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pc_factory.py
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"""
This script is used for point cloud processing.
The common pc format: .pts, .las, .pcd, .xyz, .ply, .txt
"""
import os
import sys
import platform
import open3d as o3d
from pathlib import Path
import pathlib
import numpy as np
import torch
BASE_DIR = os.path.dirname(os.path.abspath(__file__))
sys.path.append(BASE_DIR)
sys.path.append(os.path.join(BASE_DIR, '../common'))
sys.path.append(os.path.join(BASE_DIR, '../vox/linux'))
sys.path.append(os.path.join(BASE_DIR, '../vox/windows'))
from configs import FLAGS
from pc_io import get_all_files
from read_las import read_las
from filter import passThroughFilter, voxelGrid, project_inliers, remove_outlier, StatisticalOutlierRemovalFilter
from fps import farthest_point_sample, index_points
from PointCloud2Voxel import pointcloud2voxel
from reconstruction import poisson_surface_reconstruction, ball_pivot_surface_reconstruction
class PointCloud_FormatFactory(object):
def __init__(self, opts, filelist):
"""
:param opts: 超参
:param filelist: 要处理的文件列表
"""
self.opts = opts
self.filelist = filelist
self.filenum = len(self.filelist) # 要处理的文件个数
def pc_pc(self):
"""
点云格式转换函数
:return:
"""
for i in range(self.filenum):
print("Processing: ", self.filelist[i])
file_path = self.filelist[i] # 要处理的文件
input_pc_format = self.opts.input_format
output_pc_format = self.opts.output_format
# pcd->*
if input_pc_format == 'pcd':
# pcd->xyz
if output_pc_format == 'xyz':
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.xyz'
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
# pcd->pts
elif output_pc_format == 'pts':
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.pts'
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
# pcd->txt
elif output_pc_format == 'txt':
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.txt'
# txt is not supported!
# o3d.io.write_point_cloud(output_file, pc)
xyz = np.asarray(pc.points)
# print(xyz)
np.savetxt(output_file, xyz)
print("Done! result is saved in: ", output_file)
# pcd->csv
elif output_pc_format == 'csv':
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.csv'
# csv is not supported!
# o3d.io.write_point_cloud(output_file, pc)
xyz = np.asarray(pc.points)
# print(xyz)
np.savetxt(output_file, xyz, delimiter=',')
print("Done! result is saved in: ", output_file)
# pcd->ply
elif output_pc_format == 'ply':
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.ply'
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
else:
raise Exception('Unsupported Output file format! Only [xyz, pts, txt, csv, ply] is supported!')
# las->*
elif input_pc_format == 'las':
# las->pcd
if output_pc_format == 'pcd':
pc_list = read_las(file_path)
pc = []
for i in range(len(pc_list)):
pc.append(list(pc_list[i]))
point_xyz = np.array(pc)
# print(point_xyz)
# 创建open3d对象
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(point_xyz)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.pcd'
o3d.io.write_point_cloud(output_file, pcd)
print("Done! result is saved in: ", output_file)
# las->xyz
elif output_pc_format == 'xyz':
pc_list = read_las(file_path)
pc = []
for i in range(len(pc_list)):
pc.append(list(pc_list[i]))
point_xyz = np.array(pc)
# print(point_xyz)
# 创建open3d对象
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(point_xyz)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.xyz'
o3d.io.write_point_cloud(output_file, pcd)
print("Done! result is saved in: ", output_file)
# las->pts
elif output_pc_format == 'pts':
pc_list = read_las(file_path)
pc = []
for i in range(len(pc_list)):
pc.append(list(pc_list[i]))
point_xyz = np.array(pc)
# print(point_xyz)
# 创建open3d对象
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(point_xyz)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.pts'
o3d.io.write_point_cloud(output_file, pcd)
print("Done! result is saved in: ", output_file)
# las->ply
elif output_pc_format == 'ply':
pc_list = read_las(file_path)
pc = []
for i in range(len(pc_list)):
pc.append(list(pc_list[i]))
point_xyz = np.array(pc)
# print(point_xyz)
# 创建open3d对象
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(point_xyz)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.ply'
o3d.io.write_point_cloud(output_file, pcd)
print("Done! result is saved in: ", output_file)
# las->txt
elif output_pc_format == 'txt':
pc_list = read_las(file_path)
pc = []
for i in range(len(pc_list)):
pc.append(list(pc_list[i]))
point_xyz = np.array(pc)
# print(point_xyz)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.txt'
np.savetxt(output_file, point_xyz)
print("Done! result is saved in: ", output_file)
# las->csv
elif output_pc_format == 'csv':
pc_list = read_las(file_path)
pc = []
for i in range(len(pc_list)):
pc.append(list(pc_list[i]))
point_xyz = np.array(pc)
# print(point_xyz)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.csv'
np.savetxt(output_file, point_xyz, delimiter=',')
print("Done! result is saved in: ", output_file)
else:
raise Exception('Unsupported Output file format! Only [pcd, xyz, pts, txt, csv, ply] is supported!')
