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from pathlib import Path
from fvcore.common.registry import Registry
PROCESSOR_REGISTRY = Registry("Processor")
class ProcessorBase:
def __init__(self, cfg):
self.data_root = Path(cfg.data_root)
self.save_root = Path(cfg.save_root) if cfg.get('save_root', None) else self.data_root.parent / 'scan_data'
self.num_workers = cfg.num_workers
self.inst2label_path = self.save_root / 'scan_data' / 'instance_id_to_label'
self.pcd_path = self.save_root / 'scan_data' / 'pcd_with_global_alignment'
self.segm_path = self.save_root / 'scan_data' / 'segm'
self.obj_path = self.save_root / 'scan_data' / 'obj'
self.sp_path = self.save_root / 'scan_data' / 'super_points'
self.output = cfg.output
self.setup_directories()
def setup_directories(self):
if self.check_key(self.output.pcd):
self.inst2label_path.mkdir(parents=True, exist_ok=True)
self.pcd_path.mkdir(parents=True, exist_ok=True)
def log_starting_info(self, scan_len, e=''):
print('='*50)
print(f'Preprocessing in {self.__class__.__name__} with {scan_len} scans')
o = [str(i) for i in self.output if i]
assert len(o) > 0, 'Please specify at least one output type'
print(f"Output: {', '.join(o)}")
if len(e) > 0:
print(e)
print('='*50)
@staticmethod
def check_key(key):
exist = key is not None
if not exist:
return False
if isinstance(key, bool):
enabled = key
elif isinstance(key, dict):
enabled = key.get('enabled', True)
elif hasattr(key, 'enabled'):
enabled = key.get('enabled')
else:
enabled = True
return enabled
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