def reset(self, sem_color_dict=None):
""" Reset. """
# new canvas prepared for visualizing data
self.map_color(sem_color_dict=sem_color_dict)
self.canvas = SceneCanvas(keys='interactive', show=True)
# grid
self.grid = self.canvas.central_widget.add_grid()
# laserscan part
self.scan_view = vispy.scene.widgets.ViewBox(border_color='white',
parent=self.canvas.scene)
self.grid.add_widget(self.scan_view, 0, 0)
self.scan_view.camera = 'turntable'
self.scan_vis = visuals.Markers()
self.scan_view.add(self.scan_vis)
if self.viz_joint:
self.joint_vis = visuals.Arrow(connect='segments',
arrow_size=18,
color='blue',
width=10,
arrow_type='angle_60')
self.arrow_length = 10
self.scan_view.add(self.joint_vis)
if self.viz_box:
vertices, faces, outline = create_box(width=1,
height=1,
depth=1,
width_segments=1,
height_segments=1,
depth_segments=1)
vertices['color'][:, 3] = 0.2
# breakpoint()
self.box = visuals.Box(vertex_colors=vertices['color'],
edge_color='b')
self.box.transform = STTransform(translate=[-2.5, 0, 0])
self.theta = 0
self.phi = 0
self.scan_view.add(self.box)
visuals.XYZAxis(parent=self.scan_view.scene)
# add nocs
if self.viz_label:
print("Using nocs in visualizer")
self.nocs_view = vispy.scene.widgets.ViewBox(
border_color='white', parent=self.canvas.scene)
self.grid.add_widget(self.nocs_view, 0, 1)
self.label_vis = visuals.Markers()
self.nocs_view.camera = 'turntable'
self.nocs_view.add(self.label_vis)
visuals.XYZAxis(parent=self.nocs_view.scene)
self.nocs_view.camera.link(self.scan_view.camera)
def input_data(self,
scans=None,
img=None,
boxes=None,
index=0,
save_img=False,
no_gt=False):
self.canvas = vispy.scene.SceneCanvas(show=True)
self.grid = self.canvas.central_widget.add_grid()
self.vb = self.grid.add_view(row=0, col=0, row_span=2)
self.vb_img = self.grid.add_view(row=1, col=0)
self.vb.camera = 'turntable'
self.vb.camera.elevation = 90 #21.0
self.vb.camera.center = (6.5, -0.5, 9.0)
self.vb.camera.azimuth = -90 #-75.5
self.vb.camera.scale_factor = 63 #32.7
self.vb_img.camera = 'turntable'
self.vb_img.camera.elevation = -90.0
self.vb_img.camera.center = (2100, -380, -500)
self.vb_img.camera.azimuth = 0.0
self.vb_img.camera.scale_factor = 1500
pos = scans[:, 0:3]
scatter = visuals.Markers()
scatter.set_gl_state('translucent', depth_test=False)
scatter.set_data(pos,
edge_width=0,
face_color=(1, 1, 1, 1),
size=0.01,
scaling=True)
self.vb.add(scatter)
if img is None:
img = np.zeros(shape=[1, 1, 3], dtype=np.float32)
image = visuals.Image(data=img, method='auto')
self.vb_img.add(image)
if boxes is not None:
if len(boxes.shape) == 1:
boxes = boxes.reshape(1, -1)
gt_indice = np.where(boxes[:, -1] == 2)[0]
gt_cnt = len(gt_indice)
i = 0
for box in boxes:
radio = max(box[0] - 0.5, 0.005) * 2.0
color = (0, radio, 0, 1) # Green
if box[-1] == 4: # gt boxes
i = i + 1
vsp_box = visuals.Box(width=box[4],
depth=box[5],
height=box[6],
color=(0.6, 0.8, 0.0,
0.3)) #edge_color='yellow')
mesh_box = vsp_box.mesh.mesh_data
mesh_border_box = vsp_box.border.mesh_data
vertices = mesh_box.get_vertices()
center = np.array([box[1], box[2], box[3]],
dtype=np.float32)
vtcs = np.add(vertices, center)
mesh_border_box.set_vertices(vtcs)
mesh_box.set_vertices(vtcs)
self.vb.add(vsp_box)
if False:
text = visuals.Text(text='gt: ({}/{})'.format(
i, gt_cnt),
color='white',
face='OpenSans',
font_size=12,
pos=[box[1], box[2], box[3]],
anchor_x='left',
anchor_y='top',
font_manager=None)
self.vb.add(text)
if (box[-1] +
box[-2]) == 0: # True negative cls rpn divided by cube
self.vb.add(line_box(box, color=color))
if (box[-1] + box[-2]
) == 1: # False negative cls rpn divided by cube
self.vb.add(line_box(box, color='red'))
if (box[-1] + box[-2]
) == 2: # False positive cls rpn divided by cube
