def _restart(self):
# make a deep copy
data = [d.copy() for d in self.data_copy]
label = [l.copy() for l in self.label_copy]
data, label = indoor3d_util.room2blocks_wrapper_normalized(data, label, self.sample_size, block_size=1.0, stride=0.5, random_sample=False, sample_num=None)
# duplicate if necessary to fill batch
num_samples = len(data)
if num_samples < self.batch_size:
idx = np.concatenate((np.tile(np.arange(num_samples), (self.batch_size // num_samples, )),
np.random.permutation(num_samples)[:(self.batch_size % num_samples)]), axis=0)
data, label = [data[i] for i in idx], [label[i] for i in idx]
num_samples = self.batch_size
# shuffle samples
idx = np.random.permutation(num_samples)
data, label = [data[i] for i in idx], [label[i] for i in idx]
# sample to a fixed length
'''for i in range(num_samples):
k = len(data[i])
idx = np.concatenate((np.tile(np.arange(k), (self.sample_size // k, )),
np.random.permutation(k)[:(self.sample_size % k)]), axis=0)
data[i] = data[i][idx, :]
label[i] = label[i][idx]'''
# reshape and reset index
self.data = data #np.array(data) #data[:, self.feat_dims].reshape(num_samples, self.sample_size, -1, 1).transpose(0, 2, 3, 1)
self.label = label #np.array(label) #label.reshape(num_samples, self.sample_size, -1, 1).transpose(0, 2, 3, 1)
self.index = 0
def eval_one_epoch(sess, ops, each_data):
is_training = False
ceiling_list = list()
floor_list = list()
wall_list = list()
window_list = list()
door_list = list()
clutter_list = list()
current_data, current_label = indoor3d_util.room2blocks_wrapper_normalized(
each_data, NUM_POINT)
current_data = current_data[:, 0:NUM_POINT, :]
current_label = np.squeeze(current_label)
# Get room dimension..
data_label = each_data
data = data_label[:, 0:6]
max_room_x = max(data[:, 0])
max_room_y = max(data[:, 1])
max_room_z = max(data[:, 2])
file_size = current_data.shape[0]
num_batches = file_size // BATCH_SIZE
for batch_idx in range(num_batches):
start_idx = batch_idx * BATCH_SIZE
end_idx = (batch_idx + 1) * BATCH_SIZE
feed_dict = {
ops['pointclouds_pl']: current_data[start_idx:end_idx, :, :],
ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training
}
pred_val = sess.run(ops['pred_softmax'], feed_dict=feed_dict)
pred_label = np.argmax(pred_val, 2)
for b in range(BATCH_SIZE):
pts = current_data[start_idx + b, :, :]
pts[:, 6] *= max_room_x
pts[:, 7] *= max_room_y
pts[:, 8] *= max_room_z
pred = pred_label[b, :]
for i in range(NUM_POINT):
if pred[i] == 0:
ceiling_list.append([pts[i, 6], pts[i, 7], pts[i, 8]])
if pred[i] == 1:
floor_list.append([pts[i, 6], pts[i, 7], pts[i, 8]])
if pred[i] == 2:
wall_list.append([pts[i, 6], pts[i, 7], pts[i, 8]])
if pred[i] == 3:
window_list.append([pts[i, 6], pts[i, 7], pts[i, 8]])
if pred[i] == 4:
door_list.append([pts[i, 6], pts[i, 7], pts[i, 8]])
if pred[i] == 5:
clutter_list.append([pts[i, 6], pts[i, 7], pts[i, 8]])
return ceiling_list, floor_list, wall_list, window_list, door_list, clutter_list
def convert_to_h5_test():
sample_cnt = 0
filelist = os.path.join(BASE_DIR, 'shapes/all_data_label_test.txt')
data_label_files = [
os.path.join(numpy_dir, line.rstrip()) for line in open(filelist)
]
for i, data_label_filename in enumerate(data_label_files):
print(f'data_label_filename = {Path(data_label_filename).name}')
# Normalize the data here?
data, label = indoor3d_util.room2blocks_wrapper_normalized(
data_label_filename,
NUM_POINT,
block_size=1.0,
stride=0.5,
random_sample=False,
sample_num=None)
test_or_train_dir = 'test' if 'test' in Path(
data_label_filename).name else 'train'
for _ in range(data.shape[0]):
if test_or_train_dir == 'test':
fout_room_test.write(
os.path.basename(data_label_filename)[0:-4] + '\n')
elif test_or_train_dir == 'train':
fout_room_train.write(
os.path.basename(data_label_filename)[0:-4] + '\n')
sample_cnt += data.shape[0]
# Need to update is_last_batch if using test & train directories
is_last_batch = i == len(data_label_files) - 1
output_dir_test_or_train = os.path.join(hdf5_data.as_posix(),
test_or_train_dir)
insert_batch(data, label, output_dir_test_or_train, is_last_batch)
# insert_batch(data, label, output_dir, is_last_batch)
fout_room.close()
print("Total samples: {0}".format(sample_cnt))
def Get_h5():
print("Begin to generate room block(h5 file)...")
data_label_files = [
os.path.join(indoor3d_data_dir, line.rstrip())
for line in open(filelist)
]
fout_room = open(output_room_filelist, 'w')
all_file = open(output_all_file, 'w')
sample_cnt = 0
for i, data_label_filename in enumerate(tqdm(data_label_files)):
#print(data_label_filename)
data, label = indoor3d_util.room2blocks_wrapper_normalized(
data_label_filename + ".npy",
NUM_POINT,
block_size=CONF.BLOCK_SIZE,
stride=CONF.STRIDE_SIZE,
random_sample=False,
sample_num=None)
#print('{0}, {1}'.format(data.shape, label.shape))
for _ in range(data.shape[0]):
fout_room.write(os.path.basename(data_label_filename)[0:-4] + '\n')
sample_cnt += data.shape[0]
insert_batch(data, label, i == len(data_label_files) - 1)
fout_room.close()
print("Total samples: {0}".format(sample_cnt))
for i in range(h5_index):
all_file.write(
os.path.join(CONF.DATA_TYPE + '_h5_file', 'ply_data_all_') +
str(i) + '.h5\n')
all_file.close()
print("generate room block(h5 file) finished!!")
