Temp fix intrinsic name

cangumeli · Jun 19, 2023 · a97d437 · a97d437
1 parent b516447
commit a97d437
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Showing 5 changed files with 7 additions and 7 deletions.
diff --git a/nocpred/data/mapper.py b/nocpred/data/mapper.py
@@ -78,7 +78,7 @@ def _cache_intrinsics(self):
         for scene_name in os.listdir(image_root):
             if 'scene' not in scene_name:
                 continue
-            intr_file_name = os.path.join(image_root, scene_name, 'intrinsics_depth.txt')
+            intr_file_name = os.path.join(image_root, scene_name, 'intrinsic_depth.txt')
             with open(intr_file_name) as f:
                 intr = np.array(
                     [[float(el) for el in line.strip().split()] for line in f],

diff --git a/nocpred/engine/predictor.py b/nocpred/engine/predictor.py
@@ -38,7 +38,7 @@ def load_record(
     ) -> dict:
 
         if intrinsic is None:
-            intrinsic = '/'.join(file_name.split('/')[:-2] + ['intrinsics_depth.txt'])
+            intrinsic = '/'.join(file_name.split('/')[:-2] + ['intrinsic_depth.txt'])
         if torch.is_tensor(intrinsic):
             intrinsic = intrinsic.cpu().numpy()
         if not isinstance(intrinsic, np.ndarray):

diff --git a/optim/solver_fpfh.py b/optim/solver_fpfh.py
@@ -59,9 +59,9 @@ def load_point_clouds(
     xy_grid = xy_grid[None].expand(len(trajectory), 2, 480, 640)
 
     try:
-        intr = load_matrix(os.path.join(data_dir, scene, 'intrinsics_depth.txt'))
+        intr = load_matrix(os.path.join(data_dir, scene, 'intrinsic_depth.txt'))
     except FileNotFoundError:
-        intr = load_matrix(os.path.join(data_dir, scene, 'intrinsic/intrinsics_depth.txt'))
+        intr = load_matrix(os.path.join(data_dir, scene, 'intrinsic/intrinsic_depth.txt'))
     intr = torch.as_tensor(intr[:3, :3]).float()
     depth_points = back_project(xy_grid, depths, intr)
 

diff --git a/optim/solver_sift.py b/optim/solver_sift.py
@@ -136,9 +136,9 @@ def solve_sift_pair(
 
     if intr is None:
         try:
-            intr = load_matrix(os.path.join(data_dir, scene, 'intrinsics_depth.txt'))
+            intr = load_matrix(os.path.join(data_dir, scene, 'intrinsic_depth.txt'))
         except FileNotFoundError:
-            intr = load_matrix(os.path.join(data_dir, scene, 'intrinsic/intrinsics_depth.txt'))
+            intr = load_matrix(os.path.join(data_dir, scene, 'intrinsic/intrinsic_depth.txt'))
 
     try:
         matches = match_features(feat, depth_images, intr, thresh=thresh, min_points=min_points)

diff --git a/pair_eval.py b/pair_eval.py
@@ -104,7 +104,7 @@ def run_sg(base_dir, samples):
 
             pose0 = load_matrix(os.path.join(base_dir, scene, 'pose', f'{id0}.txt'))
             pose1 = load_matrix(os.path.join(base_dir, scene, 'pose', f'{id1}.txt'))
-            intr = load_matrix(os.path.join(base_dir, scene, 'intrinsics_depth.txt'))[:3, :3]
+            intr = load_matrix(os.path.join(base_dir, scene, 'intrinsic_depth.txt'))[:3, :3]
 
             sg_path = os.path.join(sg_dir, f'{scene}_{id0}_{id1}_matches.npz')
             sg_paths.append(sg_path)