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+{
+ "nbformat": 4,
+ "nbformat_minor": 0,
+ "metadata": {
+ "colab": {
+ "provenance": [],
+ "gpuType": "T4",
+ "authorship_tag": "ABX9TyM/PaJS/C/frV0tgv5gnRXA",
+ "include_colab_link": true
+ },
+ "kernelspec": {
+ "name": "python3",
+ "display_name": "Python 3"
+ },
+ "language_info": {
+ "name": "python"
+ },
+ "accelerator": "GPU"
+ },
+ "cells": [
+ {
+ "cell_type": "markdown",
+ "metadata": {
+ "id": "view-in-github",
+ "colab_type": "text"
+ },
+ "source": [
+ "![\"Open](\"https://colab.research.google.com/assets/colab-badge.svg\")
"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "source": [
+ "# RandLA-Net Inference on LiDAR Point Cloud (Google Colab)\n",
+ "\n",
+ "This notebook runs inference on a `.ply` file using a pre-trained RandLA-Net model. The output will be a segmented `.ply` file that can be visualized in CloudCompare.\n",
+ "\n",
+ "## 1. Setup Environment\n",
+ "\n",
+ "### Install Dependencies\n"
+ ],
+ "metadata": {
+ "id": "EAygOTZaVAf3"
+ }
+ },
+ {
+ "cell_type": "code",
+ "source": [
+ "# Install Python 3.10 and dependencies\n",
+ "!sudo apt-get update -y\n",
+ "!sudo apt-get install python3.10 python3.10-distutils python3.10-venv -y\n",
+ "\n",
+ "# Ensure pip is available for Python 3.10\n",
+ "!python3.10 -m ensurepip\n",
+ "\n",
+ "# Upgrade pip, setuptools, and wheel\n",
+ "!python3.10 -m pip install --upgrade pip setuptools wheel\n",
+ "\n",
+ "# Update alternatives to make Python 3.10 the default\n",
+ "!sudo update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.10 1\n",
+ "!sudo update-alternatives --config python3\n",
+ "\n",
+ "# Verify the active Python version\n",
+ "!python3 --version"
+ ],
+ "metadata": {
+ "colab": {
+ "base_uri": "https://localhost:8080/"
+ },
+ "id": "cCLx-DeJ9Nfb",
+ "outputId": "bd2e079c-e5a6-4ef8-e1a5-466dbbf9280b"
+ },
+ "execution_count": 13,
+ "outputs": [
+ {
+ "output_type": "stream",
+ "name": "stdout",
+ "text": [
+ "\r0% [Working]\r \rHit:1 http://archive.ubuntu.com/ubuntu jammy InRelease\n",
+ "\r0% [Connecting to security.ubuntu.com (185.125.190.82)] [Waiting for headers] [\r \rHit:2 https://cloud.r-project.org/bin/linux/ubuntu jammy-cran40/ InRelease\n",
+ "\r0% [Waiting for headers] [Connecting to security.ubuntu.com (185.125.190.82)] [\r \rHit:3 http://archive.ubuntu.com/ubuntu jammy-updates InRelease\n",
+ "\r0% [Waiting for headers] [Waiting for headers] [Waiting for headers] [Waiting f\r \rHit:4 http://archive.ubuntu.com/ubuntu jammy-backports InRelease\n",
+ "Hit:5 https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64 InRelease\n",
+ "Hit:6 http://security.ubuntu.com/ubuntu jammy-security InRelease\n",
+ "Hit:7 https://r2u.stat.illinois.edu/ubuntu jammy InRelease\n",
+ "Hit:8 https://ppa.launchpadcontent.net/deadsnakes/ppa/ubuntu jammy InRelease\n",
+ "Hit:9 https://ppa.launchpadcontent.net/graphics-drivers/ppa/ubuntu jammy InRelease\n",
+ "Hit:10 https://ppa.launchpadcontent.net/ubuntugis/ppa/ubuntu jammy InRelease\n",
+ "Reading package lists... Done\n",
+ "W: Skipping acquire of configured file 'main/source/Sources' as repository 'https://r2u.stat.illinois.edu/ubuntu jammy InRelease' does not seem to provide it (sources.list entry misspelt?)\n",
+ "Reading package lists... Done\n",
+ "Building dependency tree... Done\n",
+ "Reading state information... Done\n",
+ "Note, selecting 'python3-distutils' instead of 'python3.10-distutils'\n",
+ "python3-distutils is already the newest version (3.10.8-1~22.04).\n",
+ "python3.10 is already the newest version (3.10.12-1~22.04.8).\n",
+ "python3.10 set to manually installed.\n",
+ "The following NEW packages will be installed:\n",
+ " python3-pip-whl python3-setuptools-whl python3.10-venv\n",
