| 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 |
|
|
