hofee/nbv_reconstruction
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add preprocess

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hofee
2024-10-03 01:59:13 +08:00
parent f460e6e6b2
commit d7561738c6
8 changed files with 243 additions and 142 deletions
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core/seq_dataset.py
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@@ -89,7 +89,7 @@ class SeqNBVReconstructionDataset(BaseDataset):
first_point_cloud_L = PtsUtil.random_downsample_point_cloud(first_point_cloud_L, 65536)
first_point_cloud_R = PtsUtil.random_downsample_point_cloud(first_point_cloud_R, 65536)
first_overlap_points = DataLoadUtil.get_overlapping_points(first_point_cloud_L, first_point_cloud_R)
first_overlap_points = PtsUtil.get_overlapping_points(first_point_cloud_L, first_point_cloud_R)
first_downsampled_target_point_cloud = PtsUtil.random_downsample_point_cloud(first_overlap_points, self.pts_num)
first_to_world_rot_6d = PoseUtil.matrix_to_rotation_6d_numpy(np.asarray(first_left_cam_pose[:3,:3]))