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debug strategy_generator

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hofee
2024-09-10 20:12:46 +08:00
parent 38f7f8df18
commit fd96b97d7b
6 changed files with 82 additions and 38 deletions
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26
utils/reconstruction.py
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@@ -6,6 +6,7 @@ class ReconstructionUtil:
@staticmethod
def compute_coverage_rate(target_point_cloud, combined_point_cloud, threshold=0.01):
print("threshold", threshold)
kdtree = cKDTree(combined_point_cloud)
distances, _ = kdtree.query(target_point_cloud)
covered_points = np.sum(distances < threshold)
@@ -45,7 +46,7 @@ class ReconstructionUtil:
@staticmethod
def compute_next_best_view_sequence_with_overlap(target_point_cloud, point_cloud_list, threshold=0.01, overlap_threshold=0.3, status_info=None):
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
remaining_views = list(range(len(point_cloud_list)))
@@ -74,23 +75,22 @@ class ReconstructionUtil:
if coverage_increase > best_coverage_increase:
best_coverage_increase = coverage_increase
best_view = view_index
cnt_processed_view += 1
if status_info is not None:
sm = status_info["status_manager"]
app_name = status_info["app_name"]
runner_name = status_info["runner_name"]
sm.set_status(app_name, runner_name, "current coverage", current_coverage)
sm.set_progress(app_name, runner_name, "processed view", cnt_processed_view, len(point_cloud_list))
if best_view is not None:
if best_coverage_increase <=1e-3:
break
selected_views.append(point_cloud_list[best_view])
remaining_views.remove(best_view)
if best_coverage_increase > 0:
current_coverage += best_coverage_increase
current_coverage += best_coverage_increase
cnt_processed_view += 1
if status_info is not None:
sm = status_info["status_manager"]
app_name = status_info["app_name"]
runner_name = status_info["runner_name"]
sm.set_status(app_name, runner_name, "current coverage", current_coverage)
sm.set_progress(app_name, runner_name, "processed view", cnt_processed_view, len(point_cloud_list))
view_sequence.append((best_view, current_coverage))
else:
@@ -100,7 +100,7 @@ class ReconstructionUtil:
app_name = status_info["app_name"]
runner_name = status_info["runner_name"]
sm.set_progress(app_name, runner_name, "processed view", len(point_cloud_list), len(point_cloud_list))
return view_sequence, remaining_views
return view_sequence, remaining_views, down_sampled_combined_point_cloud
@staticmethod
def filter_points(points, points_normals, cam_pose, voxel_size=0.005, theta=45):