def main():
parser = argparse.ArgumentParser()
parser.add_argument('--filelist',
'-t',
help='Path to input .h5 filelist (.txt)',
required=True)
parser.add_argument('--data_folder',
'-f',
help='Path to *.pts directory',
required=True)
parser.add_argument('--category',
'-c',
help='Path to category list file (.txt)',
required=True)
parser.add_argument('--load_ckpt',
'-l',
help='Path to a check point file for load',
required=True)
parser.add_argument('--repeat_num',
'-r',
help='Repeat number',
type=int,
default=1)
parser.add_argument('--model', '-m', help='Model to use', required=True)
parser.add_argument('--setting',
'-x',
help='Setting to use',
required=True)
parser.add_argument('--save_ply',
'-s',
help='Save results as ply',
action='store_true')
args = parser.parse_args()
print(args)
model = importlib.import_module(args.model)
setting_path = os.path.join(os.path.dirname(__file__), args.model)
sys.path.append(setting_path)
setting = importlib.import_module(args.setting)
sample_num = setting.sample_num
num_class = setting.num_class
# Prepare output folder
output_folder = args.data_folder + 'pred_' + str(args.repeat_num)
category_list = [
(category, int(label_num))
for (category,
label_num) in [line.split() for line in open(args.category, 'r')]
]
for category, _ in category_list:
folder = os.path.join(output_folder, category)
if not os.path.exists(folder):
os.makedirs(folder)
# prepare input pts path, output seg path, output ply path
input_filelist = []
output_filelist = []
output_ply_filelist = []
for category in sorted(os.listdir(args.data_folder)):
data_category_folder = os.path.join(args.data_folder, category)
for filename in sorted(os.listdir(data_category_folder)):
input_filelist.append(
os.path.join(args.data_folder, category, filename))
output_filelist.append(
os.path.join(output_folder, category, filename[0:-3] + 'seg'))
output_ply_filelist.append(
os.path.join(output_folder + '_ply', category,
filename[0:-3] + 'ply'))
# Prepare inputs
print('{}-Preparing datasets...'.format(datetime.now()))
data, _, data_num, _ = data_utils.load_seg(args.filelist)
batch_num = data.shape[0]
#point_num
max_point_num = data.shape[1]
batch_size = args.repeat_num * math.ceil(data.shape[1] / sample_num)
print('{}-{:d} testing batches.'.format(datetime.now(), batch_num))
######################################################################
# Placeholders
indices = tf.placeholder(tf.int32,
shape=(batch_size, None, 2),
name="indices")
is_training = tf.placeholder(tf.bool, name='is_training')
pts_fts = tf.placeholder(tf.float32,
shape=(batch_size, max_point_num,
setting.data_dim),
name='points')
######################################################################
######################################################################
pts_fts_sampled = tf.gather_nd(pts_fts,
indices=indices,
name='pts_fts_sampled')
if setting.data_dim > 3:
points_sampled, features_sampled = tf.split(
pts_fts_sampled, [3, setting.data_dim - 3],
axis=-1,
name='split_points_features')
if not setting.use_extra_features:
features_sampled = None
else:
points_sampled = pts_fts_sampled
features_sampled = None
net = model.Net(points_sampled, features_sampled, num_class, is_training,
setting)
_, seg_probs_op = net.logits, net.probs
update_ops = tf.get_collection(tf.GraphKeys.UPDATE_OPS)
#for restore model
saver = tf.train.Saver()
parameter_num = np.sum(
[np.prod(v.shape.as_list()) for v in tf.trainable_variables()])
print('{}-Parameter number: {:d}.'.format(datetime.now(), parameter_num))
with tf.Session() as sess:
# Load the model
saver.restore(sess, args.load_ckpt)
print('{}-Checkpoint loaded from {}!'.format(datetime.now(),
args.load_ckpt))
indices_batch_indices = np.tile(
np.reshape(np.arange(batch_size), (batch_size, 1, 1)),
(1, sample_num, 1))
for batch_idx in range(batch_num):
points_batch = data[[batch_idx] * batch_size, ...]
