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scannet_dataset.py
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scannet_dataset.py
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import pickle
import os
import numpy as np
class ScannetDataset():
def __init__(self, root, npoints=8192, split='train'):
self.npoints = npoints
self.root = root
self.split = split
self.data_filename = os.path.join(self.root, 'scannet_%s.pickle' % split)
with open(self.data_filename, 'rb') as fp:
self.scene_points_list = pickle.load(fp, encoding='bytes')
self.semantic_labels_list = pickle.load(fp, encoding='bytes')
if split == 'train':
labelweights = np.zeros(21)
for seg in self.semantic_labels_list:
tmp, _ = np.histogram(seg, range(22))
labelweights += tmp
labelweights = labelweights.astype(np.float32)
labelweights = labelweights/np.sum(labelweights)
self.labelweights = 1/np.log(1.2+labelweights)
elif split == 'test':
self.labelweights = np.ones(21)
def __getitem__(self, index):
point_set = self.scene_points_list[index]
semantic_seg = self.semantic_labels_list[index].astype(np.int32)
coordmax = np.max(point_set,axis=0)
coordmin = np.min(point_set,axis=0)
smpmin = np.maximum(coordmax-[1.5, 1.5, 3.0], coordmin)
smpmin[2] = coordmin[2]
smpsz = np.minimum(coordmax-smpmin, [1.5, 1.5, 3.0])
smpsz[2] = coordmax[2]-coordmin[2]
cur_semantic_seg = None
cur_point_set = None
mask = None
for i in range(10):
curcenter = point_set[np.random.choice(len(semantic_seg),1)[0],:]
curmin = curcenter-[0.75, 0.75, 1.5]
curmax = curcenter+[0.75, 0.75, 1.5]
curmin[2] = coordmin[2]
curmax[2] = coordmax[2]
curchoice = np.sum((point_set >= (curmin-0.2))*(point_set <= (curmax+0.2)),axis=1) == 3
cur_point_set = point_set[curchoice, :]
cur_semantic_seg = semantic_seg[curchoice]
if len(cur_semantic_seg) == 0:
continue
mask = np.sum((cur_point_set >= (curmin-0.01))*(cur_point_set <= (curmax+0.01)), axis=1) == 3
vidx = np.ceil((cur_point_set[mask, :]-curmin)/(curmax-curmin)*[31.0, 31.0, 62.0])
vidx = np.unique(vidx[:, 0] * 31.0 * 62.0 + vidx[:, 1] * 62.0 + vidx[:, 2])
isvalid = np.sum(cur_semantic_seg > 0)/len(cur_semantic_seg) >= 0.7 and len(vidx)/31.0/31.0/62.0 >= 0.02
if isvalid:
break
choice = np.random.choice(len(cur_semantic_seg), self.npoints, replace=True)
point_set = cur_point_set[choice,:]
semantic_seg = cur_semantic_seg[choice]
mask = mask[choice]
sample_weight = self.labelweights[semantic_seg]
sample_weight *= mask
return point_set, semantic_seg, sample_weight
def __len__(self):
return len(self.scene_points_list)
class ScannetDatasetWholeScene(object):
def __init__(self, root, npoints=8192, split='train'):
self.npoints = npoints
self.root = root
self.split = split
self.data_filename = os.path.join(self.root, 'scannet_%s.pickle' % split)
with open(self.data_filename, 'rb') as fp:
self.scene_points_list = pickle.load(fp, encoding='bytes')
self.semantic_labels_list = pickle.load(fp, encoding='bytes')
if split == 'train':
labelweights = np.zeros(21)
for seg in self.semantic_labels_list:
tmp, _ = np.histogram(seg, range(22))
labelweights += tmp
labelweights = labelweights.astype(np.float32)
labelweights = labelweights/np.sum(labelweights)
self.labelweights = 1/np.log(1.2+labelweights)
elif split == 'test':
self.labelweights = np.ones(21)
def __getitem__(self, index):
point_set_ini = self.scene_points_list[index]
semantic_seg_ini = self.semantic_labels_list[index].astype(np.int32)
coordmax = np.max(point_set_ini, axis=0)
coordmin = np.min(point_set_ini, axis=0)
nsubvolume_x = np.ceil((coordmax[0]-coordmin[0])/1.5).astype(np.int32)
nsubvolume_y = np.ceil((coordmax[1]-coordmin[1])/1.5).astype(np.int32)
nsubvolume_x *= 2
nsubvolume_y *= 2
point_sets = list()
semantic_segs = list()
sample_weights = list()
for i in range(nsubvolume_x):
for j in range(nsubvolume_y):
curmin = coordmin+[i * 0.75, j * 0.75, 0]
curmax = coordmin+[i * 0.75 + 1.5, j * 0.75 + 1.5, coordmax[2]-coordmin[2]]
curchoice = np.sum((point_set_ini >= (curmin-0.2))*(point_set_ini <= (curmax+0.2)), axis=1) == 3
cur_point_set = point_set_ini[curchoice, :]
cur_semantic_seg = semantic_seg_ini[curchoice]
if len(cur_semantic_seg) == 0:
continue
mask = np.sum((cur_point_set >= (curmin-0.001))*(cur_point_set <= (curmax+0.001)), axis=1) == 3
choice = np.random.choice(len(cur_semantic_seg), self.npoints, replace=True)
point_set = cur_point_set[choice, :] # Nx3
semantic_seg = cur_semantic_seg[choice] # N
mask = mask[choice]
if sum(mask) < 2000:
continue
if sum(mask)/float(len(mask)) < 0.01:
continue
sample_weight = self.labelweights[semantic_seg]
sample_weight *= mask # N
point_sets.append(np.expand_dims(point_set, 0)) # 1xNx3
semantic_segs.append(np.expand_dims(semantic_seg, 0)) # 1xN
sample_weights.append(np.expand_dims(sample_weight, 0)) # 1xN
point_sets = np.concatenate(tuple(point_sets), axis=0)
semantic_segs = np.concatenate(tuple(semantic_segs), axis=0)
sample_weights = np.concatenate(tuple(sample_weights), axis=0)
return point_sets, semantic_segs, sample_weights
def __len__(self):
return len(self.scene_points_list)