+ "0 upgraded, 3 newly installed, 0 to remove and 25 not upgraded.\n",
+ "Need to get 2,474 kB of archives.\n",
+ "After this operation, 2,885 kB of additional disk space will be used.\n",
+ "Get:1 http://archive.ubuntu.com/ubuntu jammy-updates/universe amd64 python3-pip-whl all 22.0.2+dfsg-1ubuntu0.5 [1,680 kB]\n",
+ "Get:2 http://archive.ubuntu.com/ubuntu jammy-updates/universe amd64 python3-setuptools-whl all 59.6.0-1.2ubuntu0.22.04.2 [788 kB]\n",
+ "Get:3 http://archive.ubuntu.com/ubuntu jammy-updates/universe amd64 python3.10-venv amd64 3.10.12-1~22.04.8 [5,722 B]\n",
+ "Fetched 2,474 kB in 0s (8,934 kB/s)\n",
+ "debconf: unable to initialize frontend: Dialog\n",
+ "debconf: (No usable dialog-like program is installed, so the dialog based frontend cannot be used. at /usr/share/perl5/Debconf/FrontEnd/Dialog.pm line 78, <> line 3.)\n",
+ "debconf: falling back to frontend: Readline\n",
+ "debconf: unable to initialize frontend: Readline\n",
+ "debconf: (This frontend requires a controlling tty.)\n",
+ "debconf: falling back to frontend: Teletype\n",
+ "dpkg-preconfigure: unable to re-open stdin: \n",
+ "Selecting previously unselected package python3-pip-whl.\n",
+ "(Reading database ... 129997 files and directories currently installed.)\n",
+ "Preparing to unpack .../python3-pip-whl_22.0.2+dfsg-1ubuntu0.5_all.deb ...\n",
+ "Unpacking python3-pip-whl (22.0.2+dfsg-1ubuntu0.5) ...\n",
+ "Selecting previously unselected package python3-setuptools-whl.\n",
+ "Preparing to unpack .../python3-setuptools-whl_59.6.0-1.2ubuntu0.22.04.2_all.deb ...\n",
+ "Unpacking python3-setuptools-whl (59.6.0-1.2ubuntu0.22.04.2) ...\n",
+ "Selecting previously unselected package python3.10-venv.\n",
+ "Preparing to unpack .../python3.10-venv_3.10.12-1~22.04.8_amd64.deb ...\n",
+ "Unpacking python3.10-venv (3.10.12-1~22.04.8) ...\n",
+ "Setting up python3-setuptools-whl (59.6.0-1.2ubuntu0.22.04.2) ...\n",
+ "Setting up python3-pip-whl (22.0.2+dfsg-1ubuntu0.5) ...\n",
+ "Setting up python3.10-venv (3.10.12-1~22.04.8) ...\n",
+ "ensurepip is disabled in Debian/Ubuntu for the system python.\n",
+ "\n",
+ "Python modules for the system python are usually handled by dpkg and apt-get.\n",
+ "\n",
+ " apt install python3-\n",
+ "\n",
+ "Install the python3-pip package to use pip itself. Using pip together\n",
+ "with the system python might have unexpected results for any system installed\n",
+ "module, so use it on your own risk, or make sure to only use it in virtual\n",
+ "environments.\n",
+ "\n",
+ "/usr/bin/python3.10: No module named pip\n",
+ "There are 3 choices for the alternative python3 (providing /usr/bin/python3).\n",
+ "\n",
+ " Selection Path Priority Status\n",
+ "------------------------------------------------------------\n",
+ "* 0 /usr/bin/python3.11 2 auto mode\n",
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+ " 2 /usr/bin/python3.11 2 manual mode\n",
+ " 3 /usr/bin/python3.8 1 manual mode\n",
+ "\n",
+ "Press to keep the current choice[*], or type selection number: 1\n",
+ "update-alternatives: using /usr/bin/python3.10 to provide /usr/bin/python3 (python3) in manual mode\n",
+ "Python 3.10.12\n"
+ ]
+ }
+ ]
+ },
+ {
+ "cell_type": "code",
+ "source": [
+ "!pip install numpy scipy h5py pandas open3d potpourri3d plyfile trimesh\n",
+ "!pip install torch torchvision torchaudio\n",
+ "!pip install torch-geometric torch-cluster torch-scatter torch-sparse torch-spline-conv\n",
+ "!pip install git+https://github.com/nicolas-chaulet/torch-points3d.git"
+ ],
+ "metadata": {
+ "id": "HAvWyD86U_OW",
+ "colab": {
+ "base_uri": "https://localhost:8080/"
+ },
+ "outputId": "cb6b8885-2702-46ed-c2be-494e2f252b35"
+ },
+ "execution_count": 14,
+ "outputs": [
+ {
+ "output_type": "stream",
