pointnet语义分割_训练并预测自己的数据_pointrcnn训练自己数据集-CSDN博客

没想到吧。。时隔一年我又回来了。这一年因为一些原因放弃了一些东西，也学到了一些东西。
这几天想用深度学习做一下点云的分割试验，网上搜了一下相关标题的blog有很多，但大部分只是简单的介绍文章内容，干活并不多。经过五天的摸索，在缺乏相关资料和帮助的情况下，本人大致搞清楚了pointnet进行sem_seg的流程。可能步骤存在问题甚至是错的，因为也没有人交流，但从试验结果看来还行。欢迎大家批评指正。点云的标注用cloudcompare就可以，后面obj文件的可视化由于cc对其支持不太好，改用meshlab。
欢迎阅读我的其他文章：
windows下运行pointnet（全）
windows下运行pointcnn

训练

首先准备自己的数据集。txt格式的点云文件就行，我随便找了个斯坦福兔子点云文件，里面是xyz三维点的坐标，就像这样
在这里插入图片描述
另外还有扫描的一个零件的点云数据当背景，数据格式和上面的类似。对兔子（rabbit）和零件（clutter）的点云数据进行随机变换得到不同视角的点云文件，得到如下组织

修改indoor3d_util.py中的g_class2color如下

g_class2color = {'rabbit':	[255,0,0],
                 'clutter':	[50,50,50]}

   
   
   
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修改collect_point_label函数里面的内容，给点云数据增加rgb信息：

    for f in glob.glob(os.path.join(anno_path, '*.txt')):
        cls = os.path.basename(f).split('_')[0]
        print(cls)
        #if cls not in g_classes: # note: in some room there is 'staris' class..
        #    cls = 'clutter'
        points = np.loadtxt(f)
        labels = np.ones((points.shape[0], 1)) * g_class2label[cls]
        color = np.zeros((points.shape[0], 3))
        color[:, 0:3] = 255
        points_list.append(np.concatenate([points, color, labels], 1))  # Nx7  

   
   
   
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然后可以运行collect_indoor3d_data.py生成npy文件。再通过运行gen_indoor3d_h5.py生成h5文件。
得到h5文件后就可以进行训练了。train.py文件有几个地方要修改：NUM_CLASSES、train_idxs、test_idxs；还需要修改model.py文件中网络最后一个卷积层的通道数为要分类的数目。另外，输入参数num_point、max_epoch、batch_size可以根据自己情况修改。我的输入样本较少，十几分钟就能训练完毕。

预测

运行batch_inference.py程序即可。同理，需要修改NUM_CLASSES。运行需要提供的参数可以参考我的上一篇文章：windows下运行pointnet（全）。
随便标注了几组数据用于测试，效果有限。红色为预测出的兔子，灰色为预测出的工件，黑色为未识别出的部分。
acc=0.967690
acc=0.967960

acc=0.989229

acc=0.811689
这组模型中最右边的兔子几乎都预测错误了。

附：
txt转npy

import numpy as np
file = 'rabbit8.txt'

res = np.loadtxt(file)
res = []
with open(file, ‘r’) as f:
data = f.readlines()
for i, line in enumerate(data):
tmp = list(map(float, line.split()))
res.append(tmp)
print(res)
np.save(‘inf8.npy’, res)

txt转h5

import os
import sys
import numpy as np
import h5py
BASE_DIR = os.path.dirname(os.path.abspath(__file__))
sys.path.append(BASE_DIR)

def getDataFiles(list_filename):
return [line.rstrip() for line in open(list_filename)]

def loadDataFile(path):
data = np.loadtxt(path)
point_xyz = data[:,0:9]
label = (data[:,9]).astype(int)
return point_xyz, label

def change_scale(data):
#centre
xyz_min = np.min(data[:,0:3],axis=0)
xyz_max = np.max(data[:,0:3],axis=0)
xyz_move = xyz_min+(xyz_max-xyz_min)/2
data[:,0:3] = data[:,0:3]-xyz_move
#scale
scale = np.max(data[:,0:3])
return data[:,0:3]/scale

if name == “main”:
DATA_FILES = getDataFiles(os.path.join(BASE_DIR, ‘file_path.txt’))
num_sample = 4096
DATA_ALL = []
for fn in range(len(DATA_FILES)):
print(DATA_FILES[fn])
current_data, label = loadDataFile(DATA_FILES[fn])
#change_data = change_scale(current_data)
#print(change_data)
data_label = np.column_stack((current_data,label))
DATA_ALL.append(data_label)

output <span class="token operator">=</span> np<span class="token punctuation">.</span>vstack<span class="token punctuation">(</span>DATA_ALL<span class="token punctuation">)</span>
<span class="token keyword">print</span><span class="token punctuation">(</span>output<span class="token punctuation">.</span>shape<span class="token punctuation">)</span>
output <span class="token operator">=</span> output<span class="token punctuation">.</span>reshape<span class="token punctuation">(</span><span class="token operator">-</span><span class="token number">1</span><span class="token punctuation">,</span>num_sample<span class="token punctuation">,</span><span class="token number">10</span><span class="token punctuation">)</span>
     
<span class="token comment"># 这里没将训练测试集单独分开        </span>
<span class="token keyword">if</span> <span class="token operator">not</span> os<span class="token punctuation">.</span>path<span class="token punctuation">.</span>exists<span class="token punctuation">(</span><span class="token string">'ply_data_train1.h5'</span><span class="token punctuation">)</span><span class="token punctuation">:</span>
    <span class="token keyword">with</span> h5py<span class="token punctuation">.</span>File<span class="token punctuation">(</span><span class="token string">'ply_data_train1.h5'</span><span class="token punctuation">)</span> <span class="token keyword">as</span> f<span class="token punctuation">:</span>
        f<span class="token punctuation">[</span><span class="token string">'data'</span><span class="token punctuation">]</span> <span class="token operator">=</span> output<span class="token punctuation">[</span><span class="token punctuation">:</span><span class="token punctuation">,</span><span class="token punctuation">:</span><span class="token punctuation">,</span><span class="token number">0</span><span class="token punctuation">:</span><span class="token number">9</span><span class="token punctuation">]</span>
        f<span class="token punctuation">[</span><span class="token string">'label'</span><span class="token punctuation">]</span> <span class="token operator">=</span> <span class="token punctuation">(</span>output<span class="token punctuation">[</span><span class="token punctuation">:</span><span class="token punctuation">,</span><span class="token punctuation">:</span><span class="token punctuation">,</span><span class="token number">9</span><span class="token punctuation">]</span><span class="token punctuation">)</span><span class="token punctuation">.</span>astype<span class="token punctuation">(</span><span class="token builtin">int</span><span class="token punctuation">)</span>