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_setaxis=0）
????????coordmin?=?np.min（point_setaxis=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‘）:
?????

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-11-24?03:49??pointSIFT-master\
?????文件????????3113??2018-11-24?03:49??pointSIFT-master\README.md
?????目錄???????????0??2018-11-24?03:49??pointSIFT-master\img\
?????文件???????47663??2018-11-24?03:49??pointSIFT-master\img\fig1.png
?????目錄???????????0??2018-11-24?03:49??pointSIFT-master\models\
?????文件????????4886??2018-11-24?03:49??pointSIFT-master\models\pointSIFT_pointnet.py
?????文件????????6104??2018-11-24?03:49??pointSIFT-master\scannet_dataset.py
?????文件???????????1??2018-11-24?03:49??pointSIFT-master\test.py
?????目錄???????????0??2018-11-24?03:49??pointSIFT-master\tf_utils\
?????文件???????18149??2018-11-24?03:49??pointSIFT-master\tf_utils\pointSIFT_util.py
?????文件???????11756??2018-11-24?03:49??pointSIFT-master\tf_utils\provider.py
?????目錄???????????0??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\
?????目錄???????????0??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\grouping\
?????文件?????????188??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\grouping\.gitignore
?????目錄???????????0??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\grouping\test\
?????文件?????????300??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\grouping\test\compile.sh
?????文件????????3824??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\grouping\test\query_ball_point.cpp
?????文件????????4309??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\grouping\test\query_ball_point.cu
?????文件????????4230??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\grouping\test\query_ball_point_block.cu
?????文件????????4589??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\grouping\test\query_ball_point_grid.cu
?????文件????????2481??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\grouping\test\selection_sort.cpp
?????文件????????1920??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\grouping\test\selection_sort.cu
?????文件????????2454??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\grouping\test\selection_sort_const.cu
?????文件???????10471??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\grouping\tf_grouping.cpp
?????文件????????2777??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\grouping\tf_grouping.py
?????文件?????????886??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\grouping\tf_grouping_compile.sh
?????文件????????5045??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\grouping\tf_grouping_g.cu
?????文件?????????904??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\grouping\tf_grouping_op_test.py
?????目錄???????????0??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\interpolation\
?????文件????????5003??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\interpolation\interpolate.cpp
?????文件???????10969??2018-11-24?03:49??pointSIFT-master\tf_utils\tf_ops\interpolation\tf_interpolate.cpp
............此處省略18個(gè)文件信息