关于torch-points3d可视化的问题--安装环境

#!/usr/bin/env bash

PYTHON=${PYTHON:-"python"}
#cuda 10.1

$PYTHON -mpip install ./torch-1.6.0+cu101-cp37-cp37m-linux_x86_64.whl
$PYTHON -mpip install ./torchvision-0.7.0+cu101-cp37-cp37m-linux_x86_64.whl
$PYTHON -mpip install ./torch_cluster-1.5.8+cu101-cp37-cp37m-linux_x86_64.whl
$PYTHON -mpip install ./torch_scatter-2.0.5+cu101-cp37-cp37m-linux_x86_64.whl
$PYTHON -mpip install ./torch_sparse-0.6.8+cu101-cp37-cp37m-linux_x86_64.whl
$PYTHON -mpip install ./torch_spline_conv-1.2.0+cu101-cp37-cp37m-linux_x86_64.whl

$PYTHON -mpip install torch_geometric==1.7.0 -i https://pypi.tuna.tsinghua.edu.cn/simple

$PYTHON -mpip install torch_points3d==1.2.0 -i https://pypi.tuna.tsinghua.edu.cn/simple

参考：

http://ziyedy.top/page/plyfile.html

https://www.pythonf.cn/read/69331

https://blog.csdn.net/weixin_44389243/article/details/106746240

https://blog.csdn.net/guaiderzhu1314/article/details/105749413/

输出的ply无法在cloudcompare上打开

我切换成pcd进行打开

# python3.8
# -*- coding: utf-8 -*-
# ---
# @Software: PyCharm
# @File: vis_ply.py
# @Author: ---
# @Institution: BeiJing, China
# @E-mail: lgdyangninghua@163.com
# @Site: 
# @Time: 4月 26, 2021
# ---

import os
import numpy as np
import open3d as o3d
from plyfile import PlyData, PlyElement

HEADER = '''\
# .PCD v0.7 - Point Cloud Data file format
VERSION 0.7
FIELDS x y z label object
SIZE 4 4 4 4 4
TYPE F F F I I
COUNT 1 1 1 1 1
WIDTH {}
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS {}
DATA ascii
'''

def write_pcd(points, save_pcd_path):
    n = len(points)
    lines = []
    for i in range(n):
        x, y, z, label, object = points[i]
        lines.append('{:.6f} {:.6f} {:.6f} {} {}'.format(x, y, z, label, object))
    with open(save_pcd_path, 'w') as f:
        f.write(HEADER.format(n, n))
        f.write('\n'.join(lines))

def write_pcd(points, save_pcd_path):
    with open(save_pcd_path, 'w') as f:
        f.write(HEADER.format(len(points), len(points)) + '\n')
        np.savetxt(f, points, delimiter=' ', fmt='%f %f %f %d %d')


def read_ply(filename):
    """ 读取坐标，返回值为 n * 3 """
    plydata = PlyData.read(filename)
    x = plydata.elements[0].data['x']
    y = plydata.elements[0].data['y']
    z = plydata.elements[0].data['z']
    p = plydata.elements[0].data['p'] #pred
    l = plydata.elements[0].data['l'] #label
    point = np.array([[_x, _y, _z, _p, _l] for _x, _y, _z, _p, _l in zip(x, y, z, p, l)])
    return point

path = "torch-points3d-master/outputs/benchmark/benchmark-pointnet2_charlesssg-20210426_160121/viz/99/train/"
lines = os.listdir(path)
for m_ind, m_val in enumerate(lines):
    if m_val.endswith('ply'):
        point = read_ply(os.path.join(path, m_val))
        xyzpred = point[:, :4]
        h,w = xyzpred.shape
        object = np.ones((h,1), dtype=np.int8)*(-1)
        save_pcd_point = np.hstack((xyzpred, object))
        write_pcd(save_pcd_point, os.path.join(path, m_val).replace('ply', 'pcd'))