def eval_one_epoch(sess, ops, room_path, out_data_label_filename, out_gt_label_filename):
error_cnt = 0
is_training = False
total_correct = 0
total_seen = 0
loss_sum = 0
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
if FLAGS.visu:
fout = open(os.path.join(DUMP_DIR, os.path.basename(room_path)[:-4] + '_pred.obj'), 'w')
fout_gt = open(os.path.join(DUMP_DIR, os.path.basename(room_path)[:-4] + '_gt.obj'), 'w')
fout_data_label = open(out_data_label_filename, 'w')
#fout_gt_label = open(out_gt_label_filename, 'w')
current_data, current_label = indoor3d_util.room2blocks_wrapper_normalized(room_path, NUM_POINT)
current_data = current_data[:, 0:NUM_POINT, :]
current_label = np.squeeze(current_label)
# Get room dimension..
data_label = np.load(room_path)
data = data_label[:, 0:6]
max_room_x = max(data[:, 0])
max_room_y = max(data[:, 1])
max_room_z = max(data[:, 2])
file_size = current_data.shape[0]
num_batches = file_size // BATCH_SIZE
print(file_size)
for batch_idx in range(num_batches):
start_idx = batch_idx * BATCH_SIZE
end_idx = (batch_idx + 1) * BATCH_SIZE
cur_batch_size = end_idx - start_idx
feed_dict = {ops['pointclouds_pl']: current_data[start_idx:end_idx, :, :],
#ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training}
pred_val = sess.run([ops['pred_softmax']],
feed_dict=feed_dict)
if FLAGS.no_clutter:
pred_label = np.argmax(pred_val[:, :, 0:12], 2) # BxN
else:
pred_label = np.argmax(pred_val, 2) # BxN
# Save prediction labels to OBJ file
for b in range(BATCH_SIZE):
pts = current_data[start_idx + b, :, :]
#l = current_label[start_idx + b, :]
pts[:, 6] *= max_room_x
pts[:, 7] *= max_room_y
pts[:, 8] *= max_room_z
pts[:, 3:6] *= 255.0
pred = pred_label[b, :]
for i in range(NUM_POINT):
color = indoor3d_util.g_label2color[pred[i]]
#color_gt = indoor3d_util.g_label2color[current_label[start_idx + b, i]]
if FLAGS.visu:
fout.write(
'v %f %f %f %d %d %d\n' % (pts[i, 6], pts[i, 7], pts[i, 8], color[0], color[1], color[2]))
#fout_gt.write('v %f %f %f %d %d %d\n' % (
#pts[i, 6], pts[i, 7], pts[i, 8], color_gt[0], color_gt[1], color_gt[2]))
fout_data_label.write('%f %f %f %d %d %d %f %d\n' % (
pts[i, 6], pts[i, 7], pts[i, 8], pts[i, 3], pts[i, 4], pts[i, 5], pred_val[b, i, pred[i]], pred[i]))
#fout_gt_label.write('%d\n' % (l[i]))
#correct = np.sum(pred_label == current_label[start_idx:end_idx, :])
#total_correct += correct
total_seen += (cur_batch_size * NUM_POINT)
#loss_sum += (loss_val * BATCH_SIZE)
for i in range(start_idx, end_idx):
for j in range(NUM_POINT):
l = current_label[i, j]
total_seen_class[l] += 1
total_correct_class[l] += (pred_label[i - start_idx, j] == l)
#log_string('eval mean loss: %f' % (loss_sum / float(total_seen / NUM_POINT)))
#log_string('eval accuracy: %f' % (total_correct / float(total_seen)))
fout_data_label.close()
#fout_gt_label.close()
if FLAGS.visu:
fout.close()
#fout_gt.close()
return total_seen
total_seen_class = [0 for _ in range(len(select_class_id_mappings))]
total_loops = len(data_label_files)
#for i, data_label_filename in enumerate(data_label_files):
for i, data_label_filename in enumerate(data_label_files):
TOTAL_LOOPS_CURRENT_RUN = TOTAL_LOOPS_CURRENT_RUN + 1
print('processing ' + str(i) + ' of ' + str(total_loops))
if TOTAL_LOOPS_CURRENT_RUN < TOTAL_PROCESSED:
continue
#print(data_label_filename)
data, label = indoor3d_util.room2blocks_wrapper_normalized(
data_label_filename,
NUM_POINT,
block_size=256.0,
stride=128,
random_sample=False,
sample_num=None,
label_selections=None)
# label_selections=label_selections)
for from_val, to_val in selected_class_id_to_train_id_conversion:
idxs = label == from_val
label[idxs] = to_val
total_seen_class[to_val] += np.sum(idxs)
print('{0}, {1}'.format(data.shape, label.shape))
for _ in range(data.shape[0]):
fout_room.write(os.path.basename(data_label_filename)[0:-4] + '\n')
def test():
with tf.Graph().as_default():
with tf.device('/gpu:' + str(GPU_INDEX)):
pointclouds_pl, labels_pl, sem_labels_pl = placeholder_inputs(
BATCH_SIZE, NUM_POINT)
is_training_pl = tf.placeholder(tf.bool, shape=())
# Get model and loss
pred_sem, pred_ins = get_model(pointclouds_pl, is_training_pl,
NUM_CLASSES)
pred_sem_softmax = tf.nn.softmax(pred_sem)
pred_sem_label = tf.argmax(pred_sem_softmax, axis=2)
loss, sem_loss, disc_loss, l_var, l_dist, l_reg = get_loss(
pred_ins, labels_pl, pred_sem_label, pred_sem, sem_labels_pl)
loader = tf.train.Saver()
# Create a session
config = tf.ConfigProto()
config.gpu_options.allow_growth = True
config.allow_soft_placement = True
config.log_device_placement = True
sess = tf.Session(config=config)
is_training = False
# Restore variables from disk.
loader.restore(sess, MODEL_PATH)
log_string("Model restored.")
