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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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6
utils/render.py
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@@ -10,7 +10,7 @@ from utils.pts import PtsUtil
class RenderUtil:
@staticmethod
def render_pts(cam_pose, scene_path, script_path, model_points_normals, voxel_threshold=0.005, filter_degree=75, nO_to_nL_pose=None, require_full_scene=False):
def render_pts(cam_pose, scene_path, script_path, voxel_threshold=0.005, filter_degree=75, nO_to_nL_pose=None, require_full_scene=False):
nO_to_world_pose = DataLoadUtil.get_real_cam_O_from_cam_L(cam_pose, nO_to_nL_pose, scene_path=scene_path)
@@ -34,10 +34,10 @@ class RenderUtil:
return None
path = os.path.join(temp_dir, "tmp")
point_cloud = DataLoadUtil.get_target_point_cloud_world_from_path(path, binocular=True)
normals = DataLoadUtil.get_target_normals_world_from_path(path, binocular=True)
cam_params = DataLoadUtil.load_cam_info(path, binocular=True)
''' TODO: old code: filter_points api is changed, need to update the code '''
filtered_point_cloud = PtsUtil.filter_points(point_cloud, model_points_normals, cam_pose=cam_params["cam_to_world"], voxel_size=voxel_threshold, theta=filter_degree)
filtered_point_cloud = PtsUtil.filter_points(point_cloud, normals, cam_pose=cam_params["cam_to_world"], voxel_size=voxel_threshold, theta=filter_degree)
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)