ZachL1
/ unproject_omnidata_point.py
Created
June 13, 2024 15:17
Parse Omnidata's camera intrinsic and pose and convert them to OpenCV format, also provide an example of back-projection to 3D point cloud.
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| import json | |
| import math | |
| import numpy as np | |
| import cv2 | |
| import torch | |
| from plyfile import PlyData, PlyElement | |
| from pytorch3d.transforms import euler_angles_to_matrix | |
| from pytorch3d.renderer import FoVPerspectiveCameras | |
| # Copied from omnidata, which is badly named, the function returns what is actually world_to_camera |
ZachL1
/ cuda_conda_Dockerfile
Created
May 29, 2024 09:00
A simple Dockerfile to create the most basic containers containing cuda, conda and torch.
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| # docker build -t zach/cuda_conda:cu118-torch21 . --network host | |
| # sudo docker run --gpus all -it --ipc=host --ulimit memlock=-1 --ulimit stack=67108864 --user root -v /mnt/:/mnt/ -v ~/workspace/:~/workspace/ --network host zach/cuda_conda:cu118-torch21 | |
| FROM nvidia/cuda:11.8.0-cudnn8-devel-ubuntu22.04 | |
| # Add some dependencies | |
| RUN sed -i 's#http://archive.ubuntu.com/#http://mirrors.tuna.tsinghua.edu.cn/#' /etc/apt/sources.list |