solve merge

configs/local/strategy_generate_config.yaml

@@ -12,7 +12,7 @@ runner:
       
   generate:
     voxel_threshold: 0.003
-    overlap_area_threshold: 25
+    overlap_area_threshold: 30
     compute_with_normal: False
     scan_points_threshold: 10
     overwrite: False
@@ -22,8 +22,8 @@ runner:
   
 datasets:
     OmniObject3d:
-      root_dir: H:\\AI\\Datasets\\nbv_rec_part2
-      from: 0
-      to: 300 # -1 means end
+      root_dir: /home/data/hofee/project/nbv_rec_part2_preprocessed
+      from: 960
+      to: 1000 # -1 means end
 
     

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 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

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)