fix kubric rendering

probcomp · Oct 20, 2023 · f87ca24 · f87ca24
1 parent 699718f
commit f87ca24
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Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/bayes3d/rendering/photorealistic_renderers/_kubric_exec_parallel.py b/bayes3d/rendering/photorealistic_renderers/_kubric_exec_parallel.py
@@ -40,8 +40,8 @@
 logging.basicConfig(level="INFO")
 
 #convert intrinsics to focal_length, sensor_width
-focal_length = fx / width
-sensor_width = 1 
+focal_length = float(fx)
+sensor_width = float(width)
 
 for scene_number in range(len(poses)):
     # --- create scene and attach a renderer to it

diff --git a/test/test_kubric.py b/test/test_kubric.py
@@ -26,10 +26,11 @@
 
 intrinsics = b.Intrinsics(
     rgbd.intrinsics.height, rgbd.intrinsics.width,
-    rgbd.intrinsics.fx, rgbd.intrinsics.fx,
+    200.0, 200.0,
     rgbd.intrinsics.width/2, rgbd.intrinsics.height/2,
     rgbd.intrinsics.near, rgbd.intrinsics.far
 )
+print(intrinsics)
 
 poses = []
 for i in range(len(gt_ids)):
@@ -50,4 +51,7 @@
 kubri_rgb = b.get_rgb_image(rgbds[0].rgb)
 kubric_depth = b.get_depth_image(rgbds[0].depth)
 rerendered_depth = b.get_depth_image(img[:,:,2])
-b.multi_panel([kubri_rgb, kubric_depth, rerendered_depth],labels=["kubric_rgb", "kubric_depth", "rerendered_depth"]).save("test_kubric.png")
+overlay = b.overlay_image(kubric_depth, rerendered_depth, alpha=0.5)
+b.multi_panel([kubri_rgb, kubric_depth, rerendered_depth, overlay],labels=["kubric_rgb", "kubric_depth", "rerendered_depth", "overlay"]).save("test_kubric.png")
+
+from IPython import embed; embed()