hofee/nbv_reconstruction
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Merge branch 'master' of http://git.hofee.top/hofee/nbv_reconstruction

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hofee
2024-09-30 10:04:59 +08:00
parent 983cb22d4c 2633a48b4e
commit 551282a0ec
10 changed files with 545 additions and 342 deletions
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20
runners/strategy_generator.py
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@@ -82,28 +82,40 @@ class StrategyGenerator(Runner):
model_points_normals = DataLoadUtil.load_points_normals(root, scene_name)
model_pts = model_points_normals[:,:3]
down_sampled_model_pts = PtsUtil.voxel_downsample_point_cloud(model_pts, voxel_threshold)
display_table_info = DataLoadUtil.get_display_table_info(root, scene_name)
radius = display_table_info["radius"]
top = DataLoadUtil.get_display_table_top(root, scene_name)
scan_points = ReconstructionUtil.generate_scan_points(display_table_top=top,display_table_radius=radius)
pts_list = []
scan_points_indices_list = []
for frame_idx in range(frame_num):
if self.load_pts and os.path.exists(os.path.join(root,scene_name, "pts", f"{frame_idx}.txt")):
sampled_point_cloud = np.loadtxt(os.path.join(root,scene_name, "pts", f"{frame_idx}.txt"))
indices = np.loadtxt(os.path.join(root,scene_name, "pts", f"{frame_idx}_indices.txt")).astype(np.int32).tolist()
status_manager.set_progress("generate_strategy", "strategy_generator", "loading frame", frame_idx, frame_num)
pts_list.append(sampled_point_cloud)
continue
scan_points_indices_list.append(indices)
else:
path = DataLoadUtil.get_path(root, scene_name, frame_idx)
cam_params = DataLoadUtil.load_cam_info(path, binocular=True)
status_manager.set_progress("generate_strategy", "strategy_generator", "loading frame", frame_idx, frame_num)
point_cloud = DataLoadUtil.get_target_point_cloud_world_from_path(path, binocular=True)
point_cloud, display_table_pts = DataLoadUtil.get_target_point_cloud_world_from_path(path, binocular=True, get_display_table_pts=True)
sampled_point_cloud = ReconstructionUtil.filter_points(point_cloud, model_points_normals, cam_pose=cam_params["cam_to_world"], voxel_size=voxel_threshold, theta=self.filter_degree)
covered_pts, indices = ReconstructionUtil.compute_covered_scan_points(scan_points, display_table_pts)
if self.save_pts:
pts_dir = os.path.join(root,scene_name, "pts")
covered_pts_dir = os.path.join(pts_dir, "covered_scan_pts")
if not os.path.exists(pts_dir):
os.makedirs(pts_dir)
if not os.path.exists(covered_pts_dir):
os.makedirs(covered_pts_dir)
np.savetxt(os.path.join(pts_dir, f"{frame_idx}.txt"), sampled_point_cloud)
np.savetxt(os.path.join(covered_pts_dir, f"{frame_idx}.txt"), covered_pts)
np.savetxt(os.path.join(pts_dir, f"{frame_idx}_indices.txt"), indices)
pts_list.append(sampled_point_cloud)
scan_points_indices_list.append(indices)
status_manager.set_progress("generate_strategy", "strategy_generator", "loading frame", frame_num, frame_num)
seq_num = min(self.seq_num, len(pts_list))