from sklearn.neighbors import KDTree
from os.path import join, exists, dirname, abspath
import numpy as np
import pandas as pd
import os, sys, glob, pickle
BASE_DIR = dirname(abspath('__file__'))
ROOT_DIR = dirname(BASE_DIR)
sys.path.append(BASE_DIR)
sys.path.append(ROOT_DIR)
sys.path.append('/content/drive/My Drive/3D_semantic_segmentation/My_pkgs')
#sys.path.append('/content/drive/My Drive/3D semantic segmentation)
#from My_pkgs.helper_ply import write_ply
#from My_pkgs.helper_tool import DataProcessing as DP
import helper_ply
#import helper_tool as DP
dataset_path = '/data/S3DIS/Stanford3dDataset_v1.2_Aligned_Version'
anno_paths = [line.rstrip() for line in open(join(BASE_DIR, 'meta/anno_paths.txt'))]
anno_paths = [join(dataset_path, p) for p in anno_paths]
gt_class = [x.rstrip() for x in open(join(BASE_DIR, 'meta/class_names.txt'))]
gt_class2label = {cls: i for i, cls in enumerate(gt_class)}
sub_grid_size = 0.04
original_pc_folder = join(dirname(dataset_path), 'original_ply')
sub_pc_folder = join(dirname(dataset_path), 'input_{:.3f}'.format(sub_grid_size))
os.mkdir(original_pc_folder) if not exists(original_pc_folder) else None
os.mkdir(sub_pc_folder) if not exists(sub_pc_folder) else None
out_format = '.ply'
def convert_pc2ply(anno_path, save_path):
"""
Convert original dataset files to ply file (each line is XYZRGBL).
We aggregated all the points from each instance in the room.
:param anno_path: path to annotations. e.g. Area_1/office_2/Annotations/
:param save_path: path to save original point clouds (each line is XYZRGBL)
:return: None
"""
data_list = []
for f in glob.glob(join(anno_path, '*.txt')):
class_name = os.path.basename(f).split('_')[0]
if class_name not in gt_class: # note: in some room there is 'staris' class..
class_name = 'clutter'
pc = pd.read_csv(f, header=None, delim_whitespace=True).values
labels = np.ones((pc.shape[0], 1)) * gt_class2label[class_name]
data_list.append(np.concatenate([pc, labels], 1)) # Nx7
pc_label = np.concatenate(data_list, 0)
xyz_min = np.amin(pc_label, axis=0)[0:3]
pc_label[:, 0:3] -= xyz_min
xyz = pc_label[:, :3].astype(np.float32)
colors = pc_label[:, 3:6].astype(np.uint8)
labels = pc_label[:, 6].astype(np.uint8)
write_ply(save_path, (xyz, colors, labels), ['x', 'y', 'z', 'red', 'green', 'blue', 'class'])
# save sub_cloud and KDTree file
sub_xyz, sub_colors, sub_labels = DP.grid_sub_sampling(xyz, colors, labels, sub_grid_size)
sub_colors = sub_colors / 255.0
sub_ply_file = join(sub_pc_folder, save_path.split('/')[-1][:-4] + '.ply')
write_ply(sub_ply_file, [sub_xyz, sub_colors, sub_labels], ['x', 'y', 'z', 'red', 'green', 'blue', 'class'])
search_tree = KDTree(sub_xyz)
kd_tree_file = join(sub_pc_folder, str(save_path.split('/')[-1][:-4]) + '_KDTree.pkl')
with open(kd_tree_file, 'wb') as f:
pickle.dump(search_tree, f)
proj_idx = np.squeeze(search_tree.query(xyz, return_distance=False))
proj_idx = proj_idx.astype(np.int32)
proj_save = join(sub_pc_folder, str(save_path.split('/')[-1][:-4]) + '_proj.pkl')
with open(proj_save, 'wb') as f:
pickle.dump([proj_idx, labels], f)
if __name__ == '__main__':
# Note: there is an extra character in the v1.2 data in Area_5/hallway_6. It's fixed manually.
for annotation_path in anno_paths:
print(annotation_path)
elements = str(annotation_path).split('/')
out_file_name = elements[-3] + '_' + elements[-2] + out_format
convert_pc2ply(annotation_path, join(original_pc_folder, out_file_name))
python错误锦集及各种packages安装
rstrip() & strip()
glob()
os.path.join()
values()
os.path.basename()
python函数——pickle中的dump以及load
KDTree