hofee/nbv_reconstruction
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

solve merge

Browse Source
This commit is contained in:
hofee
2024-10-23 13:59:12 +08:00
parent b18c1591b7 c55a398b6d
commit 64b22fd0f4
11 changed files with 215 additions and 112 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
preprocess/preprocessor.py
View File

@@ -9,8 +9,6 @@ from utils.reconstruction import ReconstructionUtil
from utils.data_load import DataLoadUtil
from utils.pts import PtsUtil
# scan shoe 536
def save_np_pts(path, pts: np.ndarray, file_type="txt"):
if file_type == "txt":
np.savetxt(path, pts)
@@ -23,6 +21,12 @@ def save_target_points(root, scene, frame_idx, target_points: np.ndarray, file_t
if not os.path.exists(os.path.join(root,scene, "pts")):
os.makedirs(os.path.join(root,scene, "pts"))
save_np_pts(pts_path, target_points, file_type)
def save_target_normals(root, scene, frame_idx, target_normals: np.ndarray, file_type="txt"):
pts_path = os.path.join(root,scene, "nrm", f"{frame_idx}.{file_type}")
if not os.path.exists(os.path.join(root,scene, "nrm")):
os.makedirs(os.path.join(root,scene, "nrm"))
save_np_pts(pts_path, target_normals, file_type)
def save_scan_points_indices(root, scene, frame_idx, scan_points_indices: np.ndarray, file_type="txt"):
indices_path = os.path.join(root,scene, "scan_points_indices", f"{frame_idx}.{file_type}")
@@ -137,7 +141,7 @@ def save_scene_data(root, scene, scene_idx=0, scene_total=1,file_type="txt"):
has_points = target_points.shape[0] > 0
if has_points:
target_points = PtsUtil.filter_points(
target_points, target_normals = PtsUtil.filter_points(
target_points, sampled_target_normal_L, cam_info["cam_to_world"], theta_limit = filter_degree, z_range=(min_z, max_z)
)
@@ -151,6 +155,7 @@ def save_scene_data(root, scene, scene_idx=0, scene_total=1,file_type="txt"):
target_points = np.zeros((0, 3))
save_target_points(root, scene, frame_id, target_points, file_type=file_type)
save_target_normals(root, scene, frame_id, target_normals, file_type=file_type)
save_scan_points_indices(root, scene, frame_id, scan_points_indices, file_type=file_type)
save_scan_points(root, scene, scan_points) # The "done" flag of scene preprocess