def draw_bboxes(self,
bbox3d,
bbox_color=(0, 1, 0),
points_in_box_color=(1, 0, 0),
rot_axis=2,
center_mode='lidar_bottom',
cls_names=None):
"""Draw bbox on visualizer and change the color of points inside bbox3d.
Args:
bbox3d (numpy.array | torch.tensor, shape=[M, 7]):
3d bbox (x, y, z, dx, dy, dz, yaw) to visualize.
points_colors (numpy.array): color of each points.
pcd (:obj:`open3d.geometry.PointCloud`): point cloud. Default: None.
bbox_color (tuple[float]): the color of bbox. Default: (0, 1, 0).
points_in_box_color (tuple[float], or list[tuple[float]]):
the color of points inside each bbox3d. Default: (1, 0, 0).
rot_axis (int): rotation axis of bbox. Default: 2.
center_mode (bool): indicate the center of bbox is bottom center
or gravity center. avaliable mode
['lidar_bottom', 'camera_bottom']. Default: 'lidar_bottom'.
"""
if isinstance(bbox3d, torch.Tensor):
bbox3d = bbox3d.cpu().numpy()
bbox3d = bbox3d.copy()
for i in range(len(bbox3d)):
if isinstance(points_in_box_color, list):
in_box_color = np.array(points_in_box_color[i])
else:
in_box_color = np.array(points_in_box_color)
center = bbox3d[i, 0:3]
dim = bbox3d[i, 3:6]
yaw = np.zeros(3)
yaw[rot_axis] = -bbox3d[i, 6]
rot_mat = geometry.get_rotation_matrix_from_xyz(yaw)
if center_mode == 'lidar_bottom':
center[rot_axis] += dim[
rot_axis] / 2 # bottom center to gravity center
elif center_mode == 'camera_bottom':
center[rot_axis] -= dim[
rot_axis] / 2 # bottom center to gravity center
box3d = geometry.OrientedBoundingBox(center, rot_mat, dim)
line_set = geometry.LineSet.create_from_oriented_bounding_box(
box3d)
cls_name = cls_names[i]
ps_line_set = ps.register_curve_network(
f'box{self.bbox_count}-{cls_names[i]}',
np.array(line_set.points),
np.array(line_set.lines),
radius=0.0003,
color=np.array(bbox_color))
self.bbox_count += 1
# change the color of points which are in box
indices = box3d.get_point_indices_within_bounding_box(
o3d.utility.Vector3dVector(self.bg_points))
points_in_box = self.bg_points[indices]
self.draw_points(points_in_box, cls_name)
self.bg_points = np.delete(self.bg_points, indices, axis=0)
ps.register_point_cloud('background', self.bg_points)
def _draw_bboxes(bbox3d,
vis,
points_colors,
pcd=None,
bbox_color=(0, 1, 0),
points_in_box_color=(1, 0, 0),
rot_axis=2,
center_mode='lidar_bottom',
mode='xyz'):
"""Draw bbox on visualizer and change the color of points inside bbox3d.
Args:
bbox3d (numpy.array | torch.tensor, shape=[M, 7]):
3d bbox (x, y, z, dx, dy, dz, yaw) to visualize.
vis (:obj:`open3d.visualization.Visualizer`): open3d visualizer.
points_colors (numpy.array): color of each points.
pcd (:obj:`open3d.geometry.PointCloud`): point cloud. Default: None.
bbox_color (tuple[float]): the color of bbox. Default: (0, 1, 0).
points_in_box_color (tuple[float]):
the color of points inside bbox3d. Default: (1, 0, 0).
rot_axis (int): rotation axis of bbox. Default: 2.
center_mode (bool): indicate the center of bbox is bottom center
or gravity center. avaliable mode
['lidar_bottom', 'camera_bottom']. Default: 'lidar_bottom'.
mode (str): indicate type of the input points, avaliable mode
['xyz', 'xyzrgb']. Default: 'xyz'.
"""
if isinstance(bbox3d, torch.Tensor):
bbox3d = bbox3d.cpu().numpy()
bbox3d = bbox3d.copy()
in_box_color = np.array(points_in_box_color)
for i in range(len(bbox3d)):
center = bbox3d[i, 0:3]
dim = bbox3d[i, 3:6]
yaw = np.zeros(3)
yaw[rot_axis] = -bbox3d[i, 6]
rot_mat = geometry.get_rotation_matrix_from_xyz(yaw)
if center_mode == 'lidar_bottom':
center[rot_axis] += dim[
rot_axis] / 2 # bottom center to gravity center
elif center_mode == 'camera_bottom':
center[rot_axis] -= dim[
rot_axis] / 2 # bottom center to gravity center
box3d = geometry.OrientedBoundingBox(center, rot_mat, dim)
line_set = geometry.LineSet.create_from_oriented_bounding_box(box3d)
line_set.paint_uniform_color(bbox_color)
# draw bboxes on visualizer
vis.add_geometry(line_set)
# change the color of points which are in box
if pcd is not None and mode == 'xyz':
indices = box3d.get_point_indices_within_bounding_box(pcd.points)
points_colors[indices] = in_box_color
# update points colors
if pcd is not None:
pcd.colors = o3d.utility.Vector3dVector(points_colors)
vis.update_geometry(pcd)