ops = {
'pointclouds_pl': pointclouds_pl,
'labels_pl': labels_pl,
'sem_labels_pl': sem_labels_pl,
'is_training_pl': is_training_pl,
'pred_ins': pred_ins,
'pred_sem_label': pred_sem_label,
'pred_sem_softmax': pred_sem_softmax,
'loss': loss,
'l_var': l_var,
'l_dist': l_dist,
'l_reg': l_reg
}
total_acc = 0.0
total_seen = 0
ious = np.zeros(NEW_NUM_CLASSES)
totalnums = np.zeros(NEW_NUM_CLASSES)
total_gt_ins = np.zeros(NUM_CLASSES)
at = 0.5
tpsins = [[] for itmp in range(NUM_CLASSES)]
fpsins = [[] for itmp in range(NUM_CLASSES)]
all_mean_cov = [[] for itmp in range(NUM_CLASSES)]
all_mean_weighted_cov = [[] for itmp in range(NUM_CLASSES)]
output_filelist_f = os.path.join(LOG_DIR, 'output_filelist.txt')
fout_out_filelist = open(output_filelist_f, 'w')
for shape_idx in range(len_pts_files):
room_path = ROOM_PATH_LIST[shape_idx]
log_string('%d / %d ...' % (shape_idx, len_pts_files))
log_string('Loading train file ' + room_path)
out_data_label_filename = os.path.basename(
room_path)[:-4] + '_pred.txt'
out_data_label_filename = os.path.join(OUTPUT_DIR,
out_data_label_filename)
out_gt_label_filename = os.path.basename(
room_path)[:-4] + '_gt.txt'
out_gt_label_filename = os.path.join(OUTPUT_DIR,
out_gt_label_filename)
fout_data_label = open(out_data_label_filename, 'w')
fout_gt_label = open(out_gt_label_filename, 'w')
fout_out_filelist.write(out_data_label_filename + '\n')
cur_data, cur_sem, cur_group = indoor3d_util.room2blocks_wrapper_normalized(
room_path,
NUM_POINT,
block_size=1.0,
stride=0.5,
random_sample=False,
sample_num=None)
cur_data = cur_data[:, 0:NUM_POINT, :]
cur_sem = np.squeeze(cur_sem)
cur_group = np.squeeze(cur_group)
# Get room dimension..
data_label = np.load(room_path)
data = data_label[:, 0:6]
max_room_x = max(data[:, 0])
max_room_y = max(data[:, 1])
max_room_z = max(data[:, 2])
cur_pred_sem = np.zeros_like(cur_sem)
cur_pred_sem_softmax = np.zeros(
[cur_sem.shape[0], cur_sem.shape[1], NUM_CLASSES])
group_output = np.zeros_like(cur_group)
gap = 5e-3
volume_num = int(1. / gap) + 1
volume = -1 * np.ones([volume_num, volume_num, volume_num]).astype(
np.int32)
volume_seg = -1 * np.ones([volume_num, volume_num, volume_num
]).astype(np.int32)
intersections = np.zeros(NEW_NUM_CLASSES)
unions = np.zeros(NEW_NUM_CLASSES)
num_data = cur_data.shape[0]
for j in range(num_data):
log_string("Processsing: Shape [%d] Block[%d]" %
(shape_idx, j))
pts = cur_data[j, ...]
group = cur_group[j]
sem = cur_sem[j]
feed_dict = {
ops['pointclouds_pl']: np.expand_dims(pts, 0),
ops['labels_pl']: np.expand_dims(group, 0),
ops['sem_labels_pl']: np.expand_dims(sem, 0),
ops['is_training_pl']: is_training
}
loss_val, l_var_val, l_dist_val, l_reg_val, pred_ins_val, pred_sem_label_val, pred_sem_softmax_val = sess.run(
[
ops['loss'], ops['l_var'], ops['l_dist'], ops['l_reg'],
ops['pred_ins'], ops['pred_sem_label'],
ops['pred_sem_softmax']
],
feed_dict=feed_dict)
pred_val = np.squeeze(pred_ins_val, axis=0)
pred_sem = np.squeeze(pred_sem_label_val, axis=0)
pred_sem_softmax = np.squeeze(pred_sem_softmax_val, axis=0)
cur_pred_sem[j, :] = pred_sem
cur_pred_sem_softmax[j, ...] = pred_sem_softmax
# cluster
group_seg = {}
bandwidth = BANDWIDTH
num_clusters, labels, cluster_centers = cluster(
pred_val, bandwidth)
for idx_cluster in range(num_clusters):
tmp = (labels == idx_cluster)
estimated_seg = int(stats.mode(pred_sem[tmp])[0])
group_seg[idx_cluster] = estimated_seg
groupids_block = labels
groupids = BlockMerging(volume, volume_seg, pts[:, 6:],
groupids_block.astype(np.int32),
group_seg, gap)
group_output[j, :] = groupids
total_acc += float(np.sum(pred_sem == sem)) / pred_sem.shape[0]
total_seen += 1
group_pred = group_output.reshape(-1)
seg_pred = cur_pred_sem.reshape(-1)
seg_pred_softmax = cur_pred_sem_softmax.reshape([-1, NUM_CLASSES])
pts = cur_data.reshape([-1, 9])
# filtering
x = (pts[:, 6] / gap).astype(np.int32)
y = (pts[:, 7] / gap).astype(np.int32)
z = (pts[:, 8] / gap).astype(np.int32)
for i in range(group_pred.shape[0]):
if volume[x[i], y[i], z[i]] != -1:
group_pred[i] = volume[x[i], y[i], z[i]]
seg_gt = cur_sem.reshape(-1)
un = np.unique(group_pred)
pts_in_pred = [[] for itmp in range(NUM_CLASSES)]
group_pred_final = -1 * np.ones_like(group_pred)
grouppred_cnt = 0
for ig, g in enumerate(un): #each object in prediction
if g == -1:
continue
tmp = (group_pred == g)
sem_seg_g = int(stats.mode(seg_pred[tmp])[0])
#if np.sum(tmp) > 500:
if np.sum(tmp) > 0.25 * mean_num_pts_in_group[sem_seg_g]:
group_pred_final[tmp] = grouppred_cnt
pts_in_pred[sem_seg_g] += [tmp]
grouppred_cnt += 1
if output_verbose:
#output_color_point_cloud(pts[:, 6:], group_pred_final.astype(np.int32),
# os.path.join(OUTPUT_DIR, '%d_grouppred.obj' % (shape_idx)))
pts[:, 6] *= max_room_x
pts[:, 7] *= max_room_y
pts[:, 8] *= max_room_z
pts[:, 3:6] *= 255.0
ins = group_pred_final.astype(np.int32)
sem = seg_pred.astype(np.int32)
sem_softmax = seg_pred_softmax
sem_gt = seg_gt
ins_gt = cur_group.reshape(-1)
for i in range(pts.shape[0]):
fout_data_label.write(
'%f %f %f %d %d %d %f %d %d\n' %
(pts[i, 6], pts[i, 7], pts[i, 8], pts[i, 3], pts[i, 4],
pts[i, 5], sem_softmax[i, sem[i]], sem[i], ins[i]))
fout_gt_label.write('%d %d\n' % (sem_gt[i], ins_gt[i]))
fout_data_label.close()
fout_gt_label.close()
fout_out_filelist.close()
h5_batch_label[0:buffer_size,
...], data_dtype, label_dtype)
print(('Stored {0} with size {1}'.format(h5_filename, buffer_size)))