# ply->*
elif input_pc_format == 'ply':
# ply->pcd
if output_pc_format == 'pcd':
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.pcd'
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
# ply->xyz
elif output_pc_format == 'xyz':
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.xyz'
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
# ply->pts
elif output_pc_format == 'pts':
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.pts'
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
# ply->txt
elif output_pc_format == 'txt':
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.txt'
xyz = np.asarray(pc.points)
np.savetxt(output_file, xyz)
# o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
# ply->csv
elif output_pc_format == 'csv':
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.csv'
xyz = np.asarray(pc.points)
np.savetxt(output_file, xyz, delimiter=',')
# o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
else:
raise Exception('Unsupported Output file format! Only [pcd, xyz, pts, txt, csv] is supported!')
# xyz->*
elif input_pc_format == 'xyz':
# xyz->pcd
if output_pc_format == 'pcd':
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.pcd'
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
# xyz->pts
elif output_pc_format == 'pts':
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.pts'
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
# xyz->ply
elif output_pc_format == 'ply':
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.ply'
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
# xyz->txt
elif output_pc_format == 'txt':
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.txt'
xyz = np.asarray(pc.points)
np.savetxt(output_file, xyz)
print("Done! result is saved in: ", output_file)
# xyz->csv
elif output_pc_format == 'csv':
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.csv'
xyz = np.asarray(pc.points)
np.savetxt(output_file, xyz, delimiter=',')
print("Done! result is saved in: ", output_file)
else:
raise Exception('Unsupported Output file format! Only [pcd, pts, ply, txt, csv] is supported!')
# pts->*
elif input_pc_format == "pts":
# pts->pcd
if output_pc_format == 'pcd':
with open(file_path, 'r', encoding='utf-8') as f:
lines = f.readlines()
first_line = lines[0].split(' ')
# print(first_line)
try:
assert len(first_line) == 1
# header
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.pcd'
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
except:
# no header
pc = np.loadtxt(file_path, delimiter=' ')
# print(pc)
# 创建open3d对象
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(pc)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.pcd'
o3d.io.write_point_cloud(output_file, pcd)
print("Done! result is saved in: ", output_file)
# pts->xyz
elif output_pc_format == 'xyz':
with open(file_path, 'r', encoding='utf-8') as f:
lines = f.readlines()
first_line = lines[0].split(' ')
try:
assert len(first_line) == 1
# header
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.xyz'
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
except:
# no header
pc = np.loadtxt(file_path, delimiter=' ')
# 创建open3d对象
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(pc)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.xyz'
o3d.io.write_point_cloud(output_file, pcd)
print("Done! result is saved in: ", output_file)
# pts->ply
elif output_pc_format == 'ply':
with open(file_path, 'r', encoding='utf-8') as f:
lines = f.readlines()
first_line = lines[0].split(' ')
try:
assert len(first_line) == 1
# header
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.ply'
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
except:
# no header
pc = np.loadtxt(file_path, delimiter=' ')
