hofee/nbv_reconstruction
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base: hofee:1c443e533dad417e60f3757458d7ec830fc0e27a
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hofee:master
hofee:ab_new_partial_global
hofee:new_partial_global
hofee:ab_global_only
hofee:hemisphere_random
hofee:ab_global_and_partial_global
hofee:ab_global_and_local
hofee:ab_local_only
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compare: hofee:a883a31968b668a26545f2e8766179365308b0e2
Branches Tags
hofee:ab_new_partial_global
hofee:new_partial_global
hofee:ab_global_only
hofee:hemisphere_random
hofee:master
hofee:ab_global_and_partial_global
hofee:ab_global_and_local
hofee:ab_local_only

2 Commits
1c443e533d ... a883a31968

Author SHA1 Message Date
hofee
a883a31968 solve merge 2024-10-28 17:03:03 +00:00
hofee
49bcf203a8 update 2024-10-28 16:48:34 +00:00
3 changed files with 14 additions and 10 deletions
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8
configs/local/strategy_generate_config.yaml
View File

@ -12,7 +12,7 @@ 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
@ -22,8 +22,8 @@ runner:
datasets: datasets:
OmniObject3d: OmniObject3d:
root_dir: H:\\AI\\Datasets\\nbv_rec_part2 root_dir: /home/data/hofee/project/nbv_rec_part2_preprocessed
from: 0 from: 960
to: 300 # -1 means end to: 1000 # -1 means end

6
runners/strategy_generator.py
View File

@ -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 self.compute_with_normal:
if pts.shape[0] == 0: if pts.shape[0] == 0:
nrm = np.zeros((0,3)) nrm = np.zeros((0,3))
else: else:
nrm = np.load(nrm_path) 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
View File

@ -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)