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update gf_view_finder

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hofee
2024-09-02 23:47:52 +08:00
parent 2fcfcd1966
commit e0fb9a7617
7 changed files with 78 additions and 31 deletions
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6
utils/pose.py
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@@ -184,11 +184,11 @@ class PoseUtil:
], f"the rotation mode {rot_mode} is not supported!"
if rot_mode == "quat_wxyz" or rot_mode == "quat_xyzw":
pose_dim = 4
pose_dim = 7
elif rot_mode == "euler_xyz":
pose_dim = 3
elif rot_mode == "euler_xyz_sx_cx" or rot_mode == "rot_matrix":
pose_dim = 6
elif rot_mode == "euler_xyz_sx_cx" or rot_mode == "rot_matrix":
pose_dim = 9
else:
raise NotImplementedError
return pose_dim

18
utils/reconstruction.py
View File

@@ -45,12 +45,12 @@ class ReconstructionUtil:
@staticmethod
def compute_next_best_view_sequence_with_overlap(target_point_cloud, point_cloud_list, threshold=0.01, overlap_threshold=0.3):
def compute_next_best_view_sequence_with_overlap(target_point_cloud, point_cloud_list, threshold=0.01, overlap_threshold=0.3, status_info=None):
selected_views = []
current_coverage = 0.0
remaining_views = list(range(len(point_cloud_list)))
view_sequence = []
cnt_processed_view = 0
while remaining_views:
best_view = None
best_coverage_increase = -1
@@ -74,6 +74,14 @@ class ReconstructionUtil:
if coverage_increase > best_coverage_increase:
best_coverage_increase = coverage_increase
best_view = view_index
cnt_processed_view += 1
if status_info is not None:
sm = status_info["status_manager"]
app_name = status_info["app_name"]
runner_name = status_info["runner_name"]
sm.set_status(app_name, runner_name, "current coverage", current_coverage)
sm.set_progress(app_name, runner_name, "processed view", cnt_processed_view, len(point_cloud_list))
if best_view is not None:
if best_coverage_increase <=1e-3:
@@ -87,7 +95,11 @@ class ReconstructionUtil:
else:
break
if status_info is not None:
sm = status_info["status_manager"]
app_name = status_info["app_name"]
runner_name = status_info["runner_name"]
sm.set_progress(app_name, runner_name, "processed view", len(point_cloud_list), len(point_cloud_list))
return view_sequence, remaining_views