hofee/nbv_rec_control
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

update

Browse Source
This commit is contained in:
hofee
2024-10-13 19:47:05 +08:00
parent 41ee79db0c
commit 2f87a2626c
6 changed files with 75 additions and 92 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
utils/reconstruction_util.py
View File

@@ -13,15 +13,14 @@ class ReconstructionUtil:
return coverage_rate, covered_points_num
@staticmethod
def compute_overlap_rate(new_point_cloud, combined_point_cloud, threshold=0.01):
def check_overlap(new_point_cloud, combined_point_cloud, overlap_area_threshold=25, voxel_size=0.01):
kdtree = cKDTree(combined_point_cloud)
distances, _ = kdtree.query(new_point_cloud)
overlapping_points = np.sum(distances < threshold*2)
if new_point_cloud.shape[0] == 0:
overlap_rate = 0
else:
overlap_rate = overlapping_points / new_point_cloud.shape[0]
return overlap_rate
overlapping_points = np.sum(distances < voxel_size*2)
cm = 0.01
voxel_size_cm = voxel_size / cm
overlap_area = overlapping_points * voxel_size_cm * voxel_size_cm
return overlap_area > overlap_area_threshold
@staticmethod
@@ -122,7 +121,7 @@ class ReconstructionUtil:
return view_sequence, remaining_views, combined_point_cloud
@staticmethod
def compute_next_best_view_with_overlap(scanned_pts:list, point_cloud_list, history_indices, scan_points_indices_list, threshold=0.01, soft_overlap_threshold=0.5, hard_overlap_threshold=0.7, scan_points_threshold=5):
def compute_next_best_view_with_overlap(scanned_pts, point_cloud_list, history_indices, scan_points_indices_list, threshold=0.01, overlap_area_threshold=25, scan_points_threshold=5):
max_rec_pts = np.vstack(point_cloud_list)
downsampled_max_rec_pts = PtsUtil.voxel_downsample_point_cloud(max_rec_pts, threshold)
best_view = None
@@ -132,14 +131,17 @@ class ReconstructionUtil:
if point_cloud_list[view].shape[0] == 0:
continue
new_scan_points_indices = scan_points_indices_list[view]
if not ReconstructionUtil.check_scan_points_overlap(history_indices, new_scan_points_indices, scan_points_threshold):
overlap_threshold = hard_overlap_threshold
curr_overlap_area_threshold = overlap_area_threshold
else:
overlap_threshold = soft_overlap_threshold
overlap_rate = ReconstructionUtil.compute_overlap_rate(point_cloud_list[view], scanned_pts, threshold)
if overlap_rate < overlap_threshold:
curr_overlap_area_threshold = overlap_area_threshold * 0.5
if not ReconstructionUtil.check_overlap(point_cloud_list[view], scanned_pts, overlap_area_threshold = curr_overlap_area_threshold, voxel_size=threshold):
continue
new_combined_point_cloud = np.vstack(scanned_pts + [point_cloud_list[view]])
new_combined_point_cloud = np.vstack([scanned_pts ,point_cloud_list[view]])
new_downsampled_combined_point_cloud = PtsUtil.voxel_downsample_point_cloud(new_combined_point_cloud,threshold)
new_coverage, new_covered_num = ReconstructionUtil.compute_coverage_rate(downsampled_max_rec_pts, new_downsampled_combined_point_cloud, threshold)
if new_coverage > best_coverage: