From 2af52c64e26fa77a30b1eae7ecc9457185def23e Mon Sep 17 00:00:00 2001 From: hofee Date: Sun, 6 Oct 2024 04:11:49 +0800 Subject: [PATCH] update preprocessor.py --- preprocess/preprocessor.py | 39 ++++++++++---------------------------- 1 file changed, 10 insertions(+), 29 deletions(-) diff --git a/preprocess/preprocessor.py b/preprocess/preprocessor.py index 054ef0d..dd48ee4 100644 --- a/preprocess/preprocessor.py +++ b/preprocess/preprocessor.py @@ -30,22 +30,6 @@ def save_scan_points_indices(root, scene, frame_idx, scan_points_indices: np.nda def save_scan_points(root, scene, scan_points: np.ndarray): scan_points_path = os.path.join(root,scene, "scan_points.txt") save_np_pts(scan_points_path, scan_points) - - -def old_get_world_points(depth, cam_intrinsic, cam_extrinsic): - h, w = depth.shape - i, j = np.meshgrid(np.arange(w), np.arange(h), indexing="xy") - # ----- Debug Trace ----- # - import ipdb; ipdb.set_trace() - # ------------------------ # - z = depth - x = (i - cam_intrinsic[0, 2]) * z / cam_intrinsic[0, 0] - y = (j - cam_intrinsic[1, 2]) * z / cam_intrinsic[1, 1] - points_camera = np.stack((x, y, z), axis=-1).reshape(-1, 3) - points_camera_aug = np.concatenate((points_camera, np.ones((points_camera.shape[0], 1))), axis=-1) - points_camera_world = np.dot(cam_extrinsic, points_camera_aug.T).T[:, :3] - - return points_camera_world def get_world_points(depth, mask, cam_intrinsic, cam_extrinsic): z = depth[mask] @@ -94,11 +78,7 @@ def save_scene_data(root, scene, scene_idx=0, scene_total=1,file_type="txt"): ''' read frame data(depth|mask|normal) ''' frame_num = DataLoadUtil.get_scene_seq_length(root, scene) for frame_id in range(frame_num): - - print(f"[scene({scene_idx}/{scene_total})|frame({frame_id}/{frame_num})]Processing {scene} frame {frame_id}") - if frame_id != 126: - continue path = DataLoadUtil.get_path(root, scene, frame_id) cam_info = DataLoadUtil.load_cam_info(path, binocular=True) depth_L, depth_R = DataLoadUtil.load_depth( @@ -132,8 +112,9 @@ def save_scene_data(root, scene, scene_idx=0, scene_total=1,file_type="txt"): sampled_target_points_L, sampled_target_points_R, voxel_size ) - - has_points = target_points.shape[0] > 0 + if has_points: + has_points = target_points.shape[0] > 0 + if has_points: points_normals = DataLoadUtil.load_points_normals(root, scene, display_table_as_world_space_origin=True) target_points = PtsUtil.filter_points( @@ -149,24 +130,24 @@ def save_scene_data(root, scene, scene_idx=0, scene_total=1,file_type="txt"): if not has_points: target_points = np.zeros((0, 3)) - save_target_points(root, scene, frame_id, target_points) - save_scan_points_indices(root, scene, frame_id, scan_points_indices) + save_target_points(root, scene, frame_id, target_points, file_type=file_type) + save_scan_points_indices(root, scene, frame_id, scan_points_indices, file_type=file_type) save_scan_points(root, scene, scan_points) # The "done" flag of scene preprocess if __name__ == "__main__": #root = "/media/hofee/repository/new_data_with_normal" - root = r"C:\Document\Local Project\nbv_rec\nbv_reconstruction\test\test_sample" - list_path = r"C:\Document\Local Project\nbv_rec\nbv_reconstruction\test\test_sample/test_sample_list.txt" + root = r"/media/hofee/repository/new_data_with_normal" + list_path = r"/media/hofee/repository/full_list.txt" scene_list = [] with open(list_path, "r") as f: for line in f: scene_list.append(line.strip()) - from_idx = 0 - to_idx = len(scene_list) + from_idx = 1000 + to_idx = 1500 cnt = 0 @@ -174,7 +155,7 @@ if __name__ == "__main__": total = to_idx - from_idx for scene in scene_list[from_idx:to_idx]: start = time.time() - save_scene_data(root, scene, cnt, total) + save_scene_data(root, scene, cnt, total, "npy") cnt+=1 end = time.time() print(f"Time cost: {end-start}")