def render_pth_file(pth_fn, show_by_class=0):
pcl, bboxes0 = torch.load(pth_fn)
#points = pcl[:,0:3]
#colors = pcl[:,3:6]
#normals = pcl[:,6:9]
bboxes = {}
for c in CLASSES:
bboxes[c] = bboxes0[c]
scene_size = pcl_size(pcl)
print(f'scene pcl size:{scene_size}')
print(f'point num: {pcl.shape[0]}')
#pcl = cut_points_roof(pcl)
classes = [k for k in bboxes.keys()]
num_classes = {k: bboxes[k].shape[0] for k in bboxes.keys()}
print(f'\nclasses: {num_classes}\n\n')
all_bboxes = np.concatenate([boxes for boxes in bboxes.values()], 0)
nums = [boxes.shape[0] for boxes in bboxes.values()]
labels = []
for i, n in enumerate(nums):
labels += [i] * n
labels = np.array(labels)
Bbox3D.draw_points(pcl, points_keep_rate=POINTS_KEEP_RATE)
#show_walls_offsetz(all_bboxes)
#Bbox3D.draw_bboxes_mesh(all_bboxes, up_axis='Z', is_yx_zb=False, labels=labels)
#Bbox3D.draw_bboxes_mesh(all_bboxes, up_axis='Z', is_yx_zb=False)
#Bbox3D.draw_points_bboxes_mesh(pcl, all_bboxes, up_axis='Z', is_yx_zb=False, labels=labels, points_keep_rate=POINTS_KEEP_RATE)
#Bbox3D.draw_points_bboxes_mesh(pcl, all_bboxes, up_axis='Z', is_yx_zb=False, points_keep_rate=POINTS_KEEP_RATE)
#Bbox3D.draw_points_bboxes(pcl, all_bboxes, up_axis='Z', is_yx_zb=False,points_keep_rate=POINTS_KEEP_RATE)
#Bbox3D.draw_points_bboxes(pcl, all_bboxes, up_axis='Z', is_yx_zb=False, labels=labels, points_keep_rate=POINTS_KEEP_RATE)
#Bbox3D.draw_points_bboxes(pcl, all_bboxes, up_axis='Z', is_yx_zb=False, labels=labels, points_keep_rate=POINTS_KEEP_RATE, animation_fn='anima.mp4', ani_size=[280,700,550,1350])
if show_by_class:
for clas in bboxes.keys():
if clas not in ['ceiling', 'floor']:
#if clas not in ['wall', 'window', 'door','ceiling', 'floor']:
continue
print(clas)
#if clas not in CLASSES:
# continue
boxes = bboxes[clas]
#Bbox3D.draw_points_bboxes(points, boxes, up_axis='Z', is_yx_zb=False)
Bbox3D.draw_points_bboxes_mesh(pcl,
boxes,
up_axis='Z',
is_yx_zb=False,
points_keep_rate=POINTS_KEEP_RATE)
show_walls_offsetz(boxes)
import pdb
pdb.set_trace() # XXX BREAKPOINT
pass
def show__together(self, boxlist_1, max_num=-1, max_num_1=-1, points=None, offset_x=None, twolabels=False,
mesh=False, points_keep_rate=POINTS_KEEP_RATE, points_sample_rate=POINTS_SAMPLE_RATE, random_color=False, colors=None):
import numpy as np
from utils3d.bbox3d_ops import Bbox3D
boxes = self.bbox3d.cpu().data.numpy().copy()
if max_num > 0 and max_num < boxes.shape[0]:
ids = np.random.choice(boxes.shape[0], max_