point_num = data_num[batch_idx]
coordinates = [[float(value) for value in xyz.split(' ')]
for xyz in open(input_filelist[batch_idx], 'r')
if len(xyz.split(' ')) == setting.data_dim]
assert (point_num == len(coordinates))
tile_num = math.ceil((sample_num * batch_size) / point_num)
indices_shuffle = np.tile(np.arange(point_num),
tile_num)[0:sample_num * batch_size]
np.random.shuffle(indices_shuffle)
indices_batch_shuffle = np.reshape(indices_shuffle,
(batch_size, sample_num, 1))
indices_batch = np.concatenate(
(indices_batch_indices, indices_batch_shuffle), axis=2)
_, seg_probs = \
sess.run([update_ops, seg_probs_op],
feed_dict={
pts_fts: points_batch,
indices: indices_batch,
is_training: False,
})
seg_probs_2d = np.reshape(seg_probs, (sample_num * batch_size, -1))
predictions = [(-1, 0.0, [])] * point_num
for idx in range(sample_num * batch_size):
point_idx = indices_shuffle[idx]
point_seg_probs = seg_probs_2d[idx, :]
prob = np.amax(point_seg_probs)
seg_idx = np.argmax(point_seg_probs)
if prob > predictions[point_idx][1]:
predictions[point_idx] = [seg_idx, prob, point_seg_probs]
labels = []
with open(output_filelist[batch_idx], 'w') as file_seg:
for seg_idx, prob, probs in predictions:
file_seg.write(str(int(seg_idx)))
file_seg.write("\n")
labels.append(seg_idx)
if args.save_ply:
data_utils.save_ply_property(np.array(coordinates),
np.array(labels), 6,
output_ply_filelist[batch_idx])
print('{}-[Testing]-Iter: {:06d} saved to {}'.format(
datetime.now(), batch_idx, output_filelist[batch_idx]))
sys.stdout.flush()
######################################################################
print('{}-Done!'.format(datetime.now()))
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--filelist',
'-f',
help='Path to input .h5 filelist (.txt)',
required=True)
parser.add_argument('--category',
'-c',
help='Path to category list file (.txt)',
required=True)
parser.add_argument('--data_folder',
'-d',
help='Path to *.pts directory',
required=True)
parser.add_argument('--load_ckpt',
'-l',
help='Path to a check point file for load',
required=True)
parser.add_argument('--repeat_num',
'-r',
help='Repeat number',
type=int,
default=1)
parser.add_argument('--sample_num',
help='Point sample num',
type=int,
default=2048)
parser.add_argument('--model', '-m', help='Model to use', required=True)
parser.add_argument('--setting',
'-x',
help='Setting to use',
required=True)
parser.add_argument('--save_ply',
'-s',
help='Save results as ply',
action='store_true')
args = parser.parse_args()
print(args)
model = importlib.import_module(args.model)
sys.path.append(os.path.dirname(args.setting))
print(os.path.dirname(args.setting))
setting = importlib.import_module(os.path.basename(args.setting))
sample_num = setting.sample_num
output_folder = args.data_folder + '_pred_nips_' + str(args.repeat_num)
category_list = [
(category, int(label_num))
for (category,
label_num) in [line.split() for line in open(args.category, 'r')]
]
offset = 0
category_range = dict()
for category, category_label_seg_max in category_list:
category_range[category] = (offset, offset + category_label_seg_max)
offset = offset + category_label_seg_max
folder = os.path.join(output_folder, category)
if not os.path.exists(folder):
os.makedirs(folder)
input_filelist = []
output_filelist = []
output_ply_filelist = []
for category in sorted(os.listdir(args.data_folder)):
data_category_folder = os.path.join(args.data_folder, category)
for filename in sorted(os.listdir(data_category_folder)):
input_filelist.append(
os.path.join(args.data_folder, category, filename))
output_filelist.append(
os.path.join(output_folder, category, filename[0:-3] + 'seg'))
output_ply_filelist.append(
os.path.join(output_folder + '_ply', category,
filename[0:-3] + 'ply'))
# Prepare inputs
print('{}-Preparing datasets...'.format(datetime.now()))
data, label, data_num, _, _ = data_utils.load_seg(args.filelist)
batch_num = data.shape[0]
max_point_num = data.shape[1]
batch_size = args.repeat_num * math.ceil(data.shape[1] / sample_num)
print('{}-{:d} testing batches.'.format(datetime.now(), batch_num))
######################################################################
# Placeholders
indices = tf.placeholder(tf.int32,
shape=(batch_size, None, 2),
name="indices")
is_training = tf.placeholder(tf.bool, name='is_training')
pts_fts = tf.placeholder(tf.float32,
shape=(None, max_point_num, setting.data_dim),
name='pts_fts')
######################################################################
######################################################################
pts_fts_sampled = tf.gather_nd(pts_fts,
indices=indices,
name='pts_fts_sampled')
if setting.data_dim > 3:
points_sampled, features_sampled = tf.split(
pts_fts_sampled, [3, setting.data_dim - 3],
axis=-1,
name='split_points_features')
if not setting.use_extra_features:
features_sampled = None
else:
points_sampled = pts_fts_sampled
features_sampled = None
net = model.Net(points_sampled, features_sampled, is_training, setting)
logits = net.logits
probs_op = tf.nn.softmax(logits, name='probs')
saver = tf.train.Saver()
parameter_num = np.sum(
[np.prod(v.shape.as_list()) for v in tf.trainable_variables()])
print('{}-Parameter number: {:d}.'.format(datetime.now(), parameter_num))
with tf.Session() as sess:
# Load the model
saver.restore(sess, args.load_ckpt)
print('{}-Checkpoint loaded from {}!'.format(datetime.now(),
args.load_ckpt))
indices_batch_indices = np.tile(
np.reshape(np.arange(batch_size), (batch_size, 1, 1)),
(1, sample_num, 1))
for batch_idx in range(batch_num):
points_batch = data[[batch_idx] * batch_size, ...]
