upd ab_global_only

core/seq_dataset_preprocessed.py

@@ -15,21 +15,19 @@ from utils.data_load import DataLoadUtil
 from utils.pose import PoseUtil
 from utils.pts import PtsUtil
 
-
 @stereotype.dataset("seq_reconstruction_dataset_preprocessed")
 class SeqReconstructionDatasetPreprocessed(BaseDataset):
     def __init__(self, config):
         super(SeqReconstructionDatasetPreprocessed, self).__init__(config)
         self.config = config
         self.root_dir = config["root_dir"]
-        self.real_root_dir = r"H:\AI\Datasets\packed_test_data"
+        self.real_root_dir = r"/media/hofee/data/data/new_testset"
         self.item_list = os.listdir(self.root_dir)
 
     def __getitem__(self, index):
         data = pickle.load(open(os.path.join(self.root_dir, self.item_list[index]), "rb"))
         data_item = {
             "first_scanned_pts": np.asarray(data["first_scanned_pts"], dtype=np.float32), # Ndarray(S x Nv x 3)
-            "first_scanned_coverage_rate": data["first_scanned_coverage_rate"], # List(S): Float, range(0, 1)
             "first_scanned_n_to_world_pose_9d": np.asarray(data["first_scanned_n_to_world_pose_9d"], dtype=np.float32), # Ndarray(S x 9)
             "seq_max_coverage_rate": data["seq_max_coverage_rate"], # Float, range(0, 1)
             "best_seq_len": data["best_seq_len"], # Int
@@ -43,7 +41,6 @@ class SeqReconstructionDatasetPreprocessed(BaseDataset):
     def __len__(self):
         return len(self.item_list)
 
-
 # -------------- Debug ---------------- #
 if __name__ == "__main__":
     import torch