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import numpy as np
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import torch
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def chunk_sequence(
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data,
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indices,
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*,
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names=None,
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max_length=100,
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min_length=1,
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max_delay_s=None,
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max_inter_dist=None,
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max_total_dist=None,
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):
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sort_array = data.get("capture_time", data.get("index"))
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if sort_array is None:
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sort_array = indices if names is None else names
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indices = sorted(indices, key=lambda i: sort_array[i].tolist())
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centers = torch.stack([data["t_c2w"][i][:2] for i in indices]).numpy()
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dists = np.linalg.norm(np.diff(centers, axis=0), axis=-1)
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if "capture_time" in data:
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times = torch.stack([data["capture_time"][i] for i in indices])
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times = times.double() / 1e3
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delays = np.diff(times, axis=0)
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else:
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delays = np.zeros_like(dists)
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chunks = [[indices[0]]]
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dist_total = 0
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for dist, delay, idx in zip(dists, delays, indices[1:]):
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dist_total += dist
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if (
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(max_inter_dist is not None and dist > max_inter_dist)
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or (max_total_dist is not None and dist_total > max_total_dist)
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or (max_delay_s is not None and delay > max_delay_s)
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or len(chunks[-1]) >= max_length
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):
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chunks.append([])
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dist_total = 0
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chunks[-1].append(idx)
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chunks = list(filter(lambda c: len(c) >= min_length, chunks))
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chunks = sorted(chunks, key=len, reverse=True)
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return chunks |