object_label = label[batch_idx]
point_num = data_num[batch_idx]
category = category_list[object_label][0]
label_start, label_end = category_range[category]
tile_num = math.ceil((sample_num * batch_size) / point_num)
indices_shuffle = np.tile(np.arange(point_num),
tile_num)[0:sample_num * batch_size]
np.random.shuffle(indices_shuffle)
indices_batch_shuffle = np.reshape(indices_shuffle,
(batch_size, sample_num, 1))
indices_batch = np.concatenate(
(indices_batch_indices, indices_batch_shuffle), axis=2)
probs = sess.run(
[probs_op],
feed_dict={
pts_fts: points_batch,
indices: indices_batch,
is_training: False,
})
probs_2d = np.reshape(probs, (sample_num * batch_size, -1))
predictions = [(-1, 0.0)] * point_num
for idx in range(sample_num * batch_size):
point_idx = indices_shuffle[idx]
probs = probs_2d[idx, label_start:label_end]
confidence = np.amax(probs)
seg_idx = np.argmax(probs)
if confidence > predictions[point_idx][1]:
predictions[point_idx] = (seg_idx, confidence)
labels = []
with open(output_filelist[batch_idx], 'w') as file_seg:
for seg_idx, _ in predictions:
file_seg.write('%d\n' % (seg_idx))
labels.append(seg_idx)
# read the coordinates from the txt file for verification
coordinates = [[float(value) for value in xyz.split(' ')]
for xyz in open(input_filelist[batch_idx], 'r')
if len(xyz.split(' ')) == 3]
assert (point_num == len(coordinates))
if args.save_ply:
data_utils.save_ply_property(np.array(coordinates),
np.array(labels), 6,
output_ply_filelist[batch_idx])
print('{}-[Testing]-Iter: {:06d} saved to {}'.format(
datetime.now(), batch_idx, output_filelist[batch_idx]))
sys.stdout.flush()
######################################################################
print('{}-Done!'.format(datetime.now()))
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--category',
'-c',
help='category name',
required=True)
parser.add_argument('--level',
'-l',
type=int,
help='level id',
required=True)
parser.add_argument('--load_ckpt',
'-k',
help='Path to a check point file for load',
required=True)
parser.add_argument('--model', '-m', help='Model to use', required=True)
parser.add_argument('--setting',
'-x',
help='Setting to use',
required=True)
parser.add_argument('--batch_size',
'-b',
help='Batch size during testing',
default=8,
type=int)
parser.add_argument('--save_ply',
'-s',
help='Save results as ply',
action='store_true')
parser.add_argument('--save_dir',
'-o',
help='The output directory',
type=str,
default=None)
parser.add_argument('--save_num_shapes',
'-u',
help='how many shapes to visualize',
default=20,
type=int)
args = parser.parse_args()
print(args)
if args.save_ply:
if os.path.exists(args.save_dir):
print('ERROR: folder %s exists! Please check and delete!' %
args.save_dir)
exit(1)
os.mkdir(args.save_dir)
model = importlib.import_module(args.model)
setting_path = os.path.join(os.path.dirname(__file__), args.model)
sys.path.append(setting_path)
setting = importlib.import_module(args.setting)
sample_num = setting.sample_num
batch_size = args.batch_size
args.data_folder = '../../data/sem_seg_h5/'
# Load all test data
args.filelist = os.path.join(args.data_folder,
'%s-%d' % (args.category, args.level),
'test_files.txt')
data_test, _, label_gt = data_utils.load_seg(args.filelist)
num_shape = data_test.shape[0]
print('Loaded data: %s shapes in total to test.' % num_shape)
# Load current category + level statistics
with open(
'../../stats/after_merging_label_ids/%s-level-%d.txt' %
(args.category, args.level), 'r') as fin:
setting.num_class = len(fin.readlines()) + 1 # with "other"
