sem3d_test_to_sem3D_labels.py

import numpy as np
import os
import scipy.misc
from tqdm import *
import json
#自己添加解决pyx
import pyximport
pyximport.install()

from pointcloud_tools.lib.python.PcTools import Semantic3D  #修改

# load the configuration file and define variables
print("Loading configuration file")
import argparse
parser = argparse.ArgumentParser(description='Semantic3D')
parser.add_argument('--config', type=str, default="config.json", metavar='N',
help='config file')
args = parser.parse_args()
json_data=open(args.config).read()
config = json.loads(json_data)

input_dir = config["test_input_dir"]
voxel_size = config["voxel_size"]
output_dir = config["output_directory"]

filenames = [
        "birdfountain_station1_xyz_intensity_rgb",
        #"castleblatten_station1_intensity_rgb",
        #"castleblatten_station5_xyz_intensity_rgb",
        #"marketplacefeldkirch_station1_intensity_rgb",
        #"marketplacefeldkirch_station4_intensity_rgb",
        #"marketplacefeldkirch_station7_intensity_rgb",
        #"sg27_station10_intensity_rgb",
        #"sg27_station3_intensity_rgb",
        #"sg27_station6_intensity_rgb",
        #"sg27_station8_intensity_rgb",
        #"sg28_station2_intensity_rgb",
        #"sg28_station5_xyz_intensity_rgb",
        #"stgallencathedral_station1_intensity_rgb",
        #"stgallencathedral_station3_intensity_rgb",
        #"stgallencathedral_station6_intensity_rgb"

        # "New_Track_D_pts_xyzrgbi"
        #"20180724ShenZhen02am-0012"
    ]

# create output directory
if not os.path.exists(output_dir):
    os.makedirs(output_dir)

for filename in filenames:
    print(filename)

    semantizer =  Semantic3D()  #修改
    semantizer.set_voxel_size(voxel_size)

    mesh_filename = os.path.join(output_dir, filename+".ply")
    sem3d_cloud_txt = os.path.join(input_dir,filename+".txt")
    output_results = os.path.join(output_dir, filename+".txt")

    semantizer.mesh_to_label_file_no_labels(mesh_filename,sem3d_cloud_txt,output_results)