h5_index += 1
buffer_size = 0
return
sample_cnt = 0
for i, data_label_filename in enumerate(data_label_files):
print(data_label_filename)
filename = data_label_filename.split('/')[-1].split('.')[0]
data, label = indoor3d_util.room2blocks_wrapper_normalized(
data_label_filename,
NUM_POINT,
block_size=1.0,
stride=0.5,
random_sample=False,
sample_num=None,
filename=filename)
print(('{0}, {1}'.format(data.shape, label.shape)))
for idx in range(data.shape[0]):
fout_room.write(
str(idx) + '_' + os.path.basename(data_label_filename)[0:-4] +
'\n')
fout_room_pf.write(str(idx) + '_' + filename + '\n')
fout_room_rgb.write(str(idx) + '_' + filename + '\n')
sample_cnt += data.shape[0]
insert_batch(data, label, i == len(data_label_files) - 1)
fout_room.close()
def eval_one_epoch(sess, ops, test_writer):
global BEST_MEAN_IOU
global BEST_ALL_ACC
global BEST_CLS_ACC
log_string('evaluation')
is_training = False
gt_classes = [0 for _ in range(13)]
positive_classes = [0 for _ in range(13)]
true_positive_classes = [0 for _ in range(13)]
for room_path in TEST_ROOM_PATH_LIST:
current_data, current_label = indoor3d_util.room2blocks_wrapper_normalized(room_path, NUM_POINT)
current_data = current_data[:,0:NUM_POINT,:]
current_label = np.squeeze(current_label)
data_label = np.load(room_path)
data = data_label[:,0:6]
max_room_x = max(data[:,0])
max_room_y = max(data[:,1])
max_room_z = max(data[:,2])
file_size = current_data.shape[0]
num_batches = file_size // BATCH_SIZE
# print(file_size)
for batch_idx in range(num_batches):
start_idx = batch_idx * BATCH_SIZE
end_idx = min((batch_idx+1) * BATCH_SIZE, file_size)
cur_batch_size = end_idx - start_idx
feed_dict = {ops['pointclouds_pl']: current_data[start_idx:end_idx, :, :],
ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training}
loss_val, pred_val = sess.run([ops['loss'], ops['pred']],
feed_dict=feed_dict)
pred_label = np.argmax(pred_val, 2)
for i in range(start_idx, end_idx):
for j in range(NUM_POINT):
gt_l = int(current_label[i, j])
pred_l = int(pred_label[i-start_idx, j])
gt_classes[gt_l] += 1
positive_classes[pred_l] += 1
true_positive_classes[gt_l] += int(gt_l==pred_l)
current_all_acc = (sum(true_positive_classes)/float(sum(positive_classes)))
log_string('overall accuracy: %f' % current_all_acc)
class_list = []
for i in range(13):
acc_class = true_positive_classes[i]/float(gt_classes[i])
class_list.append(acc_class)
current_cls_acc = (sum(class_list)/13.0)
log_string('avg class accuracy: %f' % current_cls_acc)
log_string ('IoU: ')
iou_list = []
for i in range(13):
iou = true_positive_classes[i]/float(gt_classes[i]+positive_classes[i]-true_positive_classes[i])
log_string('%f' % iou)
iou_list.append(iou)
current_mean_iou = (sum(iou_list)/13.0)
log_string('avg IoU %f' % current_mean_iou)
best_all_acc_flag, best_cls_acc_flag, best_mean_iou_flag = False, False, False
if current_all_acc > BEST_ALL_ACC:
BEST_ALL_ACC = current_all_acc
best_all_acc_flag = True
if current_cls_acc > BEST_CLS_ACC:
BEST_CLS_ACC = current_cls_acc
best_cls_acc_flag = True
if current_mean_iou > BEST_MEAN_IOU:
BEST_MEAN_IOU = current_mean_iou
best_mean_iou_flag = True
log_string('best_all_acc: %f' % BEST_ALL_ACC)
log_string('best_cls_acc: %f' % BEST_CLS_ACC)
log_string('best_mean_iou: %f' % BEST_MEAN_IOU)
return best_all_acc_flag, best_cls_acc_flag, best_mean_iou_flag
h5_filename = output_filename_prefix + '_' + str(h5_index) + '.h5'
data_prep_util.save_h5(h5_filename, h5_batch_data, h5_batch_label, data_dtype, label_dtype)
print('Stored {0} with size {1}'.format(h5_filename, h5_batch_data.shape[0]))
h5_index += 1
buffer_size = 0
# recursive call
insert_batch(data[capacity:, ...], label[capacity:, ...], last_batch)
if last_batch and buffer_size > 0:
h5_filename = output_filename_prefix + '_' + str(h5_index) + '.h5'
data_prep_util.save_h5(h5_filename, h5_batch_data[0:buffer_size, ...], h5_batch_label[0:buffer_size, ...], data_dtype, label_dtype)
print('Stored {0} with size {1}'.format(h5_filename, buffer_size))
h5_index += 1
buffer_size = 0
return
sample_cnt = 0
for i, data_label_filename in enumerate(data_label_files):
print(data_label_filename)
data, label = indoor3d_util.room2blocks_wrapper_normalized(data_label_filename, NUM_POINT, block_size=1.0, stride=0.5,
random_sample=False, sample_num=None)
print('{0}, {1}'.format(data.shape, label.shape))
for _ in range(data.shape[0]):
fout_room.write(os.path.basename(data_label_filename)[0:-4]+'\n')
sample_cnt += data.shape[0]
insert_batch(data, label, i == len(data_label_files)-1)
fout_room.close()
print("Total samples: {0}".format(sample_cnt))
def test():
with tf.Graph().as_default():
with tf.device('/gpu:' + str(GPU_INDEX)):
pointclouds_pl, sem_labels_pl = placeholder_inputs(BATCH_SIZE, NUM_POINT)
is_training_pl = tf.placeholder(tf.bool, shape=())
# Get model and loss
pred_sem, end_points = get_model(pointclouds_pl, NUM_CLASSES, is_training_pl, extra_constraint=False)
pred_sem_softmax = tf.nn.softmax(pred_sem)
pred_sem_label = tf.argmax(pred_sem_softmax, axis=2)
loss = get_loss(pred_sem, sem_labels_pl, end_points, False)
loader = tf.train.Saver()
# Create a session
config = tf.ConfigProto()
config.gpu_options.allow_growth = True
config.allow_soft_placement = True
config.log_device_placement = True
sess = tf.Session(config=config)
is_training = False
# Restore variables from disk.
loader.restore(sess, MODEL_PATH)
log_string("Model restored.")
