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add multi seq training

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hofee
2024-09-23 14:30:51 +08:00
parent 6cdff9c83f
commit 3c4077ec4f
12 changed files with 152 additions and 93 deletions
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16
utils/reconstruction.py
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@@ -45,12 +45,17 @@ class ReconstructionUtil:
@staticmethod
def compute_next_best_view_sequence_with_overlap(target_point_cloud, point_cloud_list, display_table_point_cloud_list = None,threshold=0.01, overlap_threshold=0.3, status_info=None):
selected_views = []
current_coverage = 0.0
def compute_next_best_view_sequence_with_overlap(target_point_cloud, point_cloud_list,threshold=0.01, overlap_threshold=0.3, init_view = 0, status_info=None):
selected_views = [point_cloud_list[init_view]]
combined_point_cloud = np.vstack(selected_views)
down_sampled_combined_point_cloud = PtsUtil.voxel_downsample_point_cloud(combined_point_cloud,threshold)
new_coverage = ReconstructionUtil.compute_coverage_rate(target_point_cloud, down_sampled_combined_point_cloud, threshold)
current_coverage = new_coverage
remaining_views = list(range(len(point_cloud_list)))
view_sequence = []
view_sequence = [(init_view, current_coverage)]
cnt_processed_view = 0
remaining_views.remove(init_view)
while remaining_views:
best_view = None
best_coverage_increase = -1
@@ -70,14 +75,13 @@ class ReconstructionUtil:
down_sampled_combined_point_cloud = PtsUtil.voxel_downsample_point_cloud(combined_point_cloud,threshold)
new_coverage = ReconstructionUtil.compute_coverage_rate(target_point_cloud, down_sampled_combined_point_cloud, threshold)
coverage_increase = new_coverage - current_coverage
#print(f"view_index: {view_index}, coverage_increase: {coverage_increase}")
if coverage_increase > best_coverage_increase:
best_coverage_increase = coverage_increase
best_view = view_index
if best_view is not None:
if best_coverage_increase <=1e-3:
if best_coverage_increase <=3e-3:
break
selected_views.append(point_cloud_list[best_view])
remaining_views.remove(best_view)