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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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27
runners/strategy_generator.py
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@@ -84,27 +84,38 @@ class StrategyGenerator(Runner):
pts_list = []
scan_points_indices_list = []
non_zero_cnt = 0
for frame_idx in range(frame_num):
status_manager.set_progress("generate_strategy", "strategy_generator", "loading frame", frame_idx, frame_num)
pts_path = os.path.join(root,scene_name, "target_pts", f"{frame_idx}.txt")
sampled_point_cloud = np.loadtxt(pts_path)
indices = None # ReconstructionUtil.compute_covered_scan_points(scan_points, display_table_pts)
pts_path = os.path.join(root,scene_name, "pts", f"{frame_idx}.npy")
idx_path = os.path.join(root,scene_name, "scan_points_indices", f"{frame_idx}.npy")
point_cloud = np.load(pts_path)
sampled_point_cloud = PtsUtil.voxel_downsample_point_cloud(point_cloud, voxel_threshold)
indices = np.load(idx_path)
pts_list.append(sampled_point_cloud)
scan_points_indices_list.append(indices)
if sampled_point_cloud.shape[0] > 0:
non_zero_cnt += 1
status_manager.set_progress("generate_strategy", "strategy_generator", "loading frame", frame_num, frame_num)
seq_num = min(self.seq_num, non_zero_cnt)
init_view_list = []
for i in range(seq_num):
if pts_list[i].shape[0] < 100:
continue
init_view_list.append(i)
idx = 0
while len(init_view_list) < seq_num:
if pts_list[idx].shape[0] > 100:
init_view_list.append(idx)
idx += 1
seq_idx = 0
import time
for init_view in init_view_list:
status_manager.set_progress("generate_strategy", "strategy_generator", "computing sequence", seq_idx, len(init_view_list))
start = time.time()
limited_useful_view, _, _ = ReconstructionUtil.compute_next_best_view_sequence_with_overlap(down_sampled_model_pts, pts_list, scan_points_indices_list = scan_points_indices_list,init_view=init_view,
threshold=voxel_threshold, soft_overlap_threshold=soft_overlap_threshold, hard_overlap_threshold= hard_overlap_threshold, scan_points_threshold=10, status_info=self.status_info)
end = time.time()
print(f"Time: {end-start}")
data_pairs = self.generate_data_pairs(limited_useful_view)
seq_save_data = {
"data_pairs": data_pairs,