def get_scene_split(whichbenchmark):
"""
Just to check how many valid fragments each scene has
"""
assert whichbenchmark in ['3DMatch', '3DLoMatch']
folder = f'configs/benchmarks/{whichbenchmark}/*/gt.log'
scene_files = sorted(glob.glob(folder))
split = []
count = 0
for eachfile in scene_files:
gt_pairs, gt_traj = read_trajectory(eachfile)
split.append([count, count + len(gt_pairs)])
count += len(gt_pairs)
return split
def write_est_trajectory(gt_folder, exp_dir, tsfm_est):
"""
Write the estimated trajectories
"""
scene_names=sorted(os.listdir(gt_folder))
count=0
for scene_name in scene_names:
gt_pairs, gt_traj = read_trajectory(os.path.join(gt_folder,scene_name,'gt.log'))
est_traj = []
for i in range(len(gt_pairs)):
est_traj.append(tsfm_est[count])
count+=1
# write the trajectory
c_directory=os.path.join(exp_dir,scene_name)
os.makedirs(c_directory)
write_trajectory(np.array(est_traj),gt_pairs,os.path.join(c_directory,'est.log'))