From c089c71432c3870025bb8bd57c3b8348bcddae69 Mon Sep 17 00:00:00 2001 From: Leonardo Gigli Date: Thu, 18 Apr 2024 17:46:10 +0200 Subject: [PATCH] updated lidar_hd_pre_transform function; the goal to work also with point clouds that have custom sets of features --- configs/datamodule/hdf5_datamodule.yaml | 3 + .../20220607_151_dalles_proto.yaml | 4 + docs/source/apidoc/default_config.yml | 3 + myria3d/pctl/points_pre_transform/lidar_hd.py | 81 ++++++++++--------- 4 files changed, 52 insertions(+), 39 deletions(-) diff --git a/configs/datamodule/hdf5_datamodule.yaml b/configs/datamodule/hdf5_datamodule.yaml index acbd93ed..c0151300 100755 --- a/configs/datamodule/hdf5_datamodule.yaml +++ b/configs/datamodule/hdf5_datamodule.yaml @@ -11,6 +11,9 @@ points_pre_transform: _target_: functools.partial _args_: - "${get_method:myria3d.pctl.points_pre_transform.lidar_hd.lidar_hd_pre_transform}" + pos_keys: ${dataset_description.pos_keys} + features_keys: ${dataset_description.features_keys} + color_keys: ${dataset_description.color_keys} pre_filter: _target_: functools.partial diff --git a/configs/dataset_description/20220607_151_dalles_proto.yaml b/configs/dataset_description/20220607_151_dalles_proto.yaml index f6d60956..24918c56 100644 --- a/configs/dataset_description/20220607_151_dalles_proto.yaml +++ b/configs/dataset_description/20220607_151_dalles_proto.yaml @@ -13,6 +13,10 @@ classification_preprocessing_dict: {3: 5, 4: 5, 160: 64, 161: 64, 162: 64, 0: 1, # classification_dict = {code_int: name_str, ...} and MUST be sorted (increasing order). classification_dict: {1: "unclassified", 2: "ground", 5: vegetation, 6: "building", 9: water, 17: bridge, 64: lasting_above} +pos_keys: ["X", "Y", "Z"] +features_keys: ["Intensity", "ReturnNumber", "NumberOfReturns"] +color_keys: ["Red", "Green", "Blue", "Infrared"] + # class_weights for the CrossEntropyLoss with format "[[w1,w2,w3...,wk]]" with w_i a float e.g. 1.0 # Balanced CE: arbitrary weights based on heuristic. # class_weights: [2.5,1.0,1.0,5.0,20.0,20.0,20.0] normalized so they sum to 7 to preserve scale of CELoss diff --git a/docs/source/apidoc/default_config.yml b/docs/source/apidoc/default_config.yml index eb6d004a..2053a9cf 100644 --- a/docs/source/apidoc/default_config.yml +++ b/docs/source/apidoc/default_config.yml @@ -111,6 +111,9 @@ datamodule: _target_: functools.partial _args_: - ${get_method:myria3d.pctl.points_pre_transform.lidar_hd.lidar_hd_pre_transform} + pos_keys: ${dataset_description.pos_keys} + features_keys: ${dataset_description.features_keys} + color_keys: ${dataset_description.color_keys} pre_filter: _target_: functools.partial _args_: diff --git a/myria3d/pctl/points_pre_transform/lidar_hd.py b/myria3d/pctl/points_pre_transform/lidar_hd.py index dcd7e4ad..73e47ea7 100644 --- a/myria3d/pctl/points_pre_transform/lidar_hd.py +++ b/myria3d/pctl/points_pre_transform/lidar_hd.py @@ -1,79 +1,82 @@ # function to turn points loaded via pdal into a pyg Data object, with additional channels +from typing import List import numpy as np +import torch from torch_geometric.data import Data COLORS_NORMALIZATION_MAX_VALUE = 255.0 * 256.0 RETURN_NUMBER_NORMALIZATION_MAX_VALUE = 7.0 -def lidar_hd_pre_transform(points): +def lidar_hd_pre_transform(points, pos_keys: List[str], features_keys: List[str], color_keys: List[str]): """Turn pdal points into torch-geometric Data object. Builds a composite (average) color channel on the fly. Calculate NDVI on the fly. Args: las_filepath (str): path to the LAS file. - + pos_keys (List[str]): list of keys for positions and base features + features_keys (List[str]): list of keys for Returns: Data: the point cloud formatted for later deep learning training. """ + + features = pos_keys + features_keys + color_keys # Positions and base features - pos = np.asarray([points["X"], points["Y"], points["Z"]], dtype=np.float32).transpose() + pos = np.asarray([points[k] for k in pos_keys], dtype=np.float32).transpose() # normalization - occluded_points = points["ReturnNumber"] > 1 + if "ReturnNumber" in features: + occluded_points = points["ReturnNumber"] > 1 + points["ReturnNumber"] = (points["ReturnNumber"]) / (RETURN_NUMBER_NORMALIZATION_MAX_VALUE) + points["NumberOfReturns"] = (points["NumberOfReturns"]) / ( + RETURN_NUMBER_NORMALIZATION_MAX_VALUE + ) + else: + occluded_points = np.zeros(pos.shape[0], dtype=np.bool_) - points["ReturnNumber"] = (points["ReturnNumber"]) / (RETURN_NUMBER_NORMALIZATION_MAX_VALUE) - points["NumberOfReturns"] = (points["NumberOfReturns"]) / ( - RETURN_NUMBER_NORMALIZATION_MAX_VALUE - ) - - for color in ["Red", "Green", "Blue", "Infrared"]: + for color in color_keys: assert points[color].max() <= COLORS_NORMALIZATION_MAX_VALUE points[color][:] = points[color] / COLORS_NORMALIZATION_MAX_VALUE points[color][occluded_points] = 0.0 # Additional features : # Average color, that will be normalized on the fly based on single-sample - rgb_avg = ( - np.asarray([points["Red"], points["Green"], points["Blue"]], dtype=np.float32) - .transpose() - .mean(axis=1) - ) + if "Red" in color_keys and "Green" in color_keys and "Blue" in color_keys: + rgb_avg = ( + np.asarray([points["Red"], points["Green"], points["Blue"]], dtype=np.float32) + .transpose() + .mean(axis=1) + ) + else: + rgb_avg = None # NDVI - ndvi = (points["Infrared"] - points["Red"]) / (points["Infrared"] + points["Red"] + 10**-6) + if "Infrared" in color_keys and "Red" in color_keys: + ndvi = (points["Infrared"] - points["Red"]) / (points["Infrared"] + points["Red"] + 10**-6) + else: + ndvi = None + + additional_color_features = [] + additional_color_keys = [] + if rgb_avg is not None: + additional_color_features.append(rgb_avg) + additional_color_keys.append("rgb_avg") + if ndvi is not None: + additional_color_features.append(ndvi) + additional_color_keys.append("ndvi") - # todo x = np.stack( [ points[name] - for name in [ - "Intensity", - "ReturnNumber", - "NumberOfReturns", - "Red", - "Green", - "Blue", - "Infrared", - ] + for name in features_keys + color_keys ] - + [rgb_avg, ndvi], + + additional_color_features, axis=0, ).transpose() - x_features_names = [ - "Intensity", - "ReturnNumber", - "NumberOfReturns", - "Red", - "Green", - "Blue", - "Infrared", - "rgb_avg", - "ndvi", - ] + x_features_names = [s.encode('utf-8') for s in (features_keys + color_keys + additional_color_keys)] y = points["Classification"] - data = Data(pos=pos, x=x, y=y, x_features_names=x_features_names) + data = Data(pos=torch.from_numpy(pos), x=torch.from_numpy(x), y=y, x_features_names=x_features_names) return data