hofee/nbv_rec_control
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update

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hofee
2024-10-10 21:48:55 +08:00
parent 8fd2d6b1e1
commit cd85fed3a0
10 changed files with 73 additions and 33004 deletions
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5
utils/preprocess_util.py
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@@ -23,6 +23,7 @@ def save_target_points(root, scene, frame_idx, target_points: np.ndarray, file_t
save_np_pts(pts_path, target_points, file_type)
def save_scan_points_indices(root, scene, frame_idx, scan_points_indices: np.ndarray, file_type="txt"):
file_type="npy"
indices_path = os.path.join(root,scene, "scan_points_indices", f"{frame_idx}.{file_type}")
if not os.path.exists(os.path.join(root,scene, "scan_points_indices")):
os.makedirs(os.path.join(root,scene, "scan_points_indices"))
@@ -69,7 +70,7 @@ def save_scene_data(root, scene, file_type="txt"):
random_downsample_N = 32768
voxel_size=0.002
filter_degree = 75
min_z = 0.2
min_z = 0.25
max_z = 0.5
''' scan points '''
@@ -81,7 +82,7 @@ def save_scene_data(root, scene, file_type="txt"):
''' read frame data(depth|mask|normal) '''
frame_num = DataLoadUtil.get_scene_seq_length(root, scene)
for frame_id in range(frame_num):
#print(f"[scene({scene_idx}/{scene_total})|frame({frame_id}/{frame_num})]Processing {scene} frame {frame_id}")
Log.info(f"frame({frame_id}/{frame_num})]Processing {scene} frame {frame_id}")
path = DataLoadUtil.get_path(root, scene, frame_id)
cam_info = DataLoadUtil.load_cam_info(path, binocular=True)
depth_L, depth_R = DataLoadUtil.load_depth(