+ "name": "stdout",
+ "text": [
+ "Collecting numpy\n",
+ " Downloading numpy-1.24.4-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (5.6 kB)\n",
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+ "Installing collected packages: wcwidth, pytz, pure-eval, ptyprocess, pickleshare, fastjsonschema, dash-table, dash-html-components, dash-core-components, backcall, addict, zipp, widgetsnbextension, urllib3, tzdata, typing-extensions, traitlets, tqdm, threadpoolctl, rpds-py, retrying, python-dateutil, prompt-toolkit, platformdirs, pkgutil-resolve-name, pillow, pexpect, parso, packaging, numpy, nest-asyncio, narwhals, MarkupSafe, kiwisolver, jupyterlab-widgets, joblib, itsdangerous, idna, fonttools, executing, decorator, cycler, configargparse, click, charset-normalizer, certifi, blinker, attrs, asttokens, werkzeug, trimesh, stack-data, scipy, requests, referencing, pyquaternion, plyfile, plotly, pandas, matplotlib-inline, jupyter-core, Jinja2, jedi, importlib-resources, h5py, contourpy, comm, scikit-learn, potpourri3d, matplotlib, jsonschema-specifications, ipython, flask, jsonschema, ipywidgets, dash, nbformat, open3d\n",
+ " Attempting uninstall: zipp\n",
+ " Found existing installation: zipp 1.0.0\n",
+ " Uninstalling zipp-1.0.0:\n",
+ " Successfully uninstalled zipp-1.0.0\n",
+ " Attempting uninstall: blinker\n",
+ " Found existing installation: blinker 1.4\n",
+ "\u001b[1;31merror\u001b[0m: \u001b[1muninstall-distutils-installed-package\u001b[0m\n",
+ "\n",
+ "\u001b[31m×\u001b[0m Cannot uninstall blinker 1.4\n",
+ "\u001b[31m╰─>\u001b[0m It is a distutils installed project and thus we cannot accurately determine which files belong to it which would lead to only a partial uninstall.\n",
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+ "Downloading frozenlist-1.5.0-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl (243 kB)\n",
+ "Downloading multidict-6.1.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (129 kB)\n",
+ "Downloading yarl-1.15.2-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (319 kB)\n",
+ "Downloading propcache-0.2.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (213 kB)\n",
+ "Building wheels for collected packages: torch-cluster, torch-scatter, torch-sparse, torch-spline-conv\n",
+ " Building wheel for torch-cluster (setup.py) ... \u001b[?25l\u001b[?25hdone\n",
+ " Created wheel for torch-cluster: filename=torch_cluster-1.6.3-cp38-cp38-linux_x86_64.whl size=731837 sha256=0610861bccf82c5fe17a84a9fe9f8ed62f6a20656578ce92a445469c8203c5e6\n",
+ " Stored in directory: /root/.cache/pip/wheels/83/ae/16/6e083c8e0651c589dba0257e7d82c6a142ee63cca2f9f41d2d\n",
+ " Building wheel for torch-scatter (setup.py) ... \u001b[?25l\u001b[?25hdone\n",
+ " Created wheel for torch-scatter: filename=torch_scatter-2.1.2-cp38-cp38-linux_x86_64.whl size=536728 sha256=f8e1761f266b7222610528420c5df95cbbd81b72d16f2f5d126a51fc4ab20c1d\n",
+ " Stored in directory: /root/.cache/pip/wheels/54/0c/3d/5e4aea36abfd59a43f8bb9859f545baa46c2a880a99a428db6\n",
+ " Building wheel for torch-sparse (setup.py) ... \u001b[?25l\u001b[?25hcanceled\n",
+ "\u001b[31mERROR: Operation cancelled by user\u001b[0m\u001b[31m\n",
+ "\u001b[0m^C\n",
+ "Collecting git+https://github.com/nicolas-chaulet/torch-points3d.git\n",
+ " Cloning https://github.com/nicolas-chaulet/torch-points3d.git to /tmp/pip-req-build-k8zeklkk\n",
+ " Running command git clone --filter=blob:none --quiet https://github.com/nicolas-chaulet/torch-points3d.git /tmp/pip-req-build-k8zeklkk\n",
+ "Traceback (most recent call last):\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/cli/base_command.py\", line 106, in _run_wrapper\n",
+ " status = _inner_run()\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/cli/base_command.py\", line 97, in _inner_run\n",
