ZiyuG/SAM2Point

1import os2import shutil3import numpy as np4import scipy.io as sio5import torch6 7 8def load_S3DIS_sample(text_path, sample=False):9    data = np.loadtxt(text_path)10    point, color = data[:, :3], data[:, 3:]11 12    point = point - point.min(axis=0)13    point = point / point.max(axis=0)14    color = color / 255.15 16    return point, color17 18def load_ScanNet_sample(data_path):19    20    all_data = torch.load(data_path)21    22    point = np.array(all_data['coord'])23    color = np.array(all_data['color'])24 25    point = point - point.min(axis=0)26    point = point / point.max(axis=0)27    color = color / 255.28    return point, color29 30def load_KITTI_sample(data_path, close=False):31    all_data = np.load(data_path)32    33    point = all_data[:, :3]34    color = all_data[:, 3:6]35    36    pmin = point.min(axis=0)37    point = point - pmin38    pmax = point.max(axis=0)39    point = point / pmax40 41    return point, color42 43def load_Objaverse_sample(data_path):44    all_data = np.load(data_path)45    46    point = all_data[:, :3]47    color = all_data[:, 3:6]48    49    pmin = point.min(axis=0)50    point = point - pmin51    pmax = point.max(axis=0)52    point = point / pmax53    54    return point, color55 56def load_Semantic3D_sample(data_path, id, sample=False):57    all_data = np.load(data_path)58    59    point = all_data[:, :3]60    color = all_data[:, 3:6]61    62    pmin = point.min(axis=0)63    point = point - pmin64    pmax = point.max(axis=0)65    point = point / pmax66 67    if id > 1:  return point, color68    if id == 0:69        filter_mask = (point[:, 0] > 0.4) & (point[:, 1] > 0.4) & (point[:, 2] < 0.4)70    else:71        filter_mask = (point[:, 0] > 0.4) & (point[:, 1] < 0.5)72    point = point[filter_mask]73    color = color[filter_mask]74 75    pmin = point.min(axis=0)76    point = point - pmin77    pmax = point.max(axis=0)78    point = point / pmax79 80    return point, color