hofee/nbv_reconstruction
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solve merge

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hofee
2024-10-17 06:14:46 -05:00
parent 0267aed6e5 31b3fa8399
commit b3344626cf
4 changed files with 13 additions and 9 deletions
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9
preprocess/preprocessor.py
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@@ -9,12 +9,15 @@ from utils.reconstruction import ReconstructionUtil
from utils.data_load import DataLoadUtil
from utils.pts import PtsUtil
# scan shoe 536
def save_np_pts(path, pts: np.ndarray, file_type="txt"):
if file_type == "txt":
np.savetxt(path, pts)
else:
np.save(path, pts)
def save_target_points(root, scene, frame_idx, target_points: np.ndarray, file_type="txt"):
pts_path = os.path.join(root,scene, "pts", f"{frame_idx}.{file_type}")
if not os.path.exists(os.path.join(root,scene, "pts")):
@@ -87,7 +90,7 @@ def save_scene_data(root, scene, scene_idx=0, scene_total=1,file_type="txt"):
target_mask_label = (0, 255, 0, 255)
display_table_mask_label=(0, 0, 255, 255)
random_downsample_N = 32768
voxel_size=0.002
voxel_size=0.003
filter_degree = 75
min_z = 0.2
max_z = 0.5
@@ -164,7 +167,7 @@ if __name__ == "__main__":
# scene_list.append(line.strip())
scene_list = os.listdir(root)
from_idx = 0 # 1000
to_idx = len(scene_list) # 1500
to_idx = 700 # 1500
print(scene_list)
@@ -173,7 +176,7 @@ if __name__ == "__main__":
total = to_idx - from_idx
for scene in scene_list[from_idx:to_idx]:
start = time.time()
save_scene_data(root, scene, cnt, total, file_type="txt")
save_scene_data(root, scene, cnt, total, file_type="npy")
cnt+=1
end = time.time()
print(f"Time cost: {end-start}")