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hofee
2024-11-03 02:18:59 +08:00
parent 7b28cf9e91
commit 7cd8bfebd3
4 changed files with 314 additions and 123 deletions
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13
app.py
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@@ -140,6 +140,10 @@ def get_frame_data():
camera_params_path = os.path.join(scene_path, 'camera_params')
depth_path = os.path.join(scene_path, 'depth')
mask_path = os.path.join(scene_path, 'mask')
voxel_threshold = 0.005
# model_points_normals = DataLoadUtil.load_points_normals(ROOT, scene_name)
# model_pts = model_points_normals[:,:3]
# down_sampled_model_pts = PtsUtil.voxel_downsample_point_cloud(model_pts, )
model_points_normals = DataLoadUtil.load_points_normals(root, scene_name)
model_points = model_points_normals[:, :3]
@@ -172,17 +176,18 @@ def get_frame_data():
point_cloud = DataLoadUtil.get_target_point_cloud_world_from_path(path, binocular=True)
sampled_point_cloud = ReconstructionUtil.filter_points(point_cloud, model_points_normals, cam_params['cam_to_world'], theta=75)
sampled_point_cloud = PtsUtil.voxel_downsample_point_cloud(sampled_point_cloud, 0.01)
sampled_point_cloud = ReconstructionUtil.filter_points(point_cloud, model_points_normals, cam_params['cam_to_world'], voxel_size=voxel_threshold, theta=75)
#sampled_point_cloud = point_cloud
sampled_point_cloud = PtsUtil.voxel_downsample_point_cloud(sampled_point_cloud, voxel_threshold)
frame_data['new_point_cloud'] = sampled_point_cloud.tolist()
frame_data['combined_point_cloud'] = combined_point_cloud.tolist()
new_added_pts = ReconstructionUtil.get_new_added_points(combined_point_cloud, sampled_point_cloud)
new_added_pts = ReconstructionUtil.get_new_added_points(combined_point_cloud, sampled_point_cloud, threshold=voxel_threshold)
frame_data["new_added_pts"] = new_added_pts.tolist()
combined_point_cloud = np.concatenate([combined_point_cloud, sampled_point_cloud], axis=0)
combined_point_cloud = PtsUtil.voxel_downsample_point_cloud(combined_point_cloud, 0.01)
combined_point_cloud = PtsUtil.voxel_downsample_point_cloud(combined_point_cloud, voxel_threshold)
frame_data["coverage_rate"] = frame_info.get('coverage_rate')
delta_CR = frame_data["coverage_rate"] - last_CR