Open3D-ML

最新推荐文章于 2024-07-02 20:39:58 发布

AI算法网奇

最新推荐文章于 2024-07-02 20:39:58 发布

阅读量2.4k

点赞数 1

分类专栏： 3D视觉

本文链接：https://blog.csdn.net/jacke121/article/details/119090961

版权

3D视觉专栏收录该内容

140 篇文章

订阅专栏

本文介绍如何使用SemanticKITTI数据集与Open3D-ML工具进行点云数据的处理及可视化。首先需要安装TensorFlow和PyTorch等依赖项，并下载SemanticKITTI数据集。通过Python代码演示了如何加载数据集、获取数据属性和点云形状，并利用Visualizer显示前100帧的点云数据。

摘要生成于 C知道，由 DeepSeek-R1 满血版支持，前往体验 >

地址

https://github.com/intel-isl/Open3D-ML

需要下载数据集：SemanticKITTI

先安装依赖项：

# To install a compatible version of TensorFlow
pip install -r requirements-tensorflow.txt
# To install a compatible version of PyTorch with CUDA
pip install -r requirements-torch-cuda.txt

可视化demo:

import open3d.ml.torch as ml3d  # or open3d.ml.tf as ml3d

# construct a dataset by specifying dataset_path
dataset = ml3d.datasets.SemanticKITTI(dataset_path='/path/to/SemanticKITTI/')

# get the 'all' split that combines training, validation and test set
all_split = dataset.get_split('all')

# print the attributes of the first datum
print(all_split.get_attr(0))

# print the shape of the first point cloud
print(all_split.get_data(0)['point'].shape)

# show the first 100 frames using the visualizer
vis = ml3d.vis.Visualizer()
vis.visualize_dataset(dataset, 'all', indices=range(100))

有各种网络的比较结果和链接