print('NUM CLASS: %d' % setting.num_class)
######################################################################
# Placeholders
is_training = tf.placeholder(tf.bool, name='is_training')
pts_fts = tf.placeholder(tf.float32,
shape=(batch_size, sample_num, setting.data_dim),
name='points')
######################################################################
######################################################################
pts_fts_sampled = pts_fts
points_sampled = pts_fts_sampled
features_sampled = None
net = model.Net(points_sampled, features_sampled, is_training, setting)
seg_probs_op = tf.nn.softmax(net.logits, name='seg_probs')
# for restore model
saver = tf.train.Saver()
parameter_num = np.sum(
[np.prod(v.shape.as_list()) for v in tf.trainable_variables()])
print('{}-Parameter number: {:d}.'.format(datetime.now(), parameter_num))
# 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)
# Load the model
ckptstate = tf.train.get_checkpoint_state(args.load_ckpt)
if ckptstate is not None:
LOAD_MODEL_FILE = os.path.join(
args.load_ckpt, os.path.basename(ckptstate.model_checkpoint_path))
saver.restore(sess, LOAD_MODEL_FILE)
print("Model loaded in file: %s" % LOAD_MODEL_FILE)
else:
print("Fail to load modelfile: %s" % args.load_ckpt)
# Start the testing
print('{}-Testing...'.format(datetime.now()))
num_batch = (num_shape - 1) // batch_size + 1
pts_batch = np.zeros((batch_size, sample_num, 3), dtype=np.float32)
avg_acc = 0.0
avg_cnt = 0
shape_iou_tot = 0.0
shape_iou_cnt = 0
part_intersect = np.zeros((setting.num_class), dtype=np.float32)
part_union = np.zeros((setting.num_class), dtype=np.float32)
bar = ProgressBar()
all_seg_probs = []
for batch_idx in bar(range(num_batch)):
start_idx = batch_idx * batch_size
end_idx = min((batch_idx + 1) * batch_size, num_shape)
pts_batch[:end_idx - start_idx, ...] = data_test[start_idx:end_idx]
seg_probs = sess.run(seg_probs_op,
feed_dict={
pts_fts: pts_batch,
is_training: False
})
seg_probs = seg_probs[:end_idx - start_idx]
all_seg_probs.append(seg_probs)
seg_res = np.argmax(seg_probs[:, :, 1:], axis=-1) + 1
avg_acc += np.sum(
np.mean((seg_res == label_gt[start_idx:end_idx]) |
(label_gt[start_idx:end_idx] == 0),
axis=-1))
avg_cnt += end_idx - start_idx
seg_gt = label_gt[start_idx:end_idx]
seg_res[seg_gt == 0] = 0
for i in range(end_idx - start_idx):
cur_pred = seg_res[i]
cur_gt = seg_gt[i]
cur_shape_iou_tot = 0.0
cur_shape_iou_cnt = 0
for j in range(1, setting.num_class):
cur_gt_mask = (cur_gt == j)
cur_pred_mask = (cur_pred == j)
has_gt = (np.sum(cur_gt_mask) > 0)
has_pred = (np.sum(cur_pred_mask) > 0)
if has_gt or has_pred:
intersect = np.sum(cur_gt_mask & cur_pred_mask)
union = np.sum(cur_gt_mask | cur_pred_mask)
iou = intersect / union
cur_shape_iou_tot += iou
cur_shape_iou_cnt += 1
part_intersect[j] += intersect
part_union[j] += union
if cur_shape_iou_cnt > 0:
cur_shape_miou = cur_shape_iou_tot / cur_shape_iou_cnt
shape_iou_tot += cur_shape_miou
shape_iou_cnt += 1
if args.save_ply and start_idx < args.save_num_shapes:
for i in range(start_idx, min(end_idx, args.save_num_shapes)):
out_fn = os.path.join(args.save_dir, 'shape-%02d-pred.ply' % i)
data_utils.save_ply_property(data_test[i],
seg_res[i - start_idx],
setting.num_class, out_fn)
out_fn = os.path.join(args.save_dir, 'shape-%02d-gt.ply' % i)
data_utils.save_ply_property(data_test[i], label_gt[i],
setting.num_class, out_fn)
all_seg_probs = np.vstack(all_seg_probs)
print('{}-Done!'.format(datetime.now()))
print('Average Accuracy: %f' % (avg_acc / avg_cnt))
print('Shape mean IoU: %f' % (shape_iou_tot / shape_iou_cnt))
