fix: lidar eval

scripts/reconstruction_benchmark/lidar_cloud_eval.py

@@ -8,7 +8,12 @@
 
 
 def evaluate_lidar_cloud(
-    project_folder, lidar_cloud_folder_path, gt_folder_path, octomap_resolution=0.1, downsample_voxel_size=0.05
+    project_folder,
+    lidar_cloud_folder_path,
+    gt_octree_path,
+    gt_cloud_path,
+    octomap_resolution=0.1,
+    downsample_voxel_size=0.05,
 ):
     input_cloud_bt_path = Path(project_folder) / "input_cloud.bt"
     processPCDFolder(str(lidar_cloud_folder_path), octomap_resolution, str(input_cloud_bt_path))
@@ -20,9 +25,9 @@ def evaluate_lidar_cloud(
     input_cloud_merged_path = Path(project_folder) / "input_cloud_merged.ply"
     _ = merge_downsample_vilens_slam_clouds(lidar_cloud_folder_path, downsample_voxel_size, input_cloud_merged_path)
     input_cloud_filtered_path = Path(project_folder) / "input_cloud_merged_filtered.ply"
-    removeUnknownPoints(str(input_cloud_merged_path), str(gt_cloud_bt_path), str(input_cloud_filtered_path))
+    removeUnknownPoints(str(input_cloud_merged_path), str(gt_octree_path), str(input_cloud_filtered_path))
     input_cloud_np = np.asarray(o3d.io.read_point_cloud(str(input_cloud_filtered_path)).points)
-    gt_cloud_np = np.asarray(self.gt_cloud_merged.points)
+    gt_cloud_np = np.asarray(o3d.io.read_point_cloud(str(gt_cloud_path)).points)
 
     print(get_recon_metrics(input_cloud_np, gt_cloud_np))
     save_error_cloud(input_cloud_np, gt_cloud_np, str(Path(project_folder) / "input_error.ply"))

scripts/reconstruction_benchmark/main.py

@@ -1,10 +1,11 @@
 from pathlib import Path
 
+import numpy as np
 from lidar_cloud_eval import evaluate_lidar_cloud
 
 from oxford_spires_utils.bash_command import print_with_colour
 from oxford_spires_utils.point_cloud import merge_downsample_vilens_slam_clouds
-from oxford_spires_utils.utils import convert_e57_folder_to_pcd_folder
+from oxford_spires_utils.utils import convert_e57_folder_to_pcd_folder, transform_pcd_folder
 from spires_cpp import convertOctreeToPointCloud, processPCDFolder
 
 
@@ -20,11 +21,11 @@ def __init__(self, project_folder):
         # TODO: check lidar cloud folder has viewpoints and is pcd, check gt folder is pcd, check image folder is jpg/png
         self.octomap_resolution = 0.1
         self.cloud_downsample_voxel_size = 0.05
+        self.gt_octree_path = self.output_folder / "gt_cloud.bt"
+        self.gt_cloud_merged_path = self.output_folder / "gt_cloud_merged.ply"
 
     def process_gt_cloud(self):
         print_with_colour("Creating Octree and merged cloud from ground truth clouds")
-        self.gt_octree_path = self.output_folder / "gt_cloud.bt"
-        self.gt_cloud_merged_path = self.output_folder / "gt_cloud_merged.ply"
         processPCDFolder(str(self.gt_individual_folder), self.octomap_resolution, str(self.gt_octree_path))
         gt_cloud_free_path = str(Path(self.gt_octree_path).with_name(f"{Path(self.gt_octree_path).stem}_free.pcd"))
         gt_cloud_occ_path = str(Path(self.gt_octree_path).with_name(f"{Path(self.gt_octree_path).stem}_occ.pcd"))
@@ -35,7 +36,11 @@ def process_gt_cloud(self):
 
     def evaluate_lidar_clouds(self):
         evaluate_lidar_cloud(
-            self.output_folder, self.individual_clouds_folder, self.gt_individual_folder, self.octomap_resolution
+            self.output_folder,
+            self.individual_clouds_folder,
+            self.gt_octree_path,
+            self.gt_cloud_merged_path,
+            self.octomap_resolution,
         )
 
     def tranform_lidar_clouds(self, transform_matrix_path=None):