# 创建open3d对象
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(pc)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.ply'
o3d.io.write_point_cloud(output_file, pcd)
print("Done! result is saved in: ", output_file)
# pts->txt
elif output_pc_format == 'txt':
with open(file_path, 'r', encoding='utf-8') as f:
lines = f.readlines()
first_line = lines[0].split(' ')
try:
assert len(first_line) == 1
# header
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.txt'
xyz = np.asarray(pc.points)
np.savetxt(output_file, xyz)
print("Done! result is saved in: ", output_file)
except:
# no header
pc = np.loadtxt(file_path, delimiter=' ')
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.txt'
np.savetxt(output_file, pc)
print("Done! result is saved in: ", output_file)
# pts->csv
elif output_pc_format == 'csv':
with open(file_path, 'r', encoding='utf-8') as f:
lines = f.readlines()
first_line = lines[0].split(' ')
try:
assert len(first_line) == 1
# header
pc = o3d.io.read_point_cloud(file_path)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.csv'
xyz = np.asarray(pc.points)
np.savetxt(output_file, xyz, delimiter=',')
print("Done! result is saved in: ", output_file)
except:
# no header
pc = np.loadtxt(file_path, delimiter=' ')
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.csv'
np.savetxt(output_file, pc, delimiter=',')
print("Done! result is saved in: ", output_file)
else:
raise Exception('Unsupported Output file format! Only [pcd, xyz, ply, txt, csv] is supported!')
# txt->*
elif input_pc_format == 'txt':
# txt->pcd
if output_pc_format == 'pcd':
pc = np.loadtxt(file_path, delimiter=' ')[:, :3]
# 创建open3d对象
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(pc)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.pcd'
o3d.io.write_point_cloud(output_file, pcd)
print("Done! result is saved in: ", output_file)
# txt->ply
elif output_pc_format == 'ply':
pc = np.loadtxt(file_path, delimiter=' ')[:, :3]
# 创建open3d对象
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(pc)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.ply'
o3d.io.write_point_cloud(output_file, pcd)
print("Done! result is saved in: ", output_file)
# txt->xyz
elif output_pc_format == 'xyz':
pc = np.loadtxt(file_path, delimiter=' ')[:, :3]
# 创建open3d对象
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(pc)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.xyz'
o3d.io.write_point_cloud(output_file, pcd)
print("Done! result is saved in: ", output_file)
# txt->pts
elif output_pc_format == 'pts':
pc = np.loadtxt(file_path, delimiter=' ')[:, :3]
# 创建open3d对象
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(pc)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
output_file = self.opts.output_dir + stem + '.pts'
o3d.io.write_point_cloud(output_file, pcd)
print("Done! result is saved in: ", output_file)
else:
raise Exception('Unsupported Output file format! Only [pcd, ply, xyz, pts] is supported!')
else:
raise Exception('Unsupported Input file format! Only [pcd, las, ply, xyz, pts, txt] is supported!')
def filter(self):
"""
点云滤波
:return: 滤波之后的点云
"""
for i in range(self.filenum):
print("Processing: ", self.filelist[i])
file_path = self.filelist[i] # 要处理的文件
input_pc_format = self.opts.input_format
filters = self.opts.filter
# 检查输入输出文件格式是否合法
# ["xyz", "pcd", "ply"]
assert input_pc_format in ["xyz", "pcd", "pts", "ply", "txt"]
if input_pc_format in ["xyz", "pcd", "ply"]:
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
# 以原格式输出
output_file = self.opts.output_dir + stem + '.' + input_pc_format
pc = o3d.io.read_point_cloud(file_path)
xyz = np.asarray(pc.points, dtype=np.float32)
# print(xyz)
if filters == "PassThroughFilter":
