|
|
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 |
|
|
|
