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global: upd inference

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hofee
2024-11-01 08:43:13 +00:00
parent b221036e8b
commit 985a08d89c
4 changed files with 74 additions and 66 deletions
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28
core/seq_dataset.py
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@@ -103,6 +103,18 @@ class SeqReconstructionDataset(BaseDataset):
except Exception as e:
Log.error(f"Save cache failed: {e}")
def seq_combined_pts(self, scene, frame_idx_list):
all_combined_pts = []
for i in frame_idx_list:
path = DataLoadUtil.get_path(self.root_dir, scene, i)
pts = DataLoadUtil.load_from_preprocessed_pts(path,"npy")
if pts.shape[0] == 0:
continue
all_combined_pts.append(pts)
all_combined_pts = np.vstack(all_combined_pts)
downsampled_all_pts = PtsUtil.voxel_downsample_point_cloud(all_combined_pts, 0.003)
return downsampled_all_pts
def __getitem__(self, index):
data_item_info = self.datalist[index]
max_coverage_rate = data_item_info["max_coverage_rate"]
@@ -129,21 +141,27 @@ class SeqReconstructionDataset(BaseDataset):
scanned_coverages_rate.append(coverage_rate)
n_to_world_6d = PoseUtil.matrix_to_rotation_6d_numpy(
np.asarray(n_to_world_pose[:3, :3])
)
)
first_left_cam_pose = cam_info["cam_to_world"]
first_center_cam_pose = cam_info["cam_to_world_O"]
first_O_to_first_L_pose = np.dot(np.linalg.inv(first_left_cam_pose), first_center_cam_pose)
n_to_world_trans = n_to_world_pose[:3, 3]
n_to_world_9d = np.concatenate([n_to_world_6d, n_to_world_trans], axis=0)
scanned_n_to_world_pose.append(n_to_world_9d)
# combined_scanned_views_pts = np.concatenate(scanned_views_pts, axis=0)
# voxel_downsampled_combined_scanned_pts_np = PtsUtil.voxel_downsample_point_cloud(combined_scanned_views_pts, 0.002)
# random_downsampled_combined_scanned_pts_np = PtsUtil.random_downsample_point_cloud(voxel_downsampled_combined_scanned_pts_np, self.pts_num)
frame_list = []
for i in range(DataLoadUtil.get_scene_seq_length(self.root_dir, scene_name)):
frame_list.append(i)
gt_pts = self.seq_combined_pts(scene_name, frame_list)
data_item = {
"first_scanned_pts": np.asarray(scanned_views_pts, dtype=np.float32), # Ndarray(S x Nv x 3)
"first_scanned_coverage_rate": scanned_coverages_rate, # List(S): Float, range(0, 1)
"first_scanned_n_to_world_pose_9d": np.asarray(scanned_n_to_world_pose, dtype=np.float32), # Ndarray(S x 9)
"seq_max_coverage_rate": max_coverage_rate, # Float, range(0, 1)
"scene_name": scene_name, # String
"gt_pts": gt_pts, # Ndarray(N x 3)
"scene_path": os.path.join(self.root_dir, scene_name), # String
"O_to_L_pose": first_O_to_first_L_pose,
}
return data_item