update inferencer; add load_from_preprocessed_pts

utils/data_load.py

@@ -133,6 +133,12 @@ class DataLoadUtil:
         rgb_image = cv2.imread(rgb_path, cv2.IMREAD_COLOR)
         return rgb_image
     
+    @staticmethod
+    def load_from_preprocessed_pts(path):
+        npy_path = os.path.join(os.path.dirname(path), "points", os.path.basename(path) + ".npy")
+        pts = np.load(npy_path)
+        return pts
+
     @staticmethod
     def cam_pose_transformation(cam_pose_before):
         offset = np.asarray([

utils/render.py

@@ -34,9 +34,6 @@ class RenderUtil:
             point_cloud = DataLoadUtil.get_target_point_cloud_world_from_path(path, binocular=True)
             cam_params = DataLoadUtil.load_cam_info(path, binocular=True)
             filtered_point_cloud = ReconstructionUtil.filter_points(point_cloud, model_points_normals, cam_pose=cam_params["cam_to_world"], voxel_size=voxel_threshold, theta=filter_degree)
-            # ------  Debug Start ------
-            import ipdb;ipdb.set_trace()
-            # ------  Debug End ------
             full_scene_point_cloud = None
             if require_full_scene:
                 depth_L, depth_R = DataLoadUtil.load_depth(path, cam_params['near_plane'], cam_params['far_plane'], binocular=True)