Scene flow #204
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Scene flow #204
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+ Scene flow class on aloscene. + Classmethod to create sceneflow from optical flow, depth and intrinsic. + Function to load scene flow from a numpy file. Signed-off-by: Valentin Dury <[email protected]>
- For loop in points 3d to generate scene flow. + Numpy operation to calculate the scene flow. + Vertical and horizontal flip functions. Signed-off-by: Valentin Dury <[email protected]>
Ardorax
added
enhancement
jsalotti
suggested changes
Jul 19, 2022
+ Use loop to correctly create scene flow - Flip on Z axis. Signed-off-by: Valentin Dury <[email protected]>
+ Translate every point a T+1 by the optical flow. + Numpy array indexing instead of for loop. Signed-off-by: Valentin Dury <[email protected]>
jsalotti
reviewed
Jul 21, 2022
jsalotti
reviewed
Jul 21, 2022
jsalotti
reviewed
Jul 21, 2022
+ Get the value of the scene flow with the mean of the 4 points around. + Reshape directly from the array. + Better name for variables. Signed-off-by: Valentin Dury <[email protected]>
+ Scene flow classmethod 'from_optical_flow' can now handle batch dimension. Signed-off-by: Valentin Dury <[email protected]>
+ Use grid_sample function to calculate scene flow to have a better precision than with the mean value. Signed-off-by: Valentin Dury <[email protected]>
jsalotti
suggested changes
Jul 25, 2022
- Error in calculation + Use only pytorch to create scene flow. Signed-off-by: Valentin Dury <[email protected]>
+ Compute the scene flow occlusion from the parameters occlusion and and calculation method. Signed-off-by: Valentin Dury <[email protected]>
jsalotti
suggested changes
Jul 28, 2022
+ Occlusion can be None if any parameters have occlusion. + Grid sample precision is verify only with occlusion of the depth at T+1. + Rename parameter 'mode' to 'sampling' and add it in the docstring. Signed-off-by: Valentin Dury <[email protected]>
- Useless operation. Signed-off-by: Valentin Dury <[email protected]>
jsalotti
approved these changes
Jul 28, 2022
Data-Iab
requested changes
Jul 28, 2022
+ Move 'load_scene_flow' to 'aloscene/io/flow'. + Better docstring + Test batch dimentions existance with the tensor names. Signed-off-by: Valentin Dury <[email protected]>
+ Verify if file extension is .npy. + Better docstring. + Occlusion is of type None by default. Signed-off-by: Valentin Dury <[email protected]>
- Useless variable. Signed-off-by: Valentin Dury <[email protected]>
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Thanks, can you add a quick/simple example on how to use it in the description ? So that I can add it to the next release ? I'll merge after @Ardorax |
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Scene flow class
Create scene flow by calling the class with a file path, a tensor or a ndarray.
If you have optical flow, depth at time T and T + 1 and the camera intrinsic. You can create scene flow with the class method
from_optical_flow. It handle the creation of the occlusion mask if some parameters have one.