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BigredDataSet.py
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BigredDataSet.py
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import os
import os.path as osp
import shutil
import numpy as np
import h5py
import torch
import pdb
# from torch_geometric.data import (InMemoryDataset, Data, download_url,
#
#
# extract_zip)
#is_test is final
import pdb
class BigredDataSet():
def __init__(self,
root,
is_train=True,
is_validation=False,
is_test=False,
num_channel=5,
test_code = False,
including_ring = True
):
assert (num_channel >= 3), "num_channel must be equals or greater than 3. XYZ must be included!"
# shape of data:1x,2y,3z,4ins,5laserID
self.is_train = is_train
self.root = root
self.is_test = is_test
self.is_validation = is_validation
self.test_code = test_code
self.file_dict = {}
point_set = []
label_set = []
laserID_set = []
intensity_set = []
with open(os.path.join(root, "multiple.txt"), 'r') as f:
data_list = [x.split('/')[-1] for x in f.read().split('\n')[:-1]]
# data_list = data_list[:1]
pointset = []
lableset = []
counter_for_file = 0
for file in data_list:
# print(len(pointset))
#pdb.set_trace()
with h5py.File(os.path.join(root, file), 'r') as f:
try:
print('Processing: ' + file)
if(self.test_code == False):
train_tail = int(np.array(f['label']).shape[0] * 0.7)
validation_tail = int(np.array(f['label']).shape[0] * 0.9)
test_tail = int(np.array(f['label']).shape[0] * 1)
if(self.test_code == True):
train_tail = int(np.array(f['label']).shape[0] * 0.01)
validation_tail = int(np.array(f['label']).shape[0] * 0.02)
test_tail = int(np.array(f['label']).shape[0] * 0.03)
current_point = []
if (self.is_train == True and self.is_validation == False and self.is_test == False):
print("Loading Training Data...")
n_frame = np.array(f['xyz'][:train_tail, :, :]).shape[0]
n_points = np.array(f['xyz'][:train_tail, :, :]).shape[1]
current_point.append(np.array(f['xyz'][:train_tail, :, :]))
current_point.append(np.array(f['intensity'][:train_tail, :]).reshape(n_frame, n_points, 1))
current_point.append(np.array(f['laserID'][:train_tail, :]).reshape(n_frame, n_points, 1))
current_point = np.concatenate(current_point, axis=2)
lableset.append(np.array(f['label'][:train_tail, :]))
pointset.append(current_point)
self.file_dict[counter_for_file] = file
counter_for_file = counter_for_file + n_frame
elif (self.is_train == False and self.is_validation == True and self.is_test == False):
print("Loading Validation Data...")
n_frame = np.array(f['xyz'][train_tail:validation_tail, :, :]).shape[0]
n_points = np.array(f['xyz'][train_tail:validation_tail, :, :]).shape[1]
current_point.append(np.array(f['xyz'][train_tail:validation_tail, :, :]))
current_point.append(
np.array(f['intensity'][train_tail:validation_tail, :]).reshape(n_frame, n_points, 1))
current_point.append(
np.array(f['laserID'][train_tail:validation_tail, :]).reshape(n_frame, n_points, 1))
current_point = np.concatenate(current_point, axis=2)
lableset.append(np.array(f['label'][train_tail:validation_tail, :]))
pointset.append(current_point)
self.file_dict[counter_for_file] = file
counter_for_file = counter_for_file + n_frame
elif (self.is_train == False and self.is_validation == False and self.is_test == True):
print("Loading Testing Data...")