ops = {'pointclouds_pl': pointclouds_pl,
'sem_labels_pl': sem_labels_pl,
'is_training_pl': is_training_pl,
'pred_sem_label': pred_sem_label,
'pred_sem_softmax': pred_sem_softmax,
'loss': loss}
total_acc = 0.0
total_seen = 0
output_filelist_f = os.path.join(LOG_DIR, 'output_filelist.txt')
fout_out_filelist = open(output_filelist_f, 'w')
for shape_idx in range(len_pts_files):
room_path = ROOM_PATH_LIST[shape_idx]
log_string('%d / %d ...' % (shape_idx, len_pts_files))
log_string('Loading train file ' + room_path)
out_data_label_filename = os.path.basename(room_path)[:-4] + '_pred.txt'
out_data_label_filename = os.path.join(OUTPUT_DIR, out_data_label_filename)
out_gt_label_filename = os.path.basename(room_path)[:-4] + '_gt.txt'
out_gt_label_filename = os.path.join(OUTPUT_DIR, out_gt_label_filename)
fout_data_label = open(out_data_label_filename, 'w')
fout_gt_label = open(out_gt_label_filename, 'w')
fout_out_filelist.write(out_data_label_filename+'\n')
cur_data, cur_sem, _ = indoor3d_util.room2blocks_wrapper_normalized(room_path, NUM_POINT, block_size=1.0, stride=0.5,
random_sample=False, sample_num=None)
cur_data = cur_data[:, 0:NUM_POINT, :]
cur_sem = np.squeeze(cur_sem)
# Get room dimension..
data_label = np.load(room_path)
data = data_label[:, 0:6]
max_room_x = max(data[:, 0])
max_room_y = max(data[:, 1])
max_room_z = max(data[:, 2])
cur_pred_sem = np.zeros_like(cur_sem)
cur_pred_sem_softmax = np.zeros([cur_sem.shape[0], cur_sem.shape[1], NUM_CLASSES])
num_data = cur_data.shape[0]
for j in range(num_data):
log_string("Processsing: Shape [%d] Block[%d]"%(shape_idx, j))
pts = cur_data[j,...]
sem = cur_sem[j]
feed_dict = {ops['pointclouds_pl']: np.expand_dims(pts, 0),
ops['sem_labels_pl']: np.expand_dims(sem, 0),
ops['is_training_pl']: is_training}
_, pred_sem_label_val, pred_sem_softmax_val = sess.run(
[ops['loss'], ops['pred_sem_label'], ops['pred_sem_softmax']],
feed_dict=feed_dict)
pred_sem = np.squeeze(pred_sem_label_val, axis=0)
pred_sem_softmax = np.squeeze(pred_sem_softmax_val, axis=0)
cur_pred_sem[j, :] = pred_sem
cur_pred_sem_softmax[j, ...] = pred_sem_softmax
total_acc += float(np.sum(pred_sem==sem))/pred_sem.shape[0]
total_seen += 1
seg_pred = cur_pred_sem.reshape(-1)
seg_pred_softmax = cur_pred_sem_softmax.reshape([-1, NUM_CLASSES])
pts = cur_data.reshape([-1, 9])
seg_gt = cur_sem.reshape(-1)
if output_verbose:
pts[:, 6] *= max_room_x
pts[:, 7] *= max_room_y
pts[:, 8] *= max_room_z
pts[:, 3:6] *= 255.0
sem = seg_pred.astype(np.int32)
sem_softmax = seg_pred_softmax
sem_gt = seg_gt
for i in range(pts.shape[0]):
fout_data_label.write('%f %f %f %d %d %d %f %d\n' % (
pts[i, 6], pts[i, 7], pts[i, 8], pts[i, 3], pts[i, 4], pts[i, 5], sem_softmax[i, sem[i]], sem[i]))
fout_gt_label.write('%d\n' % (sem_gt[i]))
fout_data_label.close()
fout_gt_label.close()
fout_out_filelist.close()
def test():
with tf.Graph().as_default():
with tf.device('/gpu:' + str(GPU_INDEX)):
pointclouds_pl, labels_pl, sem_labels_pl = placeholder_inputs(
BATCH_SIZE, NUM_POINT)
is_training_pl = tf.placeholder(tf.bool, shape=())
# Get model
pred_sem, pred_ins = get_model(pointclouds_pl, is_training_pl,
NUM_CLASSES)
pred_sem_softmax = tf.nn.softmax(pred_sem)
pred_sem_label = tf.argmax(pred_sem_softmax, axis=2)
loader = tf.train.Saver()
# Create a session
config = tf.ConfigProto()
config.gpu_options.allow_growth = True
config.allow_soft_placement = True
config.log_device_placement = False
sess = tf.Session(config=config)
