def run(cfg):
print("Start iterating dataset")
scenes = uio.list_folders(cfg.dataset_root, alphanum_sort=False)
print("{} scenes".format(len(scenes)))
for sid, scene in enumerate(scenes):
run_scene(cfg, sid, scene)
print("Finished iterating dataset")
def run_scene(cfg, sid, scene):
print(" Start {}th scene {} ".format(sid, scene))
scene_folder = osp.join(cfg.dataset_root, scene)
seqs = uio.list_folders(scene_folder, alphanum_sort=True)
print(" {} sequences".format(len(seqs)))
for seq in seqs:
run_seq(cfg, scene, seq)
print(" Finished {}th scene {} ".format(sid, scene))
def run_scene(cfg, scene):
print(" Start scene {} ".format(scene))
scene_folder = osp.join(cfg.dataset_root, scene)
seqs = uio.list_folders(scene_folder)
print(" {} sequences".format(len(seqs)))
for seq in seqs:
run_seq(cfg, scene, seq)
print(" Finished scene {} ".format(scene))
def list_pcd_pairs(root_dir, excluded_scenes=None):
res = list()
for scene in uio.list_folders(root_dir, alphanum_sort=False):
if excluded_scenes is not None and scene in excluded_scenes:
continue
for seq in uio.list_folders(osp.join(root_dir, scene),
alphanum_sort=True):
seq_folder = osp.join(root_dir, scene, seq)
for npy_file in uio.list_files(seq_folder,
'cloud_bin_*.npy',
alphanum_sort=True):
cloud_name_i, cloud_name_j = npy_file[:-4].split('-')
res.append(
OverlapMeta(scene=scene,
seq=seq,
cloud_name_i=cloud_name_i,
cloud_name_j=cloud_name_j,
full_path=osp.join(seq_folder, npy_file)))
return res
def run(cfg):
print("Start iterating dataset")
uio.may_create_folder(cfg.out_root)
scenes = uio.list_folders(cfg.dataset_root, alphanum_sort=False)
print("{} scenes".format(len(scenes)))
for scene in scenes:
run_scene(cfg, scene)
print("Finished iterating dataset")
def list_pcds(root_dir, excluded_scenes=None):
res = list()
for scene in uio.list_folders(root_dir, alphanum_sort=False):
if excluded_scenes is not None and scene in excluded_scenes:
continue
for seq in uio.list_folders(osp.join(root_dir, scene),
alphanum_sort=True):
seq_folder = osp.join(root_dir, scene, seq)
pcloud_names = uio.list_files(seq_folder,
'*.ply',
alphanum_sort=True)
metas = [
PCloudMeta(
scene=scene,
seq=seq,
name=pn[:-4],
full_path=osp.join(seq_folder, pn),
) for pn in pcloud_names
]
res.extend(metas)
return res
def run(cfg):
print("Start making fragments")
uio.may_create_folder(cfg.out_root)
scenes = uio.list_folders(cfg.dataset_root, sort=False)
print("{} scenes".format(len(scenes)))
for scene in scenes:
# if not scene.startswith('analysis'):
# continue
run_scene(cfg, scene)
print("Finished making fragments")