n_frame = np.array(f['xyz'][validation_tail:test_tail, :, :]).shape[0]
n_points = np.array(f['xyz'][validation_tail:test_tail, :, :]).shape[1]
#print(n_points,n_frame)
current_point.append(np.array(f['xyz'][validation_tail:test_tail, :, :]))
current_point.append(
np.array(f['intensity'][validation_tail:test_tail, :]).reshape(n_frame, n_points, 1))
current_point.append(
np.array(f['laserID'][validation_tail:test_tail, :]).reshape(n_frame, n_points, 1))
current_point = np.concatenate(current_point, axis=2)
lableset.append(np.array(f['label'][validation_tail:test_tail, :]))
pointset.append(current_point)
self.file_dict[counter_for_file] = file
counter_for_file = counter_for_file + n_frame
except:
f.close()
sorted_keys = np.array(sorted(self.file_dict.keys()))
result_sheet = {
'Complex':[],
'Medium':[],
'Simple':[],
'multiPeople':[],
'singlePerson':[]
}
for key in sorted_keys:
tempname = self.file_dict[key]
tempname = tempname[:-3]
result_sheet[tempname] = []
self.result_sheet = result_sheet
#pdb.set_trace()
self.point_set = np.concatenate(pointset, axis=0)
self.label_set = np.concatenate(lableset, axis=0)
if(including_ring == False):
self.point_set = self.point_set[:, :, 0:num_channel]
else:
temp = list(range(num_channel))
temp.append(4)
self.point_set = self.point_set[:, :, temp]
self.num_channel = num_channel
print("num_channel:", num_channel)
print("point_set:", self.point_set.shape)
print("lable_set:", self.label_set.shape)
labelweights, _ = np.histogram(self.label_set, range(3))
labelweights = labelweights.astype(np.float32)
labelweights = labelweights / np.sum(labelweights)
self.labelweights = np.power(np.amax(labelweights) / labelweights, 1 / 3.0)
print("self.labelweights", self.labelweights)
def __getitem__(self, index):
# if(self.is_test == False):
point_set = self.point_set[index]
label_set = self.label_set[index]
point_set[:, :3] = point_set[:, :3] - np.expand_dims(np.mean(point_set[:, :3], axis=0), 0) # center
dist = np.max(np.sqrt(np.sum(point_set[:, :3] ** 2, axis=1)), 0)
# if(dist == 0):
# print(point_set)
# print(dist)
# dist = LA.norm(point_set, axis=1)
point_set[:, :3] = point_set[:, :3] / dist # scale
if(self.is_train == True):
theta = np.random.uniform(0, np.pi * 2)
rotation_matrix = np.array([[np.cos(theta), -np.sin(theta)], [np.sin(theta), np.cos(theta)]])
point_set[:, [0, 1]] = point_set[:, [0, 1]].dot(rotation_matrix) # random rotation
multiplier = np.random.uniform(1, 2)
point_set[:, 0] = point_set[:, 0] * multiplier # random scaling
symer = np.random.choice([-1, 1])
point_set[:, 2] = point_set[:, 2] * symer # random sysmtrilizing
point_set[:, :3] += np.random.normal(0, 0.02, size=point_set[:, :3].shape) # random jitter
# duplicated
# pos_num = np.sum(label_set == 1)
# neg_num = np.sum(label_set == 0)
# multi = np.random.uniform(2, 5)
# pos_select_pos = (int)(20000/multi)
# pos_select_neg = 20000 - pos_select_pos
# if(neg_num > pos_select_neg):
# select_neg = np.random.choice(neg_num, pos_select_neg, replace=False)
# select_pos = np.random.choice(pos_num, pos_select_pos, replace=True)
# point_pos = point_set[label_set == 1, :]
# point_pos_new = point_pos[select_pos, :]
# label_set_pos = label_set[label_set == 1]
# label_pos_new = label_set_pos[select_pos]
# point_neg = point_set[label_set == 0, :]
# point_neg_new = point_neg[select_neg, :]
# label_set_neg = label_set[label_set == 0]
# label_neg_new = label_set_neg[select_neg]
# point_set = np.vstack((point_pos_new, point_neg_new))
# label_set = np.hstack((label_pos_new, label_neg_new))
point_set = torch.from_numpy(point_set).float()
seg = torch.from_numpy(label_set).long()
return point_set, seg
# else:
# point_set = self.point_set[index]
# label_set = self.label_set[index]
# point_set = point_set - np.expand_dims(np.mean(point_set, axis=0), 0) # center
# dist = np.max(np.sqrt(np.sum(point_set ** 2, axis=1)), 0)
# point_set = point_set / dist # scale
# point_set = torch.from_numpy(point_set).float()
# seg = torch.from_numpy(label_set).long()
# return point_set,seg
def __len__(self):
return len(self.point_set)