From a21538c90a6d787a6895a73917b1c14abae5f597 Mon Sep 17 00:00:00 2001 From: hofee Date: Tue, 29 Oct 2024 11:41:44 +0000 Subject: [PATCH] global_only: dataset --- core/nbv_dataset.py | 12 +----------- core/{global_pts_n_num_pipeline.py => pipeline.py} | 0 2 files changed, 1 insertion(+), 11 deletions(-) rename core/{global_pts_n_num_pipeline.py => pipeline.py} (100%) diff --git a/core/nbv_dataset.py b/core/nbv_dataset.py index 628f031..d47975a 100644 --- a/core/nbv_dataset.py +++ b/core/nbv_dataset.py @@ -169,19 +169,9 @@ class NBVReconstructionDataset(BaseDataset): 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) - combined_scanned_views_pts_mask = np.zeros(len(combined_scanned_views_pts), dtype=np.uint8) - - start_idx = 0 - for i in range(len(scanned_views_pts)): - end_idx = start_idx + len(scanned_views_pts[i]) - combined_scanned_views_pts_mask[start_idx:end_idx] = i - start_idx = end_idx - fps_downsampled_combined_scanned_pts_mask = combined_scanned_views_pts_mask[fps_idx] - data_item = { "scanned_pts": np.asarray(scanned_views_pts, dtype=np.float32), # Ndarray(S x Nv x 3) - "scanned_pts_mask": np.asarray(fps_downsampled_combined_scanned_pts_mask,dtype=np.uint8), # Ndarray(N), range(0, S) - "combined_scanned_pts": np.asarray(fps_downsampled_combined_scanned_pts, dtype=np.float32), # Ndarray(N x 3) + "combined_scanned_pts": np.asarray(random_downsampled_combined_scanned_pts_np, dtype=np.float32), # Ndarray(N x 3) "scanned_coverage_rate": scanned_coverages_rate, # List(S): Float, range(0, 1) "scanned_n_to_world_pose_9d": np.asarray(scanned_n_to_world_pose, dtype=np.float32), # Ndarray(S x 9) "best_coverage_rate": nbv_coverage_rate, # Float, range(0, 1) diff --git a/core/global_pts_n_num_pipeline.py b/core/pipeline.py similarity index 100% rename from core/global_pts_n_num_pipeline.py rename to core/pipeline.py