hofee/nbv_reconstruction
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hofee 2024-10-28 16:48:34 +00:00
parent 5c56dae24f
commit 49bcf203a8
3 changed files with 15 additions and 11 deletions
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10
configs/local/strategy_generate_config.yaml
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@ -12,18 +12,18 @@ runner:
generate: generate:
voxel_threshold: 0.003 voxel_threshold: 0.003
overlap_area_threshold: 25 overlap_area_threshold: 30
compute_with_normal: False compute_with_normal: False
scan_points_threshold: 10 scan_points_threshold: 10
overwrite: False overwrite: False
seq_num: 15 seq_num: 10
dataset_list: dataset_list:
- OmniObject3d - OmniObject3d
datasets: datasets:
OmniObject3d: OmniObject3d:
root_dir: C:\\Document\\Local Project\\nbv_rec\\nbv_reconstruction\\temp root_dir: /home/data/hofee/project/nbv_rec_part2_preprocessed
from: 0 from: 960
to: 1 # -1 means end to: 1000 # -1 means end

14
runners/strategy_generator.py
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@ -85,14 +85,18 @@ class StrategyGenerator(Runner):
pts_path = os.path.join(root,scene_name, "pts", f"{frame_idx}.npy") 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") 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") idx_path = os.path.join(root,scene_name, "scan_points_indices", f"{frame_idx}.npy")
pts = np.load(pts_path) pts = np.load(pts_path)
if pts.shape[0] == 0: if self.compute_with_normal:
nrm = np.zeros((0,3)) if pts.shape[0] == 0:
else: nrm = np.zeros((0,3))
nrm = np.load(nrm_path) else:
nrm = np.load(nrm_path)
nrm_list.append(nrm)
indices = np.load(idx_path) indices = np.load(idx_path)
pts_list.append(pts) pts_list.append(pts)
nrm_list.append(nrm)
scan_points_indices_list.append(indices) scan_points_indices_list.append(indices)
if pts.shape[0] > 0: if pts.shape[0] > 0:
non_zero_cnt += 1 non_zero_cnt += 1

2
utils/reconstruction.py
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@ -62,7 +62,7 @@ class ReconstructionUtil:
max_rec_pts = np.vstack(point_cloud_list) max_rec_pts = np.vstack(point_cloud_list)
downsampled_max_rec_pts = PtsUtil.voxel_downsample_point_cloud(max_rec_pts, threshold) 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_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) max_real_rec_pts_coverage, _ = ReconstructionUtil.compute_coverage_rate(target_point_cloud, downsampled_max_rec_pts, threshold)