solve merge

utils/data_load.py

@@ -14,19 +14,12 @@ class DataLoadUtil:
     
     @staticmethod
     def load_exr_image(file_path):
-        # 打开 EXR 文件
         exr_file = OpenEXR.InputFile(file_path)
-        
-        # 获取 EXR 文件的头部信息，包括尺寸
         header = exr_file.header()
         dw = header['dataWindow']
         width = dw.max.x - dw.min.x + 1
         height = dw.max.y - dw.min.y + 1
-
-        # 定义通道，通常法线图像是 RGB
         float_channels = ['R', 'G', 'B']
-
-        # 读取 EXR 文件中的每个通道并转化为浮点数数组
         img_data = []
         for channel in float_channels:
             channel_data = exr_file.channel(channel)

utils/pts.py

@@ -84,14 +84,14 @@ class PtsUtil:
         theta = np.arccos(cos_theta) * 180 / np.pi
         idx = theta < theta_limit
         filtered_sampled_points = points[idx]
-        
+        filtered_normals = normals[idx]
         
         """ filter with z range """
         points_cam = PtsUtil.transform_point_cloud(filtered_sampled_points, np.linalg.inv(cam_pose))
         idx = (points_cam[:, 2] > z_range[0]) & (points_cam[:, 2] < z_range[1])
         z_filtered_points = filtered_sampled_points[idx]
-        
-        return z_filtered_points[:, :3]
+        z_filtered_normals = filtered_normals[idx]
+        return z_filtered_points[:, :3], z_filtered_normals
     
     @staticmethod
     def point_to_hash(point, voxel_size):

utils/vis.py

@@ -128,10 +128,10 @@ class visualizeUtil:
 if __name__ == "__main__":
     root = r"/home/yan20/nbv_rec/project/franka_control/temp"
     model_dir = r"H:\\AI\\Datasets\\scaled_object_box_meshes"
-    scene = "cad_model_world"
-    output_dir = r"/home/yan20/nbv_rec/project/franka_control/temp/output"
+    scene = "box"
+    output_dir = r"C:\Document\Local Project\nbv_rec\nbv_reconstruction\test"
     
-    visualizeUtil.save_all_cam_pos_and_cam_axis(root, scene, output_dir)
+    #visualizeUtil.save_all_cam_pos_and_cam_axis(root, scene, output_dir)
     visualizeUtil.save_all_combined_pts(root, scene, output_dir)
     visualizeUtil.save_target_mesh_at_world_space(root, model_dir, scene)
     #visualizeUtil.save_points_and_normals(root, scene,"10", output_dir, binocular=True)