray matplotlib \
   bokeh plyfile trimesh wget ipdb panda3d-gltf colorama pyyaml ipykernel \
-  scipy pypng h5py seaborn kornia meshcat pyarrow dt_apriltags open3d structlog \
+  scipy pypng h5py seaborn kornia meshcat pyarrow dt_apriltags structlog \
   imageio
 
 # Blender
@@ -132,7 +132,6 @@ RUN apt-get install -y tmux
 # Install TEASER++
 RUN apt install -y cmake libeigen3-dev libboost-all-dev \
   && source $CONDA_DIR/bin/activate \
-  && pip install open3d \
   && mkdir /build && cd /build && git clone https://github.com/MIT-SPARK/TEASER-plusplus.git \
   && cd TEASER-plusplus && mkdir build && cd build \
   && cmake -DTEASERPP_PYTHON_VERSION=3.9 .. && make teaserpp_python \

happypose/pose_estimators/megapose/inference/refiner_utils.py

@@ -15,13 +15,6 @@
 
 # Third Party
 import numpy as np
-import open3d as o3d
-
-
-def numpy_to_open3d(xyz):
-    pcd = o3d.geometry.PointCloud()
-    pcd.points = o3d.utility.Vector3dVector(xyz)
-    return pcd
 
 
 def compute_masks(mask_type, depth_rendered, depth_measured, depth_delta_thresh=0.1):

happypose/pose_estimators/megapose/inference/teaserpp_refiner.py

@@ -27,10 +27,10 @@
 from happypose.pose_estimators.megapose.inference.depth_refiner import DepthRefiner
 from happypose.pose_estimators.megapose.inference.refiner_utils import (
     compute_masks,
-    numpy_to_open3d,
 )
 from happypose.pose_estimators.megapose.inference.types import PoseEstimatesType
 from happypose.toolbox.lib3d.rigid_mesh_database import BatchedMeshes
+from happypose.toolbox.lib3d.transform_ops import transform_pts_np
 from happypose.toolbox.renderer.panda3d_batch_renderer import Panda3dBatchRenderer
 from happypose.toolbox.renderer.types import Panda3dLightData
 from happypose.toolbox.visualization.meshcat_utils import get_pointcloud
@@ -137,16 +137,11 @@ def compute_teaserpp_refinement(
 
     solution = solver.getSolution()
 
-    T = np.eye(4)
-    T[:3, :3] = solution.rotation
-    T[:3, 3] = solution.translation
-    T_tgt_src = T
-
-    # check number of inliers
-    pc_src_o3d = numpy_to_open3d(pc_src)
-    pc_src_o3d_refined = pc_src_o3d.transform(T_tgt_src)
-    pc_src_refined = np.array(pc_src_o3d_refined.points)
+    T_tgt_src = np.eye(4)
+    T_tgt_src[:3, :3] = solution.rotation
+    T_tgt_src[:3, 3] = solution.translation
 
+    pc_src_refined = transform_pts_np(T_tgt_src, pc_src)
     diff = np.linalg.norm(pc_src_refined - pc_tgt, axis=-1)
     inliers = np.count_nonzero(diff < solver_params.noise_bound)
 
@@ -158,8 +153,8 @@ def compute_teaserpp_refinement(
         "pc_tgt": pc_tgt,
         "pc_src_mask": pc_src_mask,
         "pc_tgt_mask": pc_tgt_mask,
-        "T": T,
-        "T_tgt_src": T,  # transform that aligns src to tgt
+        "T": T_tgt_src,
+        "T_tgt_src": T_tgt_src,  # transform that aligns src to tgt
         "num_inliers": inliers,
     }
 

happypose/toolbox/lib3d/transform_ops.py

@@ -18,13 +18,28 @@
 
 # Third Party
 import numpy as np
+import numpy.typing as npt
 import torch
 import transforms3d
 
 # Local Folder
 from happypose.toolbox.lib3d.rotations import compute_rotation_matrix_from_ortho6d
 
 
+def transform_pts_np(T: npt.NDArray, pts: npt.NDArray):
+    """Args:
+    ----
+        T (torch.Tensor): (4, 4), homogeneous matrix representing a SE(3) transformation
+        pts (torch.Tensor): (n_pts, 3), 3D points to be transformed by T
+
+    Returns
+    -------
+        npt.NDArray: (n_pts, 3)
+    """
+
+    return (T[:3, :3] @ pts.T + T[:3, 3].reshape((3, 1))).T
+
+
 def transform_pts(T: torch.Tensor, pts: torch.Tensor) -> torch.Tensor:
     """Args:
     ----