# You need set suitable upper limit value of passThroughFilter, or you will get 0 point.
upper_limit = self.opts.upper_limit
filter_pc = passThroughFilter(xyz, upper_limit)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(filter_pc)
o3d.io.write_point_cloud(output_file, pcd)
elif filters == "VoxelGridFilter":
# You need set suitable voxel size of passThroughFilter
voxel_size = self.opts.voxel_size
filter_pc = voxelGrid(xyz, voxel_size)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(filter_pc)
o3d.io.write_point_cloud(output_file, pcd)
elif filters == "project_inliers":
filter_pc = project_inliers(xyz)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(filter_pc)
o3d.io.write_point_cloud(output_file, pcd)
elif filters == "remove_outliers":
choices = self.opts.removal
radius = self.opts.radius
min_neighbor = self.opts.min_neighbor
# Maybe you should set suitable radius and min_neighbor
filter_pc = remove_outlier(xyz, choices, radius, min_neighbor)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(filter_pc)
o3d.io.write_point_cloud(output_file, pcd)
elif filters == "statistical_removal":
std_dev = self.opts.std_dev
# Maybe you should set suitable std_dev
filter_pc = StatisticalOutlierRemovalFilter(xyz, std_dev)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(filter_pc)
o3d.io.write_point_cloud(output_file, pcd)
else:
raise Exception("Unsupported filter! Choices = [PassThroughFilter, VoxelGridFilter, "
"project_inliers, remove_outliers, statistical_removal]")
print("Done! Filtered point cloud is saved in: ", output_file)
# pts
elif input_pc_format == "pts":
with open(file_path, 'r', encoding='utf-8') as f:
lines = f.readlines()
first_line = lines[0].split(' ')
try:
assert len(first_line) == 1
# header
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
# 以原格式输出
output_file = self.opts.output_dir + stem + '.' + input_pc_format
pc = o3d.io.read_point_cloud(file_path)
xyz = np.asarray(pc.points, dtype=np.float32)
if filters == "PassThroughFilter":
# You need set suitable upper limit value of passThroughFilter, or you will get 0 point.
upper_limit = self.opts.upper_limit
filter_pc = passThroughFilter(xyz, upper_limit)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(filter_pc)
o3d.io.write_point_cloud(output_file, pcd)
elif filters == "VoxelGridFilter":
# You need set suitable voxel size of passThroughFilter
voxel_size = self.opts.voxel_size
filter_pc = voxelGrid(xyz, voxel_size)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(filter_pc)
o3d.io.write_point_cloud(output_file, pcd)
elif filters == "project_inliers":
filter_pc = project_inliers(xyz)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(filter_pc)
o3d.io.write_point_cloud(output_file, pcd)
elif filters == "remove_outliers":
choices = self.opts.removal
radius = self.opts.radius
min_neighbor = self.opts.min_neighbor
# Maybe you should set suitable radius and min_neighbor
filter_pc = remove_outlier(xyz, choices, radius, min_neighbor)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(filter_pc)
o3d.io.write_point_cloud(output_file, pcd)
elif filters == "statistical_removal":
std_dev = self.opts.std_dev
# Maybe you should set suitable std_dev
filter_pc = StatisticalOutlierRemovalFilter(xyz, std_dev)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(filter_pc)
o3d.io.write_point_cloud(output_file, pcd)
else:
raise Exception("Unsupported filter! Choices = [PassThroughFilter, VoxelGridFilter, "
"project_inliers, remove_outliers, statistical_removal]")
print("Done! Filtered point cloud is saved in: ", output_file)
except:
# no header
pc = np.loadtxt(file_path, delimiter=' ', dtype=np.float32)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
# 以原格式输出
output_file = self.opts.output_dir + stem + '.' + input_pc_format
if filters == "PassThroughFilter":