+ " return self.run(options, args)\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/cli/req_command.py\", line 67, in wrapper\n",
+ " return func(self, options, args)\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/commands/install.py\", line 386, in run\n",
+ " requirement_set = resolver.resolve(\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/resolution/resolvelib/resolver.py\", line 76, in resolve\n",
+ " collected = self.factory.collect_root_requirements(root_reqs)\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/resolution/resolvelib/factory.py\", line 545, in collect_root_requirements\n",
+ " reqs = list(\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/resolution/resolvelib/factory.py\", line 501, in _make_requirements_from_install_req\n",
+ " cand = self._make_base_candidate_from_link(\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/resolution/resolvelib/factory.py\", line 233, in _make_base_candidate_from_link\n",
+ " self._link_candidate_cache[link] = LinkCandidate(\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/resolution/resolvelib/candidates.py\", line 304, in __init__\n",
+ " super().__init__(\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/resolution/resolvelib/candidates.py\", line 159, in __init__\n",
+ " self.dist = self._prepare()\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/resolution/resolvelib/candidates.py\", line 236, in _prepare\n",
+ " dist = self._prepare_distribution()\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/resolution/resolvelib/candidates.py\", line 315, in _prepare_distribution\n",
+ " return preparer.prepare_linked_requirement(self._ireq, parallel_builds=True)\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/operations/prepare.py\", line 527, in prepare_linked_requirement\n",
+ " return self._prepare_linked_requirement(req, parallel_builds)\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/operations/prepare.py\", line 598, in _prepare_linked_requirement\n",
+ " local_file = unpack_url(\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/operations/prepare.py\", line 159, in unpack_url\n",
+ " unpack_vcs_link(link, location, verbosity=verbosity)\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/operations/prepare.py\", line 81, in unpack_vcs_link\n",
+ " vcs_backend.unpack(location, url=hide_url(link.url), verbosity=verbosity)\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/vcs/versioncontrol.py\", line 589, in unpack\n",
+ " self.obtain(location, url=url, verbosity=verbosity)\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/vcs/versioncontrol.py\", line 502, in obtain\n",
+ " self.fetch_new(dest, url, rev_options, verbosity=verbosity)\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/vcs/git.py\", line 277, in fetch_new\n",
+ " self.run_command(\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/vcs/versioncontrol.py\", line 631, in run_command\n",
+ " return call_subprocess(\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/utils/subprocess.py\", line 151, in call_subprocess\n",
+ " line: str = proc.stdout.readline()\n",
+ " File \"/usr/lib/python3.8/codecs.py\", line 319, in decode\n",
+ " def decode(self, input, final=False):\n",
+ "KeyboardInterrupt\n",
+ "\n",
+ "During handling of the above exception, another exception occurred:\n",
+ "\n",
+ "Traceback (most recent call last):\n",
+ " File \"/usr/local/bin/pip\", line 8, in \n",
+ " sys.exit(main())\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/cli/main.py\", line 80, in main\n",
+ " return command.main(cmd_args)\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/cli/base_command.py\", line 158, in main\n",