is_training = False
# Restore variables from disk.
loader.restore(sess, MODEL_PATH)
logger.info("Model restored from {}".format(MODEL_PATH))
ops = {
'pointclouds_pl': pointclouds_pl,
'labels_pl': labels_pl,
'sem_labels_pl': sem_labels_pl,
'is_training_pl': is_training_pl,
'pred_ins': pred_ins,
'pred_sem_label': pred_sem_label,
'pred_sem_softmax': pred_sem_softmax
}
total_acc = 0.0
total_seen = 0
output_filelist_f = os.path.join(LOG_DIR, 'output_filelist.txt')
fout_out_filelist = []
for shape_idx in range(len_pts_files):
room_path = ROOM_PATH_LIST[shape_idx]
out_data_label_filename = os.path.basename(
room_path)[:-EXT_LEN] + '_pred.txt'
out_data_label_filename = os.path.join(OUTPUT_DIR,
out_data_label_filename)
out_gt_label_filename = os.path.basename(
room_path)[:-EXT_LEN] + '_gt.txt'
out_gt_label_filename = os.path.join(OUTPUT_DIR,
out_gt_label_filename)
fout_data_label = []
fout_gt_label = []
fout_out_filelist.append(out_data_label_filename + '\n')
logger.info('%d / %d ...' % (shape_idx, len_pts_files))
logger.info('Loading file ' + room_path)
size_path = room_path
if FILE_TYPE == 'hdf5':
size_path = size_path.replace('indoor3d_ins_seg_hdf5',
'stanford_indoor3d_ins.sem')
size_path = "{}.npy".format(size_path[:-3])
cur_data, cur_group, _, cur_sem = \
provider.loadDataFile_with_groupseglabel_stanfordindoor(room_path)
elif FILE_TYPE == 'numpy':
cur_data, cur_sem, cur_group = \
indoor3d_util.room2blocks_wrapper_normalized(room_path, NUM_POINT, block_size=1.0, stride=0.5,
random_sample=False, sample_num=None)
cur_data = cur_data[:, 0:NUM_POINT, :]
cur_sem = np.squeeze(cur_sem)
cur_group = np.squeeze(cur_group)
# Get room dimension..
data_label = np.load(size_path)
data = data_label[:, 0:6]
max_room_x = max(data[:, 0])
max_room_y = max(data[:, 1])
max_room_z = max(data[:, 2])
cur_pred_sem = np.zeros_like(cur_sem)
cur_pred_sem_softmax = np.zeros(
[cur_sem.shape[0], cur_sem.shape[1], NUM_CLASSES])
group_output = np.zeros_like(cur_group)
gap = 5e-3
volume_num = int(1. / gap) + 1
volume = -1 * np.ones([volume_num, volume_num, volume_num]).astype(
np.int32)
volume_seg = -1 * np.ones([volume_num, volume_num, volume_num
]).astype(np.int32)
num_data = cur_data.shape[0]
for j in range(num_data):
logger.info("Processsing: Shape [%d] Block[%d]" %
(shape_idx, j))
pts = cur_data[j, ...]
group = cur_group[j]
sem = cur_sem[j]
feed_dict = {
ops['pointclouds_pl']: np.expand_dims(pts, 0),
ops['labels_pl']: np.expand_dims(group, 0),
ops['sem_labels_pl']: np.expand_dims(sem, 0),
ops['is_training_pl']: is_training
}
pred_ins_val, pred_sem_label_val, pred_sem_softmax_val = sess.run(
[
ops['pred_ins'], ops['pred_sem_label'],
ops['pred_sem_softmax']
],
feed_dict=feed_dict)
pred_val = np.squeeze(pred_ins_val, axis=0)
pred_sem = np.squeeze(pred_sem_label_val, axis=0)
pred_sem_softmax = np.squeeze(pred_sem_softmax_val, axis=0)
cur_pred_sem[j, :] = pred_sem
cur_pred_sem_softmax[j, ...] = pred_sem_softmax
# cluster
group_seg = {}
bandwidth = BANDWIDTH
num_clusters, labels, cluster_centers = cluster(
pred_val, bandwidth)
for idx_cluster in range(num_clusters):
tmp = (labels == idx_cluster)
estimated_seg = int(stats.mode(pred_sem[tmp])[0])
group_seg[idx_cluster] = estimated_seg
groupids_block = labels
groupids = BlockMerging(volume, volume_seg, pts[:, 6:],
groupids_block.astype(np.int32),
group_seg, gap)
group_output[j, :] = groupids
total_acc += float(np.sum(pred_sem == sem)) / pred_sem.shape[0]
total_seen += 1
group_pred = group_output.reshape(-1)
seg_pred = cur_pred_sem.reshape(-1)
seg_pred_softmax = cur_pred_sem_softmax.reshape([-1, NUM_CLASSES])
pts = cur_data.reshape([-1, 9])
# filtering
x = (pts[:, 6] / gap).astype(np.int32)
y = (pts[:, 7] / gap).astype(np.int32)
z = (pts[:, 8] / gap).astype(np.int32)
for i in range(group_pred.shape[0]):
if volume[x[i], y[i], z[i]] != -1:
group_pred[i] = volume[x[i], y[i], z[i]]
seg_gt = cur_sem.reshape(-1)
un = np.unique(group_pred)
pts_in_pred = [[] for itmp in range(NUM_CLASSES)]
group_pred_final = -1 * np.ones_like(group_pred)
grouppred_cnt = 0
for ig, g in enumerate(un): # each object in prediction
if g == -1:
continue
tmp = (group_pred == g)
sem_seg_g = int(stats.mode(seg_pred[tmp])[0])
# if np.sum(tmp) > 500:
if np.sum(tmp) > 0.25 * mean_num_pts_in_group[sem_seg_g]:
group_pred_final[tmp] = grouppred_cnt
pts_in_pred[sem_seg_g] += [tmp]
grouppred_cnt += 1
pts[:, 6] *= max_room_x
pts[:, 7] *= max_room_y
pts[:, 8] *= max_room_z
pts[:, 3:6] *= 255.0
ins = group_pred_final.astype(np.int32)
sem = seg_pred.astype(np.int32)
sem_softmax = seg_pred_softmax
sem_gt = seg_gt
ins_gt = cur_group.reshape(-1)
for i in range(pts.shape[0]):
fout_data_label.append(
'%f %f %f %d %d %d %f %d %d\n' %
(pts[i, 6], pts[i, 7], pts[i, 8], pts[i, 3], pts[i, 4],
pts[i, 5], sem_softmax[i, sem[i]], sem[i], ins[i]))
fout_gt_label.append('%d %d\n' % (sem_gt[i], ins_gt[i]))
with open(out_data_label_filename, 'w') as fd:
fd.writelines(fout_data_label)
with open(out_gt_label_filename, 'w') as fd:
