update to 0.6.2

benchmark/generate_nvblox_images.py

@@ -0,0 +1,66 @@
+#
+# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+# property and proprietary rights in and to this material, related
+# documentation and any modifications thereto. Any use, reproduction,
+# disclosure or distribution of this material and related documentation
+# without an express license agreement from NVIDIA CORPORATION or
+# its affiliates is strictly prohibited.
+#
+
+# Standard Library
+from copy import deepcopy
+
+# Third Party
+import numpy as np
+import torch
+from nvblox_torch.datasets.mesh_dataset import MeshDataset
+from robometrics.datasets import demo_raw, motion_benchmaker_raw, mpinets_raw
+from tqdm import tqdm
+
+# CuRobo
+from curobo.geom.sdf.world import WorldConfig
+from curobo.util.logger import setup_curobo_logger
+
+torch.manual_seed(0)
+
+torch.backends.cudnn.benchmark = True
+
+torch.backends.cuda.matmul.allow_tf32 = True
+torch.backends.cudnn.allow_tf32 = True
+
+np.random.seed(0)
+
+
+def generate_images():
+    # load dataset:
+
+    file_paths = [demo_raw, motion_benchmaker_raw, mpinets_raw][1:]
+
+    for file_path in file_paths:
+        problems = file_path()
+
+        for key, v in tqdm(problems.items()):
+            scene_problems = problems[key]
+            i = 0
+            for problem in tqdm(scene_problems, leave=False):
+                i += 1
+
+                world = WorldConfig.from_dict(deepcopy(problem["obstacles"])).get_mesh_world(
+                    merge_meshes=True
+                )
+                mesh = world.mesh[0].get_trimesh_mesh()
+
+                # world.save_world_as_mesh(problem_name + ".stl")
+                save_path = "benchmark/log/nvblox/" + key + "_" + str(i)
+
+                # generate images and write to disk:
+                MeshDataset(
+                    None, n_frames=50, image_size=640, save_data_dir=save_path, trimesh_mesh=mesh
+                )
+
+
+if __name__ == "__main__":
+    setup_curobo_logger("error")
+    generate_images()