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update scan_points strategy

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hofee
2024-10-02 16:24:13 +08:00
parent 551282a0ec
commit c8b8a44252
6 changed files with 120 additions and 50 deletions
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8
utils/data_load.py
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@@ -322,7 +322,7 @@ class DataLoadUtil:
random_downsample_N=65536,
voxel_size=0.005,
target_mask_label=(0, 255, 0, 255),
display_table_mask_label=(255, 0, 0, 255),
display_table_mask_label=(0, 0, 255, 255),
get_display_table_pts=False
):
cam_info = DataLoadUtil.load_cam_info(path, binocular=binocular)
@@ -369,6 +369,12 @@ class DataLoadUtil:
mask_R,
display_table_mask_label,
)["points_world"]
display_pts_L = PtsUtil.random_downsample_point_cloud(
display_pts_L, random_downsample_N
)
point_cloud_R = PtsUtil.random_downsample_point_cloud(
display_pts_R, random_downsample_N
)
display_pts_overlap = DataLoadUtil.get_overlapping_points(
display_pts_L, display_pts_R, voxel_size
)