# You need set suitable upper limit value of passThroughFilter, or you will get 0 point.
upper_limit = self.opts.upper_limit
filter_pc = passThroughFilter(pc, upper_limit)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(filter_pc)
o3d.io.write_point_cloud(output_file, pcd)
elif filters == "VoxelGridFilter":
# You need set suitable voxel size of VoxelGridFilter
voxel_size = self.opts.voxel_size
filter_pc = voxelGrid(pc, voxel_size)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(filter_pc)
o3d.io.write_point_cloud(output_file, pcd)
elif filters == "project_inliers":
filter_pc = project_inliers(pc)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(filter_pc)
o3d.io.write_point_cloud(output_file, pcd)
elif filters == "remove_outliers":
choices = self.opts.removal
radius = self.opts.radius
min_neighbor = self.opts.min_neighbor
# Maybe you should set suitable radius and min_neighbor
filter_pc = remove_outlier(pc, choices, radius, min_neighbor)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(filter_pc)
o3d.io.write_point_cloud(output_file, pcd)
elif filters == "statistical_removal":
std_dev = self.opts.std_dev
# Maybe you should set suitable std_dev
filter_pc = StatisticalOutlierRemovalFilter(pc, std_dev)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(filter_pc)
o3d.io.write_point_cloud(output_file, pcd)
else:
raise Exception("Unsupported filter! Choices = [PassThroughFilter, VoxelGridFilter, "
"project_inliers, remove_outliers, statistical_removal]")
print("Done! Filtered point cloud is saved in: ", output_file)
# txt
elif input_pc_format == "txt":
pc = np.loadtxt(file_path, delimiter=' ', dtype=np.float32)[:, :3]
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
# 以原格式输出
output_file = self.opts.output_dir + stem + '.' + input_pc_format
if filters == "PassThroughFilter":
# You need set suitable upper limit value of passThroughFilter, or you will get 0 point.
upper_limit = self.opts.upper_limit
filter_pc = passThroughFilter(pc, upper_limit)
np.savetxt(output_file, filter_pc)
elif filters == "VoxelGridFilter":
# You need set suitable voxel size of passThroughFilter
voxel_size = self.opts.voxel_size
filter_pc = voxelGrid(pc, voxel_size)
np.savetxt(output_file, filter_pc)
elif filters == "project_inliers":
filter_pc = project_inliers(pc)
np.savetxt(output_file, filter_pc)
elif filters == "remove_outliers":
choices = self.opts.removal
radius = self.opts.radius
min_neighbor = self.opts.min_neighbor
# Maybe you should set suitable radius and min_neighbor
filter_pc = remove_outlier(pc, choices, radius, min_neighbor)
np.savetxt(output_file, filter_pc)
elif filters == "statistical_removal":
std_dev = self.opts.std_dev
# Maybe you should set suitable std_dev
filter_pc = StatisticalOutlierRemovalFilter(pc, std_dev)
np.savetxt(output_file, filter_pc)
else:
raise Exception("Unsupported filter! Choices = [PassThroughFilter, VoxelGridFilter, "
"project_inliers, remove_outliers, statistical_removal]")
print("Done! Filtered point cloud is saved in: ", output_file)
else:
raise Exception("Unsupported input file format. Choices=[xyz, pcd, pts, ply, txt]")
def pc_downsample(self):
"""
点云下采样
:return:
"""
for i in range(self.filenum):
print("Processing: ", self.filelist[i])
file_path = self.filelist[i] # 要处理的文件
input_pc_format = self.opts.input_format
down_sampler = self.opts.down_sampler
point_num = self.opts.point_num
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
# 下采样后以原格式输出
output_file = self.opts.output_dir + stem + '.' + input_pc_format
# xyz, pcd, ply
if input_pc_format in ["xyz", "pcd", "ply"]:
pc = o3d.io.read_point_cloud(file_path)
xyz = np.asarray(pc.points, dtype=np.float32)
# farthest point sampling used in PointNet++
if down_sampler == "fps":
if point_num > xyz.shape[0]:
raise Exception("The point num cannot be greater than the actual number of points.")
