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hofee
2024-09-08 19:43:01 +08:00
parent b5d44b153a
commit 38f7f8df18
10 changed files with 142 additions and 847 deletions
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15
utils/reconstruction.py
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@@ -101,5 +101,20 @@ class ReconstructionUtil:
runner_name = status_info["runner_name"]
sm.set_progress(app_name, runner_name, "processed view", len(point_cloud_list), len(point_cloud_list))
return view_sequence, remaining_views
@staticmethod
def filter_points(points, points_normals, cam_pose, voxel_size=0.005, theta=45):
sampled_points = PtsUtil.voxel_downsample_point_cloud(points, voxel_size)
kdtree = cKDTree(points_normals[:,:3])
_, indices = kdtree.query(sampled_points)
nearest_points = points_normals[indices]
normals = nearest_points[:, 3:]
camera_axis = -cam_pose[:3, 2]
normals_normalized = normals / np.linalg.norm(normals, axis=1, keepdims=True)
cos_theta = np.dot(normals_normalized, camera_axis)
theta_rad = np.deg2rad(theta)
filtered_sampled_points= sampled_points[cos_theta > np.cos(theta_rad)]
return filtered_sampled_points[:, :3]