问题描述
我正在尝试在 Pointnet 中训练我自己的数据。问题是除了点云的 3 个轴之外，还有 15 个其他变量。我尝试使用这种方式创建一个 H5 数据库。文件名文件包含层数据的所有文件名，数据库包含名称为 ASSEMBLY_NAME 的 1 列，其中包含层数据的所有文件名和其他 14 个变量。
import h5py
import numpy as np
from plyfile import PlyData,PlyElement
import pandas as pd
filenames = [line.rstrip() for line in open("filelist",'r')]
f = h5py.File("./hdf5_data/data_training.h5",'w')
#f = h5py.File("./hdf5_data/data_testing.h5",'w')
a_data = np.zeros((len(filenames),2048,3))
a_pid = np.zeros((len(filenames),15),dtype = np.float64)
for i in range(0,len(filenames)):
plydata = PlyData.read("./" + filenames[i] + ".ply")
#piddata = [line.rstrip() for line in open("./points_label/" + filenames[i] + ".seg",'r')]
data = pd.read_csv('./Database/DATABASE.csv',index_col ="ASSEMBLY_NAME")
req_data = data.loc[filenames[i]]
print(req_data.head)
for j in range(0,15):
a_data[i,j] = [plydata['vertex']['x'][j],plydata['vertex']['y'][j],plydata['vertex']['z'][j]]
a_data[i,j] = req_data[j]
我得到的错误是：
<bound method NDFrame.head of AssetID NaN
Asset Name NaN
OffsetX NaN
OffsetY NaN
OffsetZ NaN
Matrix a1 NaN
Matrix b1 NaN
Matrix c1 NaN
Matrix a2 NaN
Matrix b2 NaN
Matrix c2 NaN
Matrix a3 NaN
Matrix b3 NaN
Matrix c3 NaN
KeyParaM NaN
Name: scene0002_00_vh_clean_2,dtype: object>
<bound method NDFrame.head of AssetID NaN
Asset Name NaN
OffsetX NaN
OffsetY NaN
OffsetZ NaN
Matrix a1 NaN
Matrix b1 NaN
Matrix c1 NaN
Matrix a2 NaN
Matrix b2 NaN
Matrix c2 NaN
Matrix a3 NaN
Matrix b3 NaN
Matrix c3 NaN
KeyParaM NaN
Name: scene0003_00_vh_clean_2,dtype: object>
<bound method NDFrame.head of AssetID NaN
Asset Name NaN
OffsetX NaN
OffsetY NaN
OffsetZ NaN
Matrix a1 NaN
Matrix b1 NaN
Matrix c1 NaN
Matrix a2 NaN
Matrix b2 NaN
Matrix c2 NaN
Matrix a3 NaN
Matrix b3 NaN
Matrix c3 NaN
KeyParaM NaN
Name: scene0004_00_vh_clean_2,dtype: object>
<bound method NDFrame.head of AssetID NaN
Asset Name NaN
OffsetX NaN
OffsetY NaN
OffsetZ NaN
Matrix a1 NaN
Matrix b1 NaN
Matrix c1 NaN
Matrix a2 NaN
Matrix b2 NaN
Matrix c2 NaN
Matrix a3 NaN
Matrix b3 NaN
Matrix c3 NaN
KeyParaM NaN
Name: scene0005_00_vh_clean_2,dtype: object>
<bound method NDFrame.head of AssetID Asset Name \
ASSEMBLY_NAME
scene0006_00_vh_clean_2 213a60dd-2f9f-4750-ac25-68c53ceefec5 Chair:2
scene0006_00_vh_clean_2 213a60dd-2f9f-4750-ac25-68c53ceefec5 Chair:1
OffsetX OffsetY OffsetZ Matrix a1 \
ASSEMBLY_NAME
scene0006_00_vh_clean_2 331.718156 617.190251 1.558245 7.400000e-15
scene0006_00_vh_clean_2 277.194912 642.098488 12.850805 -2.100000e-27
Matrix b1 Matrix c1 Matrix a2 Matrix b2 \
ASSEMBLY_NAME
scene0006_00_vh_clean_2 -2.090000e-27 -1.0 3.020000e-14 -1.000000e+00
scene0006_00_vh_clean_2 -1.960000e-15 -1.0 -1.000000e+00 -2.850000e-14
Matrix c2 Matrix a3 Matrix b3 Matrix c3 \
ASSEMBLY_NAME
scene0006_00_vh_clean_2 2.310000e-27 277.194912 642.098488 12.850805
scene0006_00_vh_clean_2 2.150000e-27 331.718156 617.190251 1.558245
KeyParaM
ASSEMBLY_NAME
scene0006_00_vh_clean_2 NaN
scene0006_00_vh_clean_2 NaN >
---------------------------------------------------------------------------
KeyError Traceback (most recent call last)
c:\users\lenovo\appdata\local\programs\python\python36\lib\site-packages\pandas\core\indexes\base.py in get_loc(self,key,method,tolerance)
2894 try:
-> 2895 return self._engine.get_loc(casted_key)
2896 except KeyError as err:
pandas\_libs\index.pyx in pandas._libs.index.IndexEngine.get_loc()
pandas\_libs\index.pyx in pandas._libs.index.IndexEngine.get_loc()
pandas\_libs\hashtable_class_helper.pxi in pandas._libs.hashtable.PyObjectHashTable.get_item()
pandas\_libs\hashtable_class_helper.pxi in pandas._libs.hashtable.PyObjectHashTable.get_item()
KeyError: 0
The above exception was the direct cause of the following exception:
KeyError Traceback (most recent call last)
<ipython-input-14-fc9112b14f14> in <module>
19 for j in range(0,15):
20 a_data[i,plydata['vertex']['z'][j]]
---> 21 a_data[i,j] = req_data[j]
22
c:\users\lenovo\appdata\local\programs\python\python36\lib\site-packages\pandas\core\frame.py in __getitem__(self,key)
2904 if self.columns.nlevels > 1:
2905 return self._getitem_multilevel(key)
-> 2906 indexer = self.columns.get_loc(key)
2907 if is_integer(indexer):
2908 indexer = [indexer]
c:\users\lenovo\appdata\local\programs\python\python36\lib\site-packages\pandas\core\indexes\base.py in get_loc(self,tolerance)
2895 return self._engine.get_loc(casted_key)
2896 except KeyError as err:
-> 2897 raise KeyError(key) from err
2898
2899 if tolerance is not None:
KeyError: 0
我真的很感激任何帮助。提前致谢
EDIT*** 这些是在 3d 查看器中打开的层格式扫描。所有这些扫描都是转换为层格式的 scannet 数据。我还添加了我目前正在使用的数据库图像。 
解决方法
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