+ " return self._main(args)\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/cli/base_command.py\", line 240, in _main\n",
+ " return self._run_wrapper(level_number, options, args)\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/cli/base_command.py\", line 142, in _run_wrapper\n",
+ " logger.critical(\"Operation cancelled by user\")\n",
+ " File \"/usr/lib/python3.8/logging/__init__.py\", line 1493, in critical\n",
+ " self._log(CRITICAL, msg, args, **kwargs)\n",
+ " File \"/usr/lib/python3.8/logging/__init__.py\", line 1589, in _log\n",
+ " self.handle(record)\n",
+ " File \"/usr/lib/python3.8/logging/__init__.py\", line 1599, in handle\n",
+ " self.callHandlers(record)\n",
+ " File \"/usr/lib/python3.8/logging/__init__.py\", line 1661, in callHandlers\n",
+ " hdlr.handle(record)\n",
+ " File \"/usr/lib/python3.8/logging/__init__.py\", line 954, in handle\n",
+ " self.emit(record)\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_internal/utils/logging.py\", line 179, in emit\n",
+ " style = Style(color=\"red\")\n",
+ " File \"/usr/local/lib/python3.8/dist-packages/pip/_vendor/rich/style.py\", line 146, in __init__\n",
+ " def _make_color(color: Union[Color, str]) -> Color:\n",
+ " File \"/usr/lib/python3.8/typing.py\", line 258, in inner\n",
+ " return cached(*args, **kwds)\n",
+ " File \"/usr/lib/python3.8/typing.py\", line 362, in __getitem__\n",
+ " return _GenericAlias(self, parameters)\n",
+ " File \"/usr/lib/python3.8/typing.py\", line 660, in __init__\n",
+ " self._inst = inst\n",
+ " File \"/usr/lib/python3.8/typing.py\", line 764, in __setattr__\n",
+ " super().__setattr__(attr, val)\n",
+ "KeyboardInterrupt\n",
+ "^C\n"
+ ]
+ }
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "source": [
+ "### Mount Google Drive"
+ ],
+ "metadata": {
+ "id": "_y6wwlh8VI_7"
+ }
+ },
+ {
+ "cell_type": "code",
+ "source": [
+ "from google.colab import drive\n",
+ "drive.mount('/content/drive')"
+ ],
+ "metadata": {
+ "id": "rhfhh89KVJcc",
+ "colab": {
+ "base_uri": "https://localhost:8080/"
+ },
+ "outputId": "09e03c2c-660c-4953-b799-7463b7d87dcf"
+ },
+ "execution_count": 2,
+ "outputs": [
+ {
+ "output_type": "stream",
+ "name": "stdout",
+ "text": [
+ "Mounted at /content/drive\n"
+ ]
+ }
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "source": [
+ "## 2. Load Model and Data\n",
+ "\n",
+ "### Define Paths\n"
+ ],
+ "metadata": {
+ "id": "ghCuoMT8VQWo"
+ }
+ },
+ {
+ "cell_type": "code",
+ "source": [
+ "CHECKPOINT_PATH = '/content/drive/My Drive/P8T/checkpoint.tar'\n",
+ "INPUT_PLY = '/content/drive/My Drive/P8T/Tibet-2.ply'\n",
+ "OUTPUT_PLY = '/content/drive/My Drive/P8T/Tibet-2-segmented.ply'"
+ ],
+ "metadata": {
+ "id": "M_I_JFtdVRAU"
+ },
+ "execution_count": 3,
+ "outputs": []
+ },
+ {
+ "cell_type": "markdown",
+ "source": [
+ "### Load Pretrained Model"
+ ],
+ "metadata": {
+ "id": "n37BVqFQVV7D"
+ }
+ },
+ {
+ "cell_type": "code",
+ "source": [
+ "import torch\n",
+ "from torch_points3d.models.segmentation import RandLANet\n",
+ "\n",
+ "# Load model\n",
+ "checkpoint = torch.load(CHECKPOINT_PATH, map_location='cpu')\n",
+ "model = RandLANet()\n",
+ "model.load_state_dict(checkpoint['model_state_dict'])\n",
+ "model.eval()"
+ ],
+ "metadata": {
+ "id": "m9FnRcZ6VVd9",
+ "colab": {
+ "base_uri": "https://localhost:8080/",
+ "height": 384
+ },
+ "outputId": "87bda6ac-7761-41c3-fe06-920cbbde5a60"
+ },
+ "execution_count": 4,
+ "outputs": [
+ {
+ "output_type": "error",
+ "ename": "ModuleNotFoundError",
+ "evalue": "No module named 'torch_points3d'",
+ "traceback": [
+ "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
+ "\u001b[0;31mModuleNotFoundError\u001b[0m Traceback (most recent call last)",