else:
xyz = xyz[np.newaxis, :, :]
xyz = torch.from_numpy(xyz)
centroids = farthest_point_sample(xyz, point_num)
new_points = index_points(xyz, centroids)
ds_points = new_points.numpy()[0]
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(ds_points)
o3d.io.write_point_cloud(output_file, pcd)
print("Done! result is saved in: ", output_file)
elif down_sampler == "random":
if point_num > xyz.shape[0]:
raise Exception("The point num cannot be greater than the actual number of points.")
else:
sampling_ratio = point_num * 1.0 / xyz.shape[0]
pc = o3d.geometry.PointCloud.random_down_sample(pc, sampling_ratio)
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
elif down_sampler == "uniform":
k = self.opts.k
pc = o3d.geometry.PointCloud.uniform_down_sample(pc, k)
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
elif down_sampler == "voxel":
voxel_size = self.opts.voxel_size
pc = o3d.geometry.PointCloud.voxel_down_sample(pc, voxel_size)
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
else:
raise Exception("Unsupported down sampler. Choices=[fps, random, uniform, voxel]")
# txt
elif input_pc_format == "txt":
pc = np.loadtxt(file_path, delimiter=' ')[:, :3]
xyz = pc[np.newaxis, :, :]
# farthest point sampling used in PointNet++
if down_sampler == "fps":
if point_num > pc.shape[0]:
raise Exception("The point num cannot be greater than the actual number of points.")
else:
xyz = torch.from_numpy(xyz)
centroids = farthest_point_sample(xyz, point_num)
new_points = index_points(xyz, centroids)
ds_points = new_points.numpy()[0]
np.savetxt(output_file, ds_points)
print("Done! result is saved in: ", output_file)
elif down_sampler == "random":
if point_num > pc.shape[0]:
raise Exception("The point num cannot be greater than the actual number of points.")
else:
sampling_ratio = point_num * 1.0 / pc.shape[0]
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(pc)
pc = o3d.geometry.PointCloud.random_down_sample(pcd, sampling_ratio)
ds_points = np.asarray(pc.points, dtype=np.float32)
np.savetxt(output_file, ds_points)
print("Done! result is saved in: ", output_file)
elif down_sampler == "uniform":
k = self.opts.k
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(pc)
pc = o3d.geometry.PointCloud.uniform_down_sample(pcd, k)
ds_points = np.asarray(pc.points, dtype=np.float32)
np.savetxt(output_file, ds_points)
print("Done! result is saved in: ", output_file)
elif down_sampler == "voxel":
voxel_size = self.opts.voxel_size
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(pc)
pc = o3d.geometry.PointCloud.voxel_down_sample(pcd, voxel_size)
ds_points = np.asarray(pc.points, dtype=np.float32)
np.savetxt(output_file, ds_points)
print("Done! result is saved in: ", output_file)
else:
raise Exception("Unsupported down sampler. Choices=[fps, random, uniform, voxel]")
# pts
elif input_pc_format == "pts":
with open(file_path, 'r', encoding='utf-8') as f:
lines = f.readlines()
first_line = lines[0].split(' ')
try:
assert len(first_line) == 1
# header
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
# 以原格式输出
output_file = self.opts.output_dir + stem + '.' + input_pc_format
pc = o3d.io.read_point_cloud(file_path)
xyz = np.asarray(pc.points, dtype=np.float32)
# farthest point sampling used in PointNet++
if down_sampler == "fps":
if point_num > xyz.shape[0]:
raise Exception("The point num cannot be greater than the actual number of points.")
else:
xyz = xyz[np.newaxis, :, :]
xyz = torch.from_numpy(xyz)
centroids = farthest_point_sample(xyz, point_num)
new_points = index_points(xyz, centroids)
ds_points = new_points.numpy()[0]
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(ds_points)
o3d.io.write_point_cloud(output_file, pcd)
print("Done! result is saved in: ", output_file)
elif down_sampler == "random":
if point_num > xyz.shape[0]:
raise Exception("The point num cannot be greater than the actual number of points.")
