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add inference

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hofee
2024-09-19 00:14:26 +08:00
parent 9ec3a00fd4
commit 935069d68c
10 changed files with 302 additions and 139 deletions
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10
core/seq_dataset.py
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@@ -51,7 +51,7 @@ class SeqNBVReconstructionDataset(BaseDataset):
"first_frame": first_frame,
"max_coverage_rate": max_coverage_rate
})
return datalist
return datalist[5:]
def __getitem__(self, index):
data_item_info = self.datalist[index]
@@ -85,6 +85,7 @@ class SeqNBVReconstructionDataset(BaseDataset):
voxel_threshold = diag*0.02
first_O_to_first_L_pose = np.dot(np.linalg.inv(first_left_cam_pose), first_center_cam_pose)
scene_path = os.path.join(self.root_dir, scene_name)
model_points_normals = DataLoadUtil.load_points_normals(self.root_dir, scene_name)
data_item = {
"first_pts": np.asarray([first_downsampled_target_point_cloud],dtype=np.float32),
"first_to_first_9d": np.asarray([first_to_first_9d],dtype=np.float32),
@@ -92,10 +93,11 @@ class SeqNBVReconstructionDataset(BaseDataset):
"max_coverage_rate": max_coverage_rate,
"voxel_threshold": voxel_threshold,
"filter_degree": self.filter_degree,
"first_frame_to_world": first_frame_to_world,
"first_O_to_first_L_pose": first_O_to_first_L_pose,
"first_frame_to_world": np.asarray(first_frame_to_world, dtype=np.float32),
"O_to_L_pose": first_O_to_first_L_pose,
"first_frame_coverage": first_frame_coverage,
"scene_path": scene_path
"scene_path": scene_path,
"model_points_normals": model_points_normals,
}
return data_item