+ "\u001b[0;32m\u001b[0m in \u001b[0;36m\u001b[0;34m()\u001b[0m\n\u001b[1;32m 1\u001b[0m \u001b[0;32mimport\u001b[0m \u001b[0mtorch\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m----> 2\u001b[0;31m \u001b[0;32mfrom\u001b[0m \u001b[0mtorch_points3d\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mmodels\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0msegmentation\u001b[0m \u001b[0;32mimport\u001b[0m \u001b[0mRandLANet\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 3\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 4\u001b[0m \u001b[0;31m# Load model\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 5\u001b[0m \u001b[0mcheckpoint\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mtorch\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mload\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mCHECKPOINT_PATH\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mmap_location\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;34m'cpu'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
+ "\u001b[0;31mModuleNotFoundError\u001b[0m: No module named 'torch_points3d'",
+ "",
+ "\u001b[0;31m---------------------------------------------------------------------------\u001b[0;32m\nNOTE: If your import is failing due to a missing package, you can\nmanually install dependencies using either !pip or !apt.\n\nTo view examples of installing some common dependencies, click the\n\"Open Examples\" button below.\n\u001b[0;31m---------------------------------------------------------------------------\u001b[0m\n"
+ ],
+ "errorDetails": {
+ "actions": [
+ {
+ "action": "open_url",
+ "actionText": "Open Examples",
+ "url": "/notebooks/snippets/importing_libraries.ipynb"
+ }
+ ]
+ }
+ }
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "source": [
+ "\n",
+ "## 3. Run Inference\n",
+ "\n",
+ "### Load Point Cloud\n"
+ ],
+ "metadata": {
+ "id": "mYTWrGG5ViAl"
+ }
+ },
+ {
+ "cell_type": "code",
+ "source": [
+ "import open3d as o3d\n",
+ "import numpy as np\n",
+ "\n",
+ "# Load PLY file\n",
+ "pcd = o3d.io.read_point_cloud(INPUT_PLY)\n",
+ "points = np.asarray(pcd.points)"
+ ],
+ "metadata": {
+ "id": "hpgpIsnGVhB3"
+ },
+ "execution_count": null,
+ "outputs": []
+ },
+ {
+ "cell_type": "markdown",
+ "source": [
+ "### Predict Classes\n",
+ "\n"
+ ],
+ "metadata": {
+ "id": "U0NvzDOLVv6G"
+ }
+ },
+ {
+ "cell_type": "code",
+ "source": [
+ "with torch.no_grad():\n",
+ " inputs = torch.tensor(points, dtype=torch.float32).unsqueeze(0)\n",
+ " preds = model(inputs).argmax(dim=2).squeeze().numpy()"
+ ],
+ "metadata": {
+ "id": "wto82b90VvM1"
+ },
+ "execution_count": null,
+ "outputs": []
+ },
+ {
+ "cell_type": "markdown",
+ "source": [
+ "### Assign Colors Based on Classes\n",
+ "\n",
+ "\n"
+ ],
+ "metadata": {
+ "id": "mh8LRz71VzCG"
+ }
+ },
+ {
+ "cell_type": "code",
+ "source": [
+ "import matplotlib.pyplot as plt\n",
+ "\n",
+ "NUM_CLASSES = preds.max() + 1\n",
+ "COLORS = plt.get_cmap(\"tab10\")(np.linspace(0, 1, NUM_CLASSES))[:, :3] # RGB colors\n",
+ "colors = COLORS[preds]\n",
+ "\n",
+ "pcd.colors = o3d.utility.Vector3dVector(colors)"
+ ],
+ "metadata": {
+ "id": "xnUV9R6OVz75"
+ },
+ "execution_count": null,
+ "outputs": []
+ },
+ {
+ "cell_type": "markdown",
+ "source": [
+ "### Save Segmented Point Cloud"
+ ],
+ "metadata": {
+ "id": "Goj13eLtV4ng"
+ }
+ },
+ {
+ "cell_type": "code",
+ "source": [
+ "o3d.io.write_point_cloud(OUTPUT_PLY, pcd)\n",
+ "print(f\"Segmented point cloud saved at: {OUTPUT_PLY}\")"
+ ],
+ "metadata": {
+ "id": "wATW_FANV5Wq"
+ },
+ "execution_count": null,
+ "outputs": []
+ },
+ {
+ "cell_type": "markdown",
+ "source": [
+ "## 4. Visualization in CloudCompare\n",
+ "\n",
+ "- Download `Tibet-2-segmented.ply` from Google Drive.\n",
+ "- Open it in CloudCompare to view the segmented results."
