ScanNet 数据集处理（一）

最近在做毕业设计，课题研究对象就是ScanNet数据集Scannet主页，所以也学到了一些处理点云的方法。在这里记录一下。

数据集简介

下载完数据集后，内部结果如下所示，每一个场景一个文件夹。

<scanId>
|-- <scanId>_vh_clean.ply
    (Updated if had remove annotations)
|-- <scanId>_vh_clean_2.ply
    (Updated if had remove annotations)
|-- <scanId>.aggregation.json, <scanId>_vh_clean.aggregation.json
    Updated aggregated instance-level semantic annotations on lo-res, hi-res meshes, respectively
|-- <scanId>_vh_clean_2.labels.ply
    Updated visualization of aggregated semantic segmentation; colored by nyu40 labels (see legend referenced above; ply property 'label' denotes the ScanNet label id)
|-- <scanId>_2d-label.zip
    Updated raw 2d projections of aggregated annotation labels as 16-bit pngs with ScanNet label ids
|-- <scanId>_2d-instance.zip
    Updated raw 2d projections of aggregated annotation instances as 8-bit pngs
|-- <scanId>_2d-label-filt.zip
    Updated filtered 2d projections of aggregated annotation labels as 16-bit pngs with ScanNet label ids
|-- <scanId>_2d-instance-filt.zip
    Updated filtered 2d projections of aggregated annotation instances as 8-bit pngs

如下图所示：

其中scene0000_00_vh_clean.ply和scene0000_00_vh_clean_2.ply都是点云图像的ply文件（两者清晰度不同），可以直接用meshlab打开，也可用open3d绘制。但是可以看出，整幅点云图像对于坐标轴原点来讲是有偏移的。

scene0000_00_vh_clean_2.labels.ply是带标签的点云，是分隔之后的结果。

可以看出，以上3幅图对于远点都是有偏移的。那么如何处理便宜呢？

3D点云处理偏移

在文件夹下，有一个scene0000_00.txt文件，第一行axisAlignment就是坐标偏移。

点的处理偏移

if __name__ == '__main__':
    # 1. 得到 ply 文件，分别得到 x, y, z, r, g, b
    filename = os.path.join(ROOT, "scene0000_00_vh_clean_2.ply")
    with open(filename, 'rb') as f:
        plydata = PlyData.read(f)
        num_verts = plydata['vertex'].count
        vertices = np.zeros(shape=[num_verts, 6], dtype=np.float32)
        vertices[:, 0] = plydata['vertex'].data['x']
        vertices[:, 1] = plydata['vertex'].data['y']
        vertices[:, 2] = plydata['vertex'].data['z']
        vertices[:, 3] = plydata['vertex'].data['red']
        vertices[:, 4] = plydata['vertex'].data['green']
        vertices[:, 5] = plydata['vertex'].data['blue']

    # 2. 得到偏移
    meta_file = os.path.join(ROOT, "scene0000_00.txt")
    lines = open(meta_file).readlines()
    axis_align_matrix = None
    for line