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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9
utils/render.py
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@@ -33,12 +33,11 @@ class RenderUtil:
print(result.stderr)
return None
path = os.path.join(temp_dir, "tmp")
# ------ Debug Start ------
# import ipdb;ipdb.set_trace()
# ------ Debug End ------
point_cloud = DataLoadUtil.get_target_point_cloud_world_from_path(path, binocular=True)
cam_params = DataLoadUtil.load_cam_info(path, binocular=True)
filtered_point_cloud = ReconstructionUtil.filter_points(point_cloud, model_points_normals, cam_pose=cam_params["cam_to_world"], voxel_size=voxel_threshold, theta=filter_degree)
''' TODO: old code: filter_points api is changed, need to update the code '''
filtered_point_cloud = PtsUtil.filter_points(point_cloud, model_points_normals, cam_pose=cam_params["cam_to_world"], voxel_size=voxel_threshold, theta=filter_degree)
full_scene_point_cloud = None
if require_full_scene:
depth_L, depth_R = DataLoadUtil.load_depth(path, cam_params['near_plane'], cam_params['far_plane'], binocular=True)
@@ -47,7 +46,7 @@ class RenderUtil:
point_cloud_L = PtsUtil.random_downsample_point_cloud(point_cloud_L, 65536)
point_cloud_R = PtsUtil.random_downsample_point_cloud(point_cloud_R, 65536)
full_scene_point_cloud = DataLoadUtil.get_overlapping_points(point_cloud_L, point_cloud_R)
full_scene_point_cloud = PtsUtil.get_overlapping_points(point_cloud_L, point_cloud_R)
return filtered_point_cloud, full_scene_point_cloud