+ ],
+ "metadata": {
+ "id": "8oISnb4nWK2u"
+ }
+ }
+ ]
+}
\ No newline at end of file
diff --git a/ToDoList.py b/ToDoList.py
new file mode 100644
index 00000000..b44ab23a
--- /dev/null
+++ b/ToDoList.py
@@ -0,0 +1,88 @@
+import os
+
+# Function to load tasks from a file
+def load_tasks(filename="tasks.txt"):
+ if os.path.exists(filename):
+ with open(filename, 'r') as file:
+ tasks = [line.strip() for line in file]
+ else:
+ tasks = []
+ return tasks
+
+# Function to save tasks to a file
+def save_tasks(tasks, filename="tasks.txt"):
+ with open(filename, 'w') as file:
+ for task in tasks:
+ file.write(task + '\n')
+
+# Function to add a new task
+def add_task(tasks):
+ task = input("Enter a new task: ")
+ tasks.append(task)
+ print(f"Task '{task}' added.")
+
+# Function to view all tasks
+def view_tasks(tasks):
+ if tasks:
+ print("\nYour Tasks:")
+ for i, task in enumerate(tasks, 1):
+ print(f"{i}. {task}")
+ else:
+ print("\nNo tasks to show.")
+
+# Function to remove a task
+def remove_task(tasks):
+ view_tasks(tasks)
+ try:
+ task_num = int(input("Enter the number of the task to remove: ")) - 1
+ if 0 <= task_num < len(tasks):
+ removed_task = tasks.pop(task_num)
+ print(f"Task '{removed_task}' removed.")
+ else:
+ print("Invalid task number.")
+ except ValueError:
+ print("Please enter a valid number.")
+
+# Function to mark a task as complete
+def mark_task_complete(tasks):
+ view_tasks(tasks)
+ try:
+ task_num = int(input("Enter the number of the task to mark as complete: ")) - 1
+ if 0 <= task_num < len(tasks):
+ tasks[task_num] = tasks[task_num] + " (Completed)"
+ print(f"Task '{tasks[task_num]}' marked as complete.")
+ else:
+ print("Invalid task number.")
+ except ValueError:
+ print("Please enter a valid number.")
+
+# Main function to run the application
+def main():
+ tasks = load_tasks()
+ while True:
+ print("\nTo-Do List Application")
+ print("1. Add Task")
+ print("2. View Tasks")
+ print("3. Remove Task")
+ print("4. Mark Task as Complete")
+ print("5. Save and Exit")
+
+ choice = input("Choose an option: ")
+ if choice == '1':
+ add_task(tasks)
+ elif choice == '2':
+ view_tasks(tasks)
+ elif choice == '3':
+ remove_task(tasks)
+ elif choice == '4':
+ mark_task_complete(tasks)
+ elif choice == '5':
+ save_tasks(tasks)
+ print("Tasks saved. Exiting...")
+ break
+ else:
+ print("Invalid choice. Please try again.")
+
+# Entry point of the application
+if __name__ == "__main__":
+ main()
diff --git a/tasks.txt b/tasks.txt
new file mode 100644
index 00000000..e69de29b
|