[MINOR] fix ply data loading with pointwise timestamp

PRBonn · Oct 24, 2024 · 750b0db · 750b0db
1 parent c49f037
commit 750b0db
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Showing 3 changed files with 12 additions and 9 deletions.
diff --git a/dataset/slam_dataset.py b/dataset/slam_dataset.py
@@ -993,21 +993,24 @@ def read_point_cloud(
         # print("available attributes:", keys)
 
         points = pc_load["positions"]
+        points = points.astype(dtype=np.float64)
 
-        if "t" in keys:
-            ts = pc_load["t"] * 1e-8
-        elif "timestamp" in keys:
-            ts = pc_load["timestamp"]
-        else:
-            ts = None
+        time_fields = ["t", "ts", "time", "timestamp", "timestamps"]
 
+        ts = None
+        for time_field in time_fields:
+            if time_field in keys:
+                ts = pc_load[time_field]
+                break
+
         if "colors" in keys and color_channel == 3:
             colors = pc_load["colors"]  # if they are available
             points = np.hstack((points, colors))
         elif "intensity" in keys and color_channel == 1:
             intensity = pc_load["intensity"]  # if they are available
             # print(intensity)
             points = np.hstack((points, intensity))
+
     elif ".pcd" in filename:  # currently cannot be readed by o3d.t.io
         pc_load = o3d.io.read_point_cloud(filename)
         points = np.asarray(pc_load.points, dtype=np.float64)

diff --git a/utils/mesher.py b/utils/mesher.py
@@ -595,8 +595,8 @@ def recon_aabb_mesh(
                 o3d.utility.Vector3iVector(faces),
             )
 
-        if not self.silence:
-            print("Marching cubes done")
+        # if not self.silence:
+        #     print("Marching cubes done")
 
         if estimate_sem:
             mesh = self.estimate_vertices_sem(mesh, verts, filter_free_space_vertices)

diff --git a/vis_pin_map.py b/vis_pin_map.py
@@ -47,7 +47,7 @@ def vis_pin_map():
     sem_mlp = Decoder(config, config.sem_mlp_hidden_dim, config.sem_mlp_level, config.sem_class_count + 1) 
     color_mlp = Decoder(config, config.color_mlp_hidden_dim, config.color_mlp_level, config.color_channel)
 
-    # initialize the feature octree
+    # initialize the neural point features
     neural_points = NeuralPoints(config)
 
     # Load the map