hofee/nbv_reconstruction
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Merge branch 'master' of http://git.hofee.top/hofee/nbv_reconstruction

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hofee
2024-09-20 15:00:38 +08:00
parent fc700d0a5c 18333e6831
commit a621749cc9
5 changed files with 5 additions and 26 deletions
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20
utils/data_load.py
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@@ -17,27 +17,11 @@ class DataLoadUtil:
path = os.path.join(root,scene_name, f"label.json")
return path
@staticmethod
def get_sampled_model_points_path(root, scene_name):
path = os.path.join(root,scene_name, f"sampled_model_points.txt")
return path
@staticmethod
def get_scene_seq_length(root, scene_name):
camera_params_path = os.path.join(root, scene_name, "camera_params")
return len(os.listdir(camera_params_path))
@staticmethod
def load_downsampled_world_model_points(root, scene_name):
model_path = DataLoadUtil.get_sampled_model_points_path(root, scene_name)
model_points = np.loadtxt(model_path)
return model_points
@staticmethod
def save_downsampled_world_model_points(root, scene_name, model_points):
model_path = DataLoadUtil.get_sampled_model_points_path(root, scene_name)
np.savetxt(model_path, model_points)
@staticmethod
def load_mesh_at(model_dir, object_name, world_object_pose):
model_path = os.path.join(model_dir, object_name, "mesh.obj")
@@ -279,7 +263,9 @@ class DataLoadUtil:
return overlapping_points
@staticmethod
def load_points_normals(root, scene_name):
def load_points_normals(root, scene_name, display_table_as_world_space_origin=True):
points_path = os.path.join(root, scene_name, "points_and_normals.txt")
points_normals = np.loadtxt(points_path)
if display_table_as_world_space_origin:
points_normals[:,:3] = points_normals[:,:3] - DataLoadUtil.DISPLAY_TABLE_POSITION
return points_normals