fd.writelines(fout_gt_label)
if output_verbose:
# file name
outfile_name = ROOM_PATH_LIST[shape_idx].split(
'/')[-1][:-EXT_LEN]
# Raw Point Cloud
output_point_cloud_rgb(
pts[:, 6:], pts[:, 3:6].astype(np.int32),
os.path.join(VIS_DIR, '{}_raw.obj'.format(outfile_name)))
logger.info('Saving file {}_raw.obj'.format(outfile_name))
# Instance Prediction
output_color_point_cloud(
pts[:, 6:], group_pred_final.astype(np.int32),
os.path.join(VIS_DIR,
'{}_pred_ins.obj'.format(outfile_name)))
logger.info('Saving file {}_pred_ins.obj'.format(outfile_name))
# Semantic Prediction
output_color_point_cloud(
pts[:, 6:], seg_pred.astype(np.int32),
os.path.join(VIS_DIR,
'{}_pred_sem.obj'.format(outfile_name)))
logger.info('Saving file {}_pred_sem.obj'.format(outfile_name))
# Instance Ground Truth
output_color_point_cloud(
pts[:, 6:], ins_gt,
os.path.join(VIS_DIR,
'{}_gt_ins.obj'.format(outfile_name)))
logger.info('Saving file {}_gt_ins.obj'.format(outfile_name))
# Semantic Ground Truth
output_color_point_cloud(
pts[:, 6:], sem_gt,
os.path.join(VIS_DIR,
'{}_gt_sem.obj'.format(outfile_name)))
logger.info('Saving file {}_gt_sem.obj'.format(outfile_name))
with open(output_filelist_f, 'w') as fd:
fd.writelines(fout_out_filelist)
def eval_one_epoch(sess, ops, room_path, out_data_label_filename, out_gt_label_filename):
error_cnt = 0
is_training = False
total_correct = 0
total_seen = 0
loss_sum = 0
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
if FLAGS.visu:
print("entering visu ")
#fout = open(os.path.join(DUMP_DIR, os.path.basename(room_path)[:-4]+'_pred.obj'), 'w')
fout = open(os.path.join(DUMP_DIR, os.path.basename(room_path)[:-4]+'_pred.obj'), 'w')
#fout_gt = open(os.path.join(DUMP_DIR, os.path.basename(room_path)[:-4]+'_gt.obj'), 'w')
fout_gt = open(os.path.join(DUMP_DIR, os.path.basename(room_path)[:-4]+'_gt.obj'), 'w')
fout_real_color = open(os.path.join(DUMP_DIR, os.path.basename(room_path)[:-4]+'_real_color.obj'), 'w')
fout_data_label = open(out_data_label_filename, 'w')
fout_gt_label = open(out_gt_label_filename, 'w')
print("Entering normalized data")
current_data, current_label, koefisien = indoor3d_util.room2blocks_wrapper_normalized(room_path, NUM_POINT, block_size=block_size, stride=block_size, rgb=RGB)
print("Done normalized data")
current_data = current_data[:,0:NUM_POINT,:]
koefisien = koefisien[:, 0:NUM_POINT, :]
current_label = np.squeeze(current_label)
# Get room dimension..
data_label = np.load(room_path)
if RGB:
data = data_label[:,0:6]
else:
data = data_label[:, 0:3]
max_room_x = max(data[:,0])
max_room_y = max(data[:,1])
max_room_z = max(data[:,2])
print(max_room_x, max_room_y, max_room_z)
file_size = current_data.shape[0]
num_batches = file_size // BATCH_SIZE
print(file_size)
for batch_idx in range(num_batches):
start_idx = batch_idx * BATCH_SIZE
end_idx = (batch_idx+1) * BATCH_SIZE
cur_batch_size = end_idx - start_idx
feed_dict = {ops['pointclouds_pl']: current_data[start_idx:end_idx, :, :],
ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training}
loss_val, pred_val = sess.run([ops['loss'], ops['pred_softmax']],
feed_dict=feed_dict)
if FLAGS.no_clutter:
pred_label = np.argmax(pred_val[:,:,0:12], 2) # BxN
else:
pred_label = np.argmax(pred_val, 2) # BxN
# Save prediction labels to OBJ file
for b in range(BATCH_SIZE):
pts = current_data[start_idx+b, :, :]
koef = koefisien[start_idx+b, :, :]
l = current_label[start_idx+b,:]
if RGB:
pts[:,6] *= max_room_x
pts[:,7] *= max_room_y
pts[:,8] *= max_room_z
pts[:, 3:6] *= 65535.0
else:
pts[:, 3] *= max_room_x
pts[:, 4] *= max_room_y
pts[:, 5] *= max_room_z
pred = pred_label[b, :]
for i in range(NUM_POINT):
key = f'{pts[i,0]+koef[i,0]},{pts[i,1]+koef[i,1]},{pts[i,2]}'
real_pts = MAPPING[key].split(",")
color = indoor3d_util.g_label2color[pred[i]]
color_gt = indoor3d_util.g_label2color[current_label[start_idx+b, i]]
if FLAGS.visu:
if RGB:
# fout.write('v %f %f %f %d %d %d\n' % (pts[i,6], pts[i,7], pts[i,8], color[0], color[1], color[2]))
# fout_gt.write('v %f %f %f %d %d %d\n' % (pts[i,6], pts[i,7], pts[i,8], color_gt[0], color_gt[1], color_gt[2]))
pass
else:
# fout.write('v %f %f %f %d %d %d\n' % (pts[i, 3], pts[i, 4], pts[i, 5], color[0], color[1], color[2]))
# fout_gt.write('v %f %f %f %d %d %d\n' % (pts[i, 3], pts[i, 4], pts[i, 5], color_gt[0], color_gt[1], color_gt[2]))
pass
fout.write(f'v {real_pts[0]} {real_pts[1]} {real_pts[2]} {color[0]} {color[1]} {color[2]}\n')
fout_gt.write(f'v {real_pts[0]} {real_pts[1]} {real_pts[2]} {color_gt[0]} {color_gt[1]} {color_gt[2]}\n')
if RGB:
#fout_data_label.write(f'{real_pts[0]} {real_pts[1]} {real_pts[2]} {color_gt[0]} {color_gt[1]} {color_gt[2]}\n')
fout_data_label.write(f'{real_pts[0]} {real_pts[1]} {real_pts[2]} {pts[i,3]} {pts[i,4]} {pts[i,5]} {pred_val[b,i,pred[i]]} {pred[i]}\n')
else:
fout_data_label.write(f'{real_pts[0]} {real_pts[1]} {real_pts[2]} {pts[i,0]} {pts[i,1]} {pts[i,2]} {pred_val[b,i,pred[i]]} {pred[i]}\n')
