Method load

benchmark/viewer.py:153–189

Load cached scene data. Returns: Tuple of (trajectory_dict, point_clouds_list, is_aligned)

(self)

            return False

    def load(self) -> tuple[Dict[str, np.ndarray], List[Dict[str, np.ndarray]], bool]:
        """Load cached scene data.

        Returns:
            Tuple of (trajectory_dict, point_clouds_list, is_aligned)
        """
        try:
            data = np.load(self.cache_file, allow_pickle=True)
            
            # Load trajectory
            traj_dict = {}
            num_frames = int(data.get('num_frames', 0))
            for i in range(num_frames):
                if f'c2w_{i}' in data:
                    c2w = data[f'c2w_{i}']
                    traj_dict[i] = c2w
            
            # Load point clouds
            point_clouds = []
            for i in range(num_frames):
                pcd_dict = {}
                if f'xyz_{i}' in data:
                    pcd_dict['xyz'] = data[f'xyz_{i}']
                if f'rgb_{i}' in data:
                    pcd_dict['rgb'] = data[f'rgb_{i}']
                point_clouds.append(pcd_dict)

            # Load alignment status
            with open(self.params_file, 'r') as f:
                params = json.load(f)
            is_aligned = params.get('is_aligned', False)

            logger.info(f"Loaded {len(traj_dict)} poses and {len(point_clouds)} point clouds from cache (aligned={is_aligned})")
            return traj_dict, point_clouds, is_aligned
        except Exception as e:
            logger.error(f"Failed to load cache: {e}")
            return {}, [], False

    def save(
        self,