Added normals to prediction DataObject

dataset/shapenet.py

@@ -135,6 +135,7 @@ class CustomShapeNet(InMemoryDataset):
                     else:
                         # Get the y - Label
                         if self.mode != 'predict':
+                            # TODO: This is shady function, elaborate on it
                             y_raw = next(i for i, v in enumerate(self.categories.keys()) if v.lower() in element.lower())
                             y_all = [y_raw] * points.shape[0]
                         else:
@@ -187,15 +188,14 @@ class ShapeNetPartSegDataset(Dataset):
 
     def __getitem__(self, index):
         data = self.dataset[index]
-        points, labels = data.pos, data.y  # , data.points, data.norm
 
         # Resample to fixed number of points
         try:
-            choice = np.random.choice(points.shape[0], self.npoints, replace=True)
+            choice = np.random.choice(data.pos.shape[0], self.npoints, replace=True)
         except ValueError:
             choice = []
 
-        points, labels = points[choice, :], labels[choice]
+        points, labels = data.pos[choice, :], data.y[choice]
 
         labels -= 1 if self.num_classes() in labels else 0   # Map label from [1, C] to [0, C-1]
 
@@ -204,7 +204,8 @@ class ShapeNetPartSegDataset(Dataset):
             'labels': labels  # torch.Tensor (n,)
         }
         if self.mode == 'predict':
-            sample.update(normals=data.normals)
+            normals = data.normals[choice]
+            sample.update(normals=normals)
 
         return sample
 

pointcloud.py

@@ -32,17 +32,15 @@ def clusterToColor(cluster, cluster_idx):
     return colors
 
 
-def read_pointcloud(path):
-    file = open(path)
+def read_pointcloud(path, delimiter=' ', hasHeader=True):
+    with open(path, 'r') as f:
+        if hasHeader:
+            # Get rid of the Header
+            _ = f.readline()
+        # This itrates over all lines, splits them anc converts values to floats. Will fail on wrong values.
+        pc = [[float(x) for x in line.rstrip().split(delimiter)] for line in f if line != '']
 
-    header = file.readline()
-    num_points = int(header.split()[0])
-    pc = []
-
-    for i in range(num_points):
-        pc.append(list(float(s) for s in file.readline().split()))
-
-    return np.array(pc)
+    return np.asarray(pc)
 
 
 def write_pointcloud(file, pc, numCols=6):

predict/pointclouds/0_pc.xyz

@@ -1,3 +1,4 @@
+2049 6
 0.0759953 -0.395683 -0.130632 -0.871549 -0.481571 0.0921502
 -0.364005 0.664317 0.169368 -0.997143 0.00181983 -0.0755164 
 0.415995 0.424317 -0.150632 0.920812 -0.223131 -0.319865 

predict/predict.py

@@ -260,9 +260,9 @@ if __name__ == '__main__':
     dataset_folder = './data/raw/predict/'
     pointcloud_file = './pointclouds/0_pc.xyz'
 
-    pc = pc.read_pointcloud(pointcloud_file)
-    pc = normalize_pointcloud(pc)
-    pc = append_normal_angles(pc)
+    pcloud = pc.read_pointcloud(pointcloud_file)
+    pcloud = normalize_pointcloud(pcloud)
+    pcloud = append_normal_angles(pcloud)
 
     # pc = StandardScaler().fit_transform(pc)
 
@@ -270,10 +270,10 @@ if __name__ == '__main__':
 
     # Add full point cloud to prediction folder.
     recreate_folder(dataset_folder + '0_0' + '/')
-    pc_fps = farthest_point_sampling(pc, opt.npoints)
+    pc_fps = farthest_point_sampling(pcloud, opt.npoints)
     pc.write_pointcloud(dataset_folder + '0_0' + '/pc.xyz', pc_fps)
 
-    pc_clusters = extract_cube_clusters(pc, [4,4,4], 1024)
+    pc_clusters = extract_cube_clusters(pcloud, [4,4,4], 1024)
     #pc_clusters = extract_clusters(pc, [0, 1, 2, 3, 4, 5], eps=0.1, min_samples=0.0001, metric='euclidean', algo='auto')
     # Add cluster point clouds to prediction folder.
     for idx, pcc in enumerate(pc_clusters):