Method SceneData

src/lib/data/SceneData.cpp:33–236

}

SceneData::SceneData(std::string scene_path) : scene_path(scene_path)
{
    scene_name = std::filesystem::path(scene_path).filename();
    std::cout << "====================================" << std::endl;
    std::cout << "Scene Loaded" << std::endl;
    std::cout << "  Name       " << scene_name << std::endl;
    std::cout << "  Path       " << scene_path << std::endl;
    SAIGA_ASSERT(std::filesystem::exists(scene_path));

    {
        std::string file_ini = scene_path + "/dataset.ini";
        SAIGA_ASSERT(std::filesystem::exists(file_ini));
        dataset_params = SceneDatasetParams(file_ini);
    }

    for (auto ini_file : dataset_params.camera_files)
    {
        std::string file_ini = scene_path + "/" + ini_file;
        SAIGA_ASSERT(std::filesystem::exists(file_ini));
        scene_cameras.push_back(SceneCameraParams(file_ini));
    }
    SAIGA_ASSERT(!scene_cameras.empty());

    file_dataset_base           = scene_path;
    file_intrinsics             = scene_path + "/intrinsics/intrinsic_color.txt";
    file_point_cloud            = scene_path + "/" + dataset_params.file_point_cloud;
    file_point_cloud_compressed = scene_path + "/" + dataset_params.file_point_cloud_compressed;
    file_pose                   = scene_path + "/poses.txt";
    file_exposure               = scene_path + "/exposure.txt";
    file_white_balance          = scene_path + "/white_balance.txt";
    file_image_names            = scene_path + "/images.txt";
    file_mask_names             = scene_path + "/masks.txt";
    file_camera_indices         = scene_path + "/camera_indices.txt";

    if (std::filesystem::exists(file_point_cloud_compressed))
    {
        point_cloud.LoadCompressed(file_point_cloud_compressed);
    }
    else if (std::filesystem::exists(file_point_cloud))
    {
        std::cout << ">> Loading initial PLY point cloud and preprocessing it (done only once)" << std::endl;
        point_cloud = Saiga::UnifiedModel(file_point_cloud).mesh[0];

        // some initial processing
        point_cloud.RemoveDoubles(0.0001);
        RemoveLonelyPoints(5, 0.02);
        RemoveClosePoints(0.00005);
        point_cloud.ReorderMorton64();
        point_cloud.RandomBlockShuffle(256);
        ComputeRadius();
        SortBlocksByRadius(256);


        std::cout << "Save point cloud " << file_point_cloud_compressed << std::endl;
        point_cloud.SaveCompressed(file_point_cloud_compressed);

        UnifiedModel(point_cloud).Save(scene_path + "/point_cloud_initial_preprocess.ply");
    }