Which files should I modify if I use my own dataset (for path planning)?

[Maxianzhai]

Hi, I'm trying to use my own dataset but I'm having some problems.

The point information in my dataset is not quite the same as other datasets, it only has xyz coordinates , three (N,1) features (for path planning)and the label.

Q1:What files should I modify to adapt the framework?

Q2:Below is my understanding I don't know if there is any problem or else please point it out: I need to first write pointcept/datasets/preprocessing/preprocess_mydataset.py to process my dataset. Then writeconfigs/mydataset/semseg-pt-v3.py right?

Q3:But what ispointcept/datasets/scannet.py(for example) used for? Do I need to write the corresponding file based on my own dataset?

Q4:Can I combine three (N,1) features into (N,3) to use instead of color.npy

To add more detail: I need to use PTV3's Semantic Segmentation feature to help me divide the points into two categories. Each element of my three (N,1) features is a boolean array.

[Gofinge]

Q1:What files should I modify to adapt the framework?

1. Modify pointcept.dataset to make your custom feature correctly loaded;
2. Modify your config to enable your custom dataset, also modified data.*.transform.Collect.feat_key, to make additional features constitute your feature input.

Below is my understanding I don't know if there is any problem or else please point it out.

Yes, you can refer to our default dataset to arrange the data.

But what ispointcept/datasets/scannet.py(for example) used for? Do I need to write the corresponding file based on my own dataset?

Yes, but based on DefaultDataset, there is no need to modify too much.

Q4:Can I combine three (N,1) features into (N,3) to use instead of color.npy

This is controlled by data.*.transform.Collect.feat_key in config. Just make sure your new feature is named and put in the data_dict.