#fout_data_label.write(f'{real_pts[0]} {real_pts[1]} {real_pts[2]} {color_gt[0]} {color_gt[1]} {color_gt[2]}\n')
#fout_gt_label.write(f'v {real_pts[0]} {real_pts[1]} {real_pts[2]} {color_gt[0]} {color_gt[1]} {color_gt[2]}\n')
#fout_gt_label.write(f'{real_pts[0]} {real_pts[1]} {real_pts[2]} {color_gt[0]} {color_gt[1]} {color_gt[2]}\n')
fout_gt_label.write('%d\n' % (l[i]))
correct = np.sum(pred_label == current_label[start_idx:end_idx,:])
total_correct += correct
total_seen += (cur_batch_size*NUM_POINT)
loss_sum += (loss_val*BATCH_SIZE)
for i in range(start_idx, end_idx):
for j in range(NUM_POINT):
l = current_label[i, j]
total_seen_class[l] += 1
total_correct_class[l] += (pred_label[i-start_idx, j] == l)
log_string('eval mean loss: %f' % (loss_sum / float(total_seen/NUM_POINT)))
log_string('eval accuracy: %f'% (total_correct / float(total_seen)))
fout_data_label.close()
fout_gt_label.close()
if FLAGS.visu:
fout.close()
fout_gt.close()
return total_correct, total_seen
purify = False # Reassign label based on k-nearest neighbor. Set to False for large point cloud due to slow speed
knn = 5 # for the purify
test_model=3
test_area=3
ckpt_dir = './log{}'.format(test_model)
output_dir = os.path.join(BASE_DIR, './log{}/test'.format(test_model))
flog = open(os.path.join(output_dir, 'log_test.txt'), 'w')
TESTING_FILE_LIST = './meta/area{}_data_label.txt'.format(test_area)
ROOM_PATH_LIST = [line.rstrip() for line in open(TESTING_FILE_LIST)]
test_data = []
test_sem = []
for room_path in ROOM_PATH_LIST:
current_data, current_label = indoor3d_util.room2blocks_wrapper_normalized(room_path, model.NUM_POINT)
current_data = current_data[:, :, :3]
current_label = np.squeeze(current_label)
test_data.append(current_data)
test_sem.append(current_label)
test_data = np.concatenate(test_data, axis=0)
test_label = np.concatenate(test_sem, axis=0)
print 'test_model:', test_model
print 'test_area:', test_area
print 'test_data:', test_data.shape
print 'test_label:', test_label.shape
def printout(flog, data):
print(data)
flog.write(data + '\n')
def eval_one_epoch(sess, ops, room_path, out_data_label_filename, out_gt_label_filename):
error_cnt = 0
is_training = False
total_correct = 0
total_seen = 0
loss_sum = 0
total_seen_class = [0 for _ in range(NUM_CLASSES)]
total_correct_class = [0 for _ in range(NUM_CLASSES)]
if FLAGS.visu:
fout = open(os.path.join(DUMP_DIR, os.path.basename(room_path)[:-4]+'_pred.obj'), 'w')
fout_gt = open(os.path.join(DUMP_DIR, os.path.basename(room_path)[:-4]+'_gt.obj'), 'w')
fout_data_label = open(out_data_label_filename, 'w')
fout_gt_label = open(out_gt_label_filename, 'w')
current_data, current_label = indoor3d_util.room2blocks_wrapper_normalized(room_path, NUM_POINT)
current_data = current_data[:,0:NUM_POINT,:]
current_label = np.squeeze(current_label)
# Get room dimension..
data_label = np.load(room_path)
data = data_label[:,0:6]
max_room_x = max(data[:,0])
max_room_y = max(data[:,1])
max_room_z = max(data[:,2])
file_size = current_data.shape[0]
num_batches = file_size // BATCH_SIZE
print(file_size)
for batch_idx in range(num_batches):
start_idx = batch_idx * BATCH_SIZE
end_idx = (batch_idx+1) * BATCH_SIZE
cur_batch_size = end_idx - start_idx
feed_dict = {ops['pointclouds_pl']: current_data[start_idx:end_idx, :, :],
ops['labels_pl']: current_label[start_idx:end_idx],
ops['is_training_pl']: is_training}
loss_val, pred_val = sess.run([ops['loss'], ops['pred_softmax']],
feed_dict=feed_dict)
if FLAGS.no_clutter:
pred_label = np.argmax(pred_val[:,:,0:12], 2) # BxN
else:
pred_label = np.argmax(pred_val, 2) # BxN
# Save prediction labels to OBJ file
for b in range(BATCH_SIZE):
pts = current_data[start_idx+b, :, :]
l = current_label[start_idx+b,:]
pts[:,6] *= max_room_x
pts[:,7] *= max_room_y
pts[:,8] *= max_room_z
pts[:,3:6] *= 255.0
pred = pred_label[b, :]
for i in range(NUM_POINT):
color = indoor3d_util.g_label2color[pred[i]]
color_gt = indoor3d_util.g_label2color[current_label[start_idx+b, i]]
if FLAGS.visu:
fout.write('v %f %f %f %d %d %d\n' % (pts[i,6], pts[i,7], pts[i,8], color[0], color[1], color[2]))
fout_gt.write('v %f %f %f %d %d %d\n' % (pts[i,6], pts[i,7], pts[i,8], color_gt[0], color_gt[1], color_gt[2]))
fout_data_label.write('%f %f %f %d %d %d %f %d\n' % (pts[i,6], pts[i,7], pts[i,8], pts[i,3], pts[i,4], pts[i,5], pred_val[b,i,pred[i]], pred[i]))
fout_gt_label.write('%d\n' % (l[i]))
correct = np.sum(pred_label == current_label[start_idx:end_idx,:])
total_correct += correct
total_seen += (cur_batch_size*NUM_POINT)
loss_sum += (loss_val*BATCH_SIZE)
for i in range(start_idx, end_idx):
for j in range(NUM_POINT):
l = current_label[i, j]
total_seen_class[l] += 1
total_correct_class[l] += (pred_label[i-start_idx, j] == l)
log_string('eval mean loss: %f' % (loss_sum / float(total_seen/NUM_POINT)))
log_string('eval accuracy: %f'% (total_correct / float(total_seen)))
fout_data_label.close()
fout_gt_label.close()
if FLAGS.visu:
fout.close()
fout_gt.close()
return total_correct, total_seen