if no_gt:
self.vb.add(line_box(box, color='yellow'))
else:
self.vb.add(line_box(box, color='blue'))
if (box[-1] +
box[-2]) == 3: # True positive cls rpn divided by cube
self.vb.add(line_box(box, color='yellow'))
if save_img:
if not os.path.exists(folder):
os.makedirs(folder)
fileName = path_add(folder, str(index).zfill(6) + '.png')
res = self.canvas.render(bgcolor='black')[:, :, 0:3]
vispy_file.write_png(fileName, res)
@self.canvas.connect
def on_key_press(ev):
if ev.key.name in '+=':
a = self.vb.camera.get_state()
print(a)
def pcd_vispy(scans=None,
img=None,
boxes=None,
name=None,
index=0,
vis_size=(800, 600),
save_img=False,
visible=True,
no_gt=False,
multi_vis=False,
point_size=0.02):
if multi_vis:
canvas = vispy.scene.SceneCanvas(title=name,
keys='interactive',
size=vis_size,
show=True)
else:
canvas = vispy.scene.SceneCanvas(title=name,
keys='interactive',
size=vis_size,
show=visible)
grid = canvas.central_widget.add_grid()
vb = grid.add_view(row=0, col=0, row_span=2)
vb_img = grid.add_view(row=1, col=0)
vb.camera = 'turntable'
vb.camera.elevation = 90 # 21.0
vb.camera.center = (6.5, -0.5, 9.0)
vb.camera.azimuth = -90 # -75.5
vb.camera.scale_factor = 63 # 32.7
if scans is not None:
if not isinstance(scans, list):
pos = scans[:, :3]
scatter = visuals.Markers()
scatter.set_gl_state('translucent', depth_test=False)
scatter.set_data(pos,
edge_width=0,
face_color=(1, 1, 1, 1),
size=point_size,
scaling=True)
vb.add(scatter)
else:
pos = scans[0][:, :3]
scatter = visuals.Markers()
scatter.set_gl_state('translucent', depth_test=False)
scatter.set_data(pos,
edge_width=0,
face_color=(1, 1, 1, 1),
size=point_size,
scaling=True)
vb.add(scatter)
pos = scans[1][:, :3]
scatter = visuals.Markers()
scatter.set_gl_state('translucent', depth_test=False)
scatter.set_data(pos,
edge_width=0,
face_color=(0, 1, 1, 1),
size=point_size,
scaling=True)
vb.add(scatter)
axis = visuals.XYZAxis()
vb.add(axis)
if img is None:
img = np.zeros(shape=[1, 1, 3], dtype=np.float32)
image = visuals.Image(data=img, method='auto')
vb_img.camera = 'turntable'
vb_img.camera.elevation = -90.0
vb_img.camera.center = (2100, -380, -500)
vb_img.camera.azimuth = 0.0
vb_img.camera.scale_factor = 1500
vb_img.add(image)
if boxes is not None:
gt_indice = np.where(boxes["cls_rpn"] == 4)[0]
gt_cnt = len(gt_indice)
boxes_cnt = boxes["center"].shape[0]
i = 0
for k in range(boxes_cnt):
radio = max(boxes["score"][k] - 0.5, 0.005) * 2.0
color = (0, radio, 0, 1) # Green
if boxes["cls_rpn"][k] == 4: # gt boxes
i = i + 1
vsp_box = visuals.Box(depth=boxes["size"][k][0],
width=boxes["size"][k][1],
height=boxes["size"][k][2],
color=(0.3, 0.4, 0.0, 0.06),
edge_color='pink')
mesh_box = vsp_box.mesh.mesh_data
mesh_border_box = vsp_box.border.mesh_data
vertices = mesh_box.get_vertices()
center = np.array([
boxes["center"][k][0], boxes["center"][k][1],
boxes["center"][k][2]
],
dtype=np.float32)
vertices_roa_trans = box_rot_trans(vertices,
-boxes["yaw"][k][0],
center) #
mesh_border_box.set_vertices(vertices_roa_trans)
mesh_box.set_vertices(vertices_roa_trans)
vb.add(vsp_box)
if True:
text = visuals.Text(text='det: ({}/{})'.format(i, gt_cnt),
color='white',
face='OpenSans',
font_size=12,
pos=[
boxes["center"][k][0],
boxes["center"][k][1],
boxes["center"][k][2]
],
anchor_x='left',
anchor_y='top',
font_manager=None)
vb.add(text)
elif (boxes["cls_rpn"][k] + boxes["cls_cube"][k]
) == 0: # True negative cls rpn divided by cube
vb.add(
line_box(boxes["center"][k],
boxes["size"][k],
-boxes["yaw"][k],
color=color))
elif (boxes["cls_rpn"][k] + boxes["cls_cube"][k]
) == 1: # False negative cls rpn divided by cube
vb.add(
line_box(boxes["center"][k],
boxes["size"][k],
-boxes["yaw"][k],
color="red"))
