def show_points_in_box(points, bboxes, bbox_corners, surfaces, point_masks, is_yx_zb):
if is_yx_zb:
bboxes = Bbox3D.convert_from_yx_zb_boxes(bboxes)
pn_in_box = np.sum(point_masks, 0)
bn = bboxes.shape[0]
points_in_boxes = []
for i in range(bn):
points_in_boxes.append( points[point_masks[:,i]] )
pcd0 = points2pcd_open3d(points[:,:3])
pcd0_aug = points2pcd_open3d(points[:,:3]-np.array([[0,0,4]]))
corner_pcds = [points2pcd_open3d(corners) for corners in bbox_corners]
surface_pcds = [points2pcd_open3d(surface) for surface in surfaces]
points_inb_pcds = [points2pcd_open3d(points[:,:3]) for points in points_in_boxes]
bboxes_ls0 = [Bbox3D.draw_bbox_open3d(box, 'Z') for box in bboxes]
frame_mesh = open3d.create_mesh_coordinate_frame(size = 2.0, origin = bboxes[0,0:3])
points_inb_pcds_valid = [pcd for i,pcd in enumerate(points_inb_pcds) if pn_in_box[i]>0]
open3d.draw_geometries( bboxes_ls0 + points_inb_pcds_valid + [pcd0_aug])
show_corners = False
show_surfaces = False
show_points_inb = False
for i in range(bn):
frame_mesh = open3d.create_mesh_coordinate_frame(size = 2.0, origin = bboxes[i,0:3])
if show_corners:
open3d.draw_geometries(bboxes_ls0[i:i+1]+corner_pcds[i:i+1]+[frame_mesh])
if show_surfaces:
open3d.draw_geometries(bboxes_ls0[i:i+1]+surface_pcds[i:i+1]+[frame_mesh])
if show_points_inb:
open3d.draw_geometries(bboxes_ls0[i:i+1]+points_inb_pcds[i:i+1]+[frame_mesh])
pass
def gen_bbox(house_fn):
always_gen_bbox = Debug and 0
parsed_dir = get_pcl_path(house_fn)
summary = read_summary(parsed_dir)
box_intact = 'level_num' in summary and 'wall_num' in summary
if box_intact and (not always_gen_bbox):
print(f'skip gen_bbox, summary intact: {parsed_dir}')
return
with open(house_fn) as f:
house = json.loads(f.read())
scaleToMeters = house['scaleToMeters']
assert scaleToMeters == 1
bboxes = defaultdict(list)
bboxes['house'].append(Bbox3D.bbox_from_minmax(house['bbox']))
for level in house['levels']:
if 'bbox' not in level:
continue
bboxes['level'].append(Bbox3D.bbox_from_minmax(level['bbox']))
nodes = level['nodes']
for node in nodes:
node_type = node['type']
if node_type == 'Object':
modelId = node['modelId']
category = Suncg.modelId_2_class[modelId]
bboxes[category].append(Bbox3D.bbox_from_minmax(node['bbox']))
elif node_type == 'Room':
if 'bbox' in node:
bboxes['room'].append(Bbox3D.bbox_from_minmax(
node['bbox']))
room_bboxes = split_room_parts(house_fn, node['modelId'])
for c in room_bboxes:
bboxes[c] += room_bboxes[c]
else:
if 'bbox' in node:
bboxes[node_type].append(
Bbox3D.bbox_from_minmax(node['bbox']))
centroid = (np.array(house['bbox']['min']) +
np.array(house['bbox']['max'])) / 2.0
mesh_frame = open3d.create_mesh_coordinate_frame(size=0.6, origin=centroid)
for obj in bboxes:
if len(bboxes[obj]) > 0:
bboxes[obj] = np.concatenate(
[b.reshape([1, 7]) for b in bboxes[obj]], 0)
else:
bboxes[obj] = np.array(bboxes[obj]).reshape([-1, 7])
bboxes[obj] = cam2world_box(bboxes[obj])
for obj in DSET_METAS0.class_2_label:
if obj == 'background':
continue
if obj not in bboxes:
bboxes[obj] = np.array(bboxes[obj]).reshape([-1, 7])
level_num = len(house['levels'])
if level_num == 1:
bboxes['wall'] = preprocess_walls(bboxes['wall'])
bboxes['window'] = preprocess_windows(bboxes['window'], bboxes['wall'])
bboxes['door'] = preprocess_doors(bboxes['door'], bboxes['wall'])
bboxes['ceiling_raw'] = bboxes['ceiling'].copy()
bboxes['floor_raw'] = bboxes['floor'].copy()
bboxes['ceiling'] = preprocess_cfr(bboxes['ceiling'], bboxes['wall'],
'ceiling')
bboxes['floor'] = preprocess_cfr(bboxes['floor'], bboxes['wall'],
'floor')
# save bbox in ply and txt
object_bbox_dir = os.path.join(parsed_dir, 'object_bbox')
if not os.path.exists(object_bbox_dir):
os.makedirs(object_bbox_dir)
bboxes_num = {}
for category in bboxes.keys():
bboxes_num[category] = len(bboxes[category])
boxes_fn = os.path.join(object_bbox_dir, category + '.txt')
boxes = np.array(bboxes[category])
np.savetxt(boxes_fn, boxes)
#######################
print(f'parsed_dir: {parsed_dir}')
write_summary(parsed_dir, 'level_num', level_num, 'a')
for obj in ['room', 'wall', 'window', 'door', 'floor', 'ceiling']:
write_summary(parsed_dir, f'{obj}_num', bboxes_num[obj], 'a')
#######################
save_ply = False
if save_ply:
for category in bboxes.keys():
for i, bbox in enumerate(bboxes[category]):
box_dir = os.path.join(object_bbox_dir, '{}'.format(category))
if not os.path.exists(box_dir):
os.makedirs(box_dir)
box_fn = os.path.join(box_dir, '%d.ply' % (i))
bbox_cam = world2cam_box(bbox.reshape([1, 7]))[0]
Bbox3D.draw_bbox_open3d(bbox_cam, 'Y', plyfn=box_fn)