else:
sampling_ratio = point_num * 1.0 / xyz.shape[0]
pc = o3d.geometry.PointCloud.random_down_sample(pc, sampling_ratio)
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
elif down_sampler == "uniform":
k = self.opts.k
pc = o3d.geometry.PointCloud.uniform_down_sample(pc, k)
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
elif down_sampler == "voxel":
voxel_size = self.opts.voxel_size
pc = o3d.geometry.PointCloud.voxel_down_sample(pc, voxel_size)
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
else:
raise Exception("Unsupported down sampler. Choices=[fps, random, uniform, voxel]")
except:
# no header
pc = np.loadtxt(file_path, delimiter=' ', dtype=np.float32)
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
# 以原格式输出
output_file = self.opts.output_dir + stem + '.' + input_pc_format
xyz = pc[np.newaxis, :, :]
# farthest point sampling used in PointNet++
if down_sampler == "fps":
if point_num > pc.shape[0]:
raise Exception("The point num cannot be greater than the actual number of points.")
else:
xyz = torch.from_numpy(xyz)
centroids = farthest_point_sample(xyz, point_num)
new_points = index_points(xyz, centroids)
ds_points = new_points.numpy()[0]
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(ds_points)
o3d.io.write_point_cloud(output_file, pcd)
print("Done! result is saved in: ", output_file)
elif down_sampler == "random":
if point_num > pc.shape[0]:
raise Exception("The point num cannot be greater than the actual number of points.")
else:
sampling_ratio = point_num * 1.0 / pc.shape[0]
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(pc)
pc = o3d.geometry.PointCloud.random_down_sample(pcd, sampling_ratio)
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
elif down_sampler == "uniform":
k = self.opts.k
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(pc)
pc = o3d.geometry.PointCloud.uniform_down_sample(pcd, k)
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
elif down_sampler == "voxel":
voxel_size = self.opts.voxel_size
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(pc)
pc = o3d.geometry.PointCloud.voxel_down_sample(pcd, voxel_size)
o3d.io.write_point_cloud(output_file, pc)
print("Done! result is saved in: ", output_file)
else:
raise Exception("Unsupported down sampler. Choices=[fps, random, uniform, voxel]")
else:
raise Exception("Unsupported input format! Choices=[ply, xyz, pts, pcd, txt]")
def pc_upsampling(self):
"""
点云上采样
支持的上采样模型：
1. Meta-PU
支持的采样率：任意的浮点数，如：5.5
支持的运行系统：Linux
支持的点云格式：仅xyz
:return:
"""
for i in range(self.filenum):
print("Processing: ", self.filelist[i])
file_path = self.filelist[i] # 要处理的文件
input_pc_format = self.opts.input_format
pu_model = self.opts.pu_model
scale_R = self.opts.scale
if pu_model == "Meta-PU":
# 检查系统
assert platform.system() == "Linux"
# 检查输入输出文件格式是否合法
assert input_pc_format in ["xyz"]
os.system('cd ../PU/Meta-PU')
# model/data/all_testset/4/input : the path of the point cloud to be sampled
# result is saved in /model/new/result/${R}input/
os.system('python main_gan.py --phase test --dataset model/data/all_testset/4/input --log_dir '
'model/new --batch_size 4 --model model_res_mesh_pool --model_path 60 --gpu 0 '
'--test_scale ' + str(scale_R))
else:
raise Exception("unsupported PU model.")
def pc_voxel(self):
"""
点云体素化
:return:
"""
for i in range(self.filenum):
print("Processing: ", self.filelist[i])
file_path = self.filelist[i] # 要处理的文件
input_pc_format = self.opts.input_format
output_voxel_format = self.opts.output_format
voxel_size = self.opts.voxel
# 获取文件名
stem = Path(file_path).stem
# 输出文件夹不存在则创建
pathlib.Path(self.opts.output_dir).mkdir(parents=True, exist_ok=True)
# 体素化后以体素格式输出