From 49bcf203a883bc951e3fc8422b0a280e60a9c423 Mon Sep 17 00:00:00 2001
From: hofee <lexhofee@gmail.com>
Date: Mon, 28 Oct 2024 16:48:34 +0000
Subject: [PATCH] update

---
 configs/local/strategy_generate_config.yaml | 10 +++++-----
 runners/strategy_generator.py               | 14 +++++++++-----
 utils/reconstruction.py                     |  2 +-
 3 files changed, 15 insertions(+), 11 deletions(-)

diff --git a/configs/local/strategy_generate_config.yaml b/configs/local/strategy_generate_config.yaml
index cf444b0..6ca14cc 100644
--- a/configs/local/strategy_generate_config.yaml
+++ b/configs/local/strategy_generate_config.yaml
@@ -12,18 +12,18 @@ runner:
       
   generate:
     voxel_threshold: 0.003
-    overlap_area_threshold: 25
+    overlap_area_threshold: 30
     compute_with_normal: False
     scan_points_threshold: 10
     overwrite: False
-    seq_num: 15
+    seq_num: 10
     dataset_list:
       - OmniObject3d
   
 datasets:
     OmniObject3d:
-      root_dir: C:\\Document\\Local Project\\nbv_rec\\nbv_reconstruction\\temp
-      from: 0
-      to: 1 # -1 means end
+      root_dir: /home/data/hofee/project/nbv_rec_part2_preprocessed
+      from: 960
+      to: 1000 # -1 means end
 
     
diff --git a/runners/strategy_generator.py b/runners/strategy_generator.py
index 60a5cfc..8fe98c1 100644
--- a/runners/strategy_generator.py
+++ b/runners/strategy_generator.py
@@ -85,14 +85,18 @@ class StrategyGenerator(Runner):
             pts_path = os.path.join(root,scene_name, "pts", f"{frame_idx}.npy")
             nrm_path = os.path.join(root,scene_name, "nrm", f"{frame_idx}.npy")
             idx_path = os.path.join(root,scene_name, "scan_points_indices", f"{frame_idx}.npy")
+            
             pts = np.load(pts_path)
-            if pts.shape[0] == 0:
-                nrm = np.zeros((0,3))
-            else:
-                nrm = np.load(nrm_path)
+            if self.compute_with_normal:
+                if pts.shape[0] == 0:
+                    nrm = np.zeros((0,3))
+                else:
+                    nrm = np.load(nrm_path)
+                nrm_list.append(nrm)
+                
             indices = np.load(idx_path) 
             pts_list.append(pts)
-            nrm_list.append(nrm)
+            
             scan_points_indices_list.append(indices)
             if pts.shape[0] > 0:
                 non_zero_cnt += 1
diff --git a/utils/reconstruction.py b/utils/reconstruction.py
index ac359aa..926e9c9 100644
--- a/utils/reconstruction.py
+++ b/utils/reconstruction.py
@@ -62,7 +62,7 @@ class ReconstructionUtil:
         
         max_rec_pts = np.vstack(point_cloud_list)
         downsampled_max_rec_pts = PtsUtil.voxel_downsample_point_cloud(max_rec_pts, threshold)
-        
+        combined_point_cloud = PtsUtil.voxel_downsample_point_cloud(combined_point_cloud, threshold)
         max_rec_pts_num = downsampled_max_rec_pts.shape[0]
         max_real_rec_pts_coverage, _ = ReconstructionUtil.compute_coverage_rate(target_point_cloud, downsampled_max_rec_pts, threshold)