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update reconstruction

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hofee
2024-10-05 15:10:31 -05:00
parent d098c9f951
commit bb9b3f81c3
4 changed files with 68 additions and 75 deletions
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29
preprocess/preprocessor.py
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@@ -30,22 +30,6 @@ def save_scan_points_indices(root, scene, frame_idx, scan_points_indices: np.nda
def save_scan_points(root, scene, scan_points: np.ndarray):
scan_points_path = os.path.join(root,scene, "scan_points.txt")
save_np_pts(scan_points_path, scan_points)
def old_get_world_points(depth, cam_intrinsic, cam_extrinsic):
h, w = depth.shape
i, j = np.meshgrid(np.arange(w), np.arange(h), indexing="xy")
# ----- Debug Trace ----- #
import ipdb; ipdb.set_trace()
# ------------------------ #
z = depth
x = (i - cam_intrinsic[0, 2]) * z / cam_intrinsic[0, 0]
y = (j - cam_intrinsic[1, 2]) * z / cam_intrinsic[1, 1]
points_camera = np.stack((x, y, z), axis=-1).reshape(-1, 3)
points_camera_aug = np.concatenate((points_camera, np.ones((points_camera.shape[0], 1))), axis=-1)
points_camera_world = np.dot(cam_extrinsic, points_camera_aug.T).T[:, :3]
return points_camera_world
def get_world_points(depth, mask, cam_intrinsic, cam_extrinsic):
z = depth[mask]
@@ -74,7 +58,7 @@ def get_scan_points_indices(scan_points, mask, display_table_mask_label, cam_int
return selected_points_indices
def save_scene_data(root, scene, scene_idx=0, scene_total=1):
def save_scene_data(root, scene, scene_idx=0, scene_total=1,file_type="txt"):
''' configuration '''
target_mask_label = (0, 255, 0, 255)
@@ -128,8 +112,9 @@ def save_scene_data(root, scene, scene_idx=0, scene_total=1):
sampled_target_points_L, sampled_target_points_R, voxel_size
)
has_points = target_points.shape[0] > 0
if has_points:
has_points = target_points.shape[0] > 0
if has_points:
points_normals = DataLoadUtil.load_points_normals(root, scene, display_table_as_world_space_origin=True)
target_points = PtsUtil.filter_points(
@@ -145,8 +130,8 @@ def save_scene_data(root, scene, scene_idx=0, scene_total=1):
if not has_points:
target_points = np.zeros((0, 3))
save_target_points(root, scene, frame_id, target_points)
save_scan_points_indices(root, scene, frame_id, scan_points_indices)
save_target_points(root, scene, frame_id, target_points, file_type=file_type)
save_scan_points_indices(root, scene, frame_id, scan_points_indices, file_type=file_type)
save_scan_points(root, scene, scan_points) # The "done" flag of scene preprocess
@@ -168,7 +153,7 @@ 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)
save_scene_data(root, scene, cnt, total, file_type="npy")
cnt+=1
end = time.time()
print(f"Time cost: {end-start}")