def compute_farthest_surface_point_3d_num(num):
for cls in cfg.linemod_cls_names:
pts = np.loadtxt(os.path.join(cfg.LINEMOD, cls,
'dense_pts.txt'))[:, :3]
spts = farthest_point_sampling(pts, num, True)
write_points(
os.path.join(cfg.LINEMOD, cls, 'farthest{}.txt'.format(num)),
spts)
def compute_farthest_surface_point_3d():
for cls in cfg.homemade_cls_names:
pts = np.loadtxt(os.path.join(cfg.HOMEMADE, cls,
'dense_pts.txt'))[:, :3]
spts = farthest_point_sampling(pts, 8, True)
write_points(
os.path.join(cfg.HOMEMADE, cls, 'farthest.txt'.format(cls)),
spts)
def compute_farthest_surface_point_3d():
for cls in cfg.linemod_cls_names:
#only px py pz 3-dims , no need nx ny nz rgb
pts = np.loadtxt(os.path.join(cfg.LINEMOD, cls,
'dense_pts.txt'))[:, :3]
spts = farthest_point_sampling(pts, 8, True)
write_points(
os.path.join(cfg.LINEMOD, cls, 'farthest.txt'.format(cls)),
spts)
def get_farthest_3d(self,class_type,num=8):
if class_type in self.farthest_3d['{}'.format(num)]:
return self.farthest_3d['{}'.format(num)][class_type]
if num==8:
farthest_path = self.farthest_pattern.format(class_type,'')
else:
farthest_path = self.farthest_pattern.format(class_type,num)
if os.path.exists(farthest_path):
farthest_pts = np.loadtxt(farthest_path)
else:
pts_path = os.path.join(cfg.LINEMOD, '{}/dense_pts.txt'.format(class_type))
pts = np.loadtxt(pts_path)
farthest_pts = farthest_point_sampling(pts, num)
np.savetxt(farthest_path, farthest_pts)
self.farthest_3d['{}'.format(num)][class_type] = farthest_pts
return farthest_pts