Synthia data loader fix

chrischoy · Jan 27, 2020 · 4a4c0c5 · 4a4c0c5
1 parent 8bf3f39
commit 4a4c0c5
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Showing 3 changed files with 12 additions and 17 deletions.
diff --git a/lib/datasets/stanford.py b/lib/datasets/stanford.py
@@ -160,19 +160,6 @@ class StanfordArea5Dataset(StanfordDataset):
   }
 
 
-class StanfordArea53cmDataset(StanfordArea5Dataset):
-  CLIP_BOUND = 3.2
-  VOXEL_SIZE = 0.03
-
-
-class StanfordArea57d5cmDataset(StanfordArea5Dataset):
-  VOXEL_SIZE = 0.075
-
-
-class StanfordArea510cmDataset(StanfordArea5Dataset):
-  VOXEL_SIZE = 0.1
-
-
 def test(config):
   """Test point cloud data loader.
   """

diff --git a/lib/datasets/synthia.py b/lib/datasets/synthia.py
@@ -7,6 +7,7 @@
 import numpy as np
 
 from collections import defaultdict
+from plyfile import PlyData
 
 from lib.pc_utils import Camera, read_plyfile
 from lib.dataset import DictDataset, VoxelizationDataset, TemporalVoxelizationDataset, \
@@ -111,8 +112,6 @@ class SynthiaVoxelizationDataset(VoxelizationDataset):
   VOXEL_SIZE = 15  # cm
 
   PREVOXELIZATION_VOXEL_SIZE = 7.5
-  # Elastic distortion, (granularity, magitude) pairs
-  ELASTIC_DISTORT_PARAMS = ((80, 300),)
 
   # Augmentation arguments
   ROTATION_AUGMENTATION_BOUND = ((0, 0), (-np.pi, np.pi), (0, 0))
@@ -158,6 +157,15 @@ def __init__(self,
         elastic_distortion=elastic_distortion,
         config=config)
 
+  def load_ply(self, index):
+    filepath = self.data_root / self.data_paths[index]
+    plydata = PlyData.read(filepath)
+    data = plydata.elements[0].data
+    coords = np.array([data['x'], data['y'], data['z']], dtype=np.float32).T
+    feats = np.array([data['r'], data['g'], data['b']], dtype=np.float32).T
+    labels = np.array(data['l'], dtype=np.int32)
+    return coords, feats, labels, None
+
 
 class SynthiaTemporalVoxelizationDataset(TemporalVoxelizationDataset):
 

diff --git a/models/conditional_random_fields.py b/models/conditional_random_fields.py
@@ -129,15 +129,15 @@ def forward(self, x):
       # Pairwise potential
       out = self.convs[i].apply(out, self.conv.kernel, x.pixel_dist, self.conv.stride,
                                 self.conv.kernel_size, self.conv.dilation, self.region_type_,
-                                self.region_offset_, x.coords_key, x.coords_key, x.C)
+                                self.region_offset_, x.coords_key, x.coords_key, x.coords_man)
       # Add unary
       out += xf
 
     if self.requires_mapping:
       # Map the CRF output to the origianl space
       out = SparseMM()(Variable(self.out_mapping), out)
 
-    return SparseTensor(out, coords_key=x.coords_key, coords_manager=x.C)
+    return SparseTensor(out, coords_key=x.coords_key, coords_manager=x.coords_man)
 
 
 class BilateralCRF(Wrapper):