elif (boxes["cls_rpn"][k] + boxes["cls_cube"][k]
) == 2: # False positive cls rpn divided by cube
vb.add(
line_box(boxes["center"][k],
boxes["size"][k],
-boxes["yaw"][k],
color="blue"))
elif (boxes["cls_rpn"][k] + boxes["cls_cube"][k]
) == 3: # True positive cls rpn divided by cube
vb.add(
line_box(boxes["center"][k],
boxes["size"][k],
-boxes["yaw"][k],
color="yellow"))
text = visuals.Text(
text=str(k),
color=color,
face='OpenSans',
font_size=12,
pos=[
boxes["center"][k][0] - boxes["size"][k][0] / 2,
boxes["center"][k][1] - boxes["size"][k][1] / 2,
boxes["center"][k][2] - boxes["size"][k][2] / 2
],
anchor_x='left',
anchor_y='top',
font_manager=None)
vb.add(text)
if save_img:
folder = path_add(cfg.TEST_RESULT, cfg.RANDOM_STR)
if not os.path.exists(folder):
os.makedirs(folder)
fileName = path_add(folder, str(index).zfill(6) + '.png')
res = canvas.render(bgcolor='black')[:, :, 0:3]
vispy_file.write_png(fileName, res)
@canvas.connect
def on_key_press(ev):
if ev.key.name in '+=':
a = vb.camera.get_state()
print(a)
if visible:
pass
vispy.app.run()
return canvas
def boxes_vispy(boxes=None, name=None, vis_size=(800, 600)):
canvas = vispy.scene.SceneCanvas(title=name,
keys='interactive',
size=vis_size,
show=True)
grid = canvas.central_widget.add_grid()
vb = grid.add_view(row=0, col=0, row_span=2)
vb.camera = 'turntable'
vb.camera.elevation = 21.0
vb.camera.center = (6.5, -0.5, 9.0)
vb.camera.azimuth = -75.5
vb.camera.scale_factor = 32.7
axis = visuals.XYZAxis()
vb.add(axis)
if boxes is not None:
if len(boxes.shape) == 1:
boxes = boxes.reshape(1, -1)
det_indice = np.where(boxes[:, -1] == 11)[0]
det_cnt = len(det_indice)
gt_cnt = boxes.shape[0] - det_cnt
for k, box in enumerate(boxes):
color = (0, 1, 1, 1) # Green
if box[-1] == 11: # det boxes
vsp_box = visuals.Box(width=box[3],
depth=box[4],
height=box[5],
color=(0.3, 0.4, 0.0, 0.06),
edge_color='pink')
mesh_box = vsp_box.mesh.mesh_data
mesh_border_box = vsp_box.border.mesh_data
vertices = mesh_box.get_vertices()
center = np.array([box[0], box[1], box[2]], dtype=np.float32)
vtcs = np.add(vertices, center)
mesh_border_box.set_vertices(vtcs)
mesh_box.set_vertices(vtcs)
vb.add(vsp_box)
text = visuals.Text(text='det: ({}/{})'.format(k + 1, det_cnt),
color='pink',
face='OpenSans',
font_size=6,
pos=[box[0], box[1], box[2]],
anchor_x='left',
anchor_y='top',
font_manager=None)
vb.add(text)
elif box[-1] == 1: # gt smallMot
vb.add(line_box(box, color='yellow'))
text = visuals.Text(text='gt: ({}/{})'.format(
k + 1 - det_cnt, gt_cnt),
color='yellow',
face='OpenSans',
font_size=8,
pos=[box[0], box[1], box[2]],
anchor_x='left',
anchor_y='top',
font_manager=None)
vb.add(text)
elif box[-1] == 2: # gt smallMot
vb.add(line_box(box, color='green'))
text = visuals.Text(text='gt: ({}/{})'.format(
k + 1 - det_cnt, gt_cnt),
color='green',
face='OpenSans',
font_size=8,
pos=[box[0], box[1], box[2]],
anchor_x='left',
anchor_y='top',
font_manager=None)
vb.add(text)
elif box[-1] == 3: # gt smallMot
vb.add(line_box(box, color='red'))
text = visuals.Text(text='gt: ({}/{})'.format(
k + 1 - det_cnt, gt_cnt),
color='red',
face='OpenSans',
font_size=8,
pos=[box[0], box[1], box[2]],
anchor_x='left',
anchor_y='top',
font_manager=None)
vb.add(text)
elif box[-1] == 4: # gt smallMot
vb.add(line_box(box, color='blue'))
text = visuals.Text(text='gt: ({}/{})'.format(
k + 1 - det_cnt, gt_cnt),
color='blue',
face='OpenSans',
font_size=8,
pos=[box[0], box[1], box[2]],
anchor_x='left',
anchor_y='top',
font_manager=None)
vb.add(text)
# text = visuals.Text(text=str(k), color=color, face='OpenSans', font_size=12,
# pos=[box[0]-box[3]/2, box[1]-box[4]/2, box[2]-box[5]/2], anchor_x='left', anchor_y='top', font_manager=None)
# vb.add(text)
vispy.app.run()
return canvas
