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update new_num limit

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hofee
2024-10-05 15:36:38 -05:00
parent 1a3ae15130
commit e315fd99ee
2 changed files with 20 additions and 25 deletions
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21
core/seq_dataset.py
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@@ -74,24 +74,12 @@ class SeqNBVReconstructionDataset(BaseDataset):
max_coverage_rate = data_item_info["max_coverage_rate"]
scene_name = data_item_info["scene_name"]
first_cam_info = DataLoadUtil.load_cam_info(DataLoadUtil.get_path(self.root_dir, scene_name, first_frame_idx), binocular=True)
first_view_path = DataLoadUtil.get_path(self.root_dir, scene_name, first_frame_idx)
first_left_cam_pose = first_cam_info["cam_to_world"]
first_right_cam_pose = first_cam_info["cam_to_world_R"]
first_center_cam_pose = first_cam_info["cam_to_world_O"]
if self.load_from_preprocess:
first_downsampled_target_point_cloud = DataLoadUtil.load_from_preprocessed_pts(first_view_path)
else:
first_depth_L, first_depth_R = DataLoadUtil.load_depth(first_view_path, first_cam_info['near_plane'], first_cam_info['far_plane'], binocular=True)
first_point_cloud_L = DataLoadUtil.get_point_cloud(first_depth_L, first_cam_info['cam_intrinsic'], first_left_cam_pose)['points_world']
first_point_cloud_R = DataLoadUtil.get_point_cloud(first_depth_R, first_cam_info['cam_intrinsic'], first_right_cam_pose)['points_world']
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 = 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_target_point_cloud = DataLoadUtil.load_from_preprocessed_pts(first_view_path)
first_pts_num = first_target_point_cloud.shape[0]
first_downsampled_target_point_cloud = PtsUtil.random_downsample_point_cloud(first_target_point_cloud, self.pts_num)
first_to_world_rot_6d = PoseUtil.matrix_to_rotation_6d_numpy(np.asarray(first_left_cam_pose[:3,:3]))
first_to_world_trans = first_left_cam_pose[:3,3]
first_to_world_9d = np.concatenate([first_to_world_rot_6d, first_to_world_trans], axis=0)
@@ -102,6 +90,9 @@ class SeqNBVReconstructionDataset(BaseDataset):
model_points_normals = DataLoadUtil.load_points_normals(self.root_dir, scene_name)
data_item = {
"first_pts_num": np.asarray(
first_pts_num, dtype=np.int32
),
"first_pts": np.asarray([first_downsampled_target_point_cloud],dtype=np.float32),
"combined_scanned_pts": np.asarray(first_downsampled_target_point_cloud,dtype=np.float32),
"first_to_world_9d": np.asarray([first_to_world_9d],dtype=np.float32),