def get_pc_gt_data(self, idx, layer=None):
nocs_map_list = []
nocs_map0 = read_nocs_map(self.nox00_gt[idx])
if layer == None or layer == 0:
nocs_map_list.append(nocs_map0)
nocs_map1 = read_nocs_map(self.nox01_gt[idx])
if layer == None or layer == 1:
nocs_map_list.append(nocs_map1)
return nocs2pc(nocs_map_list)
def get_pc_pred_data(self, idx, layer=None, nocs_map=None):
if nocs_map is not None:
return nocs2pc([nocs_map])
nocs_map_list = []
if layer == None or layer == 0:
in_nocs_map = read_nocs_map(self.nox00_pred[idx])
if self.pred_filter is not None:
in_nocs_map = filter_nocs_map(in_nocs_map, self.pred_filter)
nocs_map_list.append(in_nocs_map)
if layer == None or layer == 1:
in_nocs_map = read_nocs_map(self.nox01_pred[idx])
if self.pred_filter is not None:
in_nocs_map = filter_nocs_map(in_nocs_map, self.pred_filter)
nocs_map_list.append(in_nocs_map)
return nocs2pc(nocs_map_list)
def get_nox01_pred_data(self, idx):
if idx >= len(self.nox01_pred):
return None
out_nocs_map = read_nocs_map(self.nox01_pred[idx])
if self.pred_filter is not None:
out_nocs_map = filter_nocs_map(out_nocs_map, self.pred_filter)
return out_nocs_map
def get_nox01_gt_data(self, idx):
if idx >= len(self.nox01_gt):
return None
return read_nocs_map(self.nox01_gt[idx])