part_iou = np.divide(part_intersect[1:], part_union[1:])
mean_part_iou = np.mean(part_iou)
print('Category mean IoU: %f, %s' % (mean_part_iou, str(part_iou)))
out_list = ['%3.1f' % (item * 100) for item in part_iou.tolist()]
print('%3.1f;%3.1f;%3.1f;%s' %
(avg_acc * 100 / avg_cnt, shape_iou_tot * 100 / shape_iou_cnt,
mean_part_iou * 100, '[' + ', '.join(out_list) + ']'))
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--folder_gt',
'-g',
help='Path to ground truth folder',
required=True)
parser.add_argument('--folder_pred',
'-p',
help='Path to prediction folder',
required=True)
parser.add_argument('--folder_data',
'-d',
help='Path to point cloud data folder')
parser.add_argument('--part_avg',
'-a',
action='store_true',
help='Use part level average')
args = parser.parse_args()
print(args)
category_id_to_name = {
2691156: 'Airplane',
2773838: 'Bag',
2954340: 'Cap',
2958343: 'Car',
3001627: 'Chair',
3261776: 'Earphone',
3467517: 'Guitar',
3624134: 'Knife',
3636649: 'Lamp',
3642806: 'Laptop',
3790512: 'Motorbike',
3797390: 'Mug',
3948459: 'Pistol',
4099429: 'Rocket',
4225987: 'Skateboard',
4379243: 'Table'
}
categories = sorted(os.listdir(args.folder_gt))
label_min = sys.maxsize
for category in categories:
category_folder_gt = os.path.join(args.folder_gt, category)
filenames = sorted(os.listdir(category_folder_gt))
for filename in filenames:
filepath_gt = os.path.join(category_folder_gt, filename)
label_gt = np.loadtxt(filepath_gt).astype(np.int32)
label_min = min(label_min, np.amin(label_gt))
IoU = 0.0
total_num = 0
for category in categories:
category_folder_gt = os.path.join(args.folder_gt, category)
category_folder_pred = os.path.join(args.folder_pred, category)
if args.folder_data:
category_folder_data = os.path.join(args.folder_data, category)
category_folder_err = os.path.join(args.folder_pred + '_err_ply',
category)
IoU_category = 0.0
filenames = sorted(os.listdir(category_folder_gt))
for filename in filenames:
filepath_gt = os.path.join(category_folder_gt, filename)
filepath_pred = os.path.join(category_folder_pred, filename)
label_gt = np.loadtxt(filepath_gt).astype(np.int32) - label_min
label_pred = np.loadtxt(filepath_pred).astype(np.int32)
if args.folder_data:
filepath_data = os.path.join(category_folder_data,
filename[:-3] + 'pts')
filepath_err = os.path.join(category_folder_err,
filename[:-3] + 'ply')
coordinates = [[float(value) for value in xyz.split(' ')]
for xyz in open(filepath_data, 'r')
if len(xyz.split(' ')) == 3]
assert (label_gt.shape[0] == len(coordinates))
data_utils.save_ply_property(np.array(coordinates),
(label_gt == label_pred), 6,
filepath_err)
if args.part_avg:
label_max = np.amax(label_gt)
IoU_part = 0.0
for label_idx in range(label_max + 1):
locations_gt = (label_gt == label_idx)
locations_pred = (label_pred == label_idx)
I_locations = np.logical_and(locations_gt, locations_pred)
U_locations = np.logical_or(locations_gt, locations_pred)
I = np.sum(I_locations) + np.finfo(np.float32).eps
U = np.sum(U_locations) + np.finfo(np.float32).eps
IoU_part = IoU_part + I / U
IoU_sample = IoU_part / (label_max + 1)
else:
label_correct_locations = (label_gt == label_pred)
IoU_sample = np.sum(label_correct_locations) / label_gt.size
IoU_category = IoU_category + IoU_sample
IoU = IoU + IoU_category
IoU_category = IoU_category / len(filenames)
if category.isdigit():
print("IoU of %s: " % (category_id_to_name[int(category)]),
IoU_category)
else:
print("IoU of %s: " % category, IoU_category)
total_num = total_num + len(filenames)
IoU = IoU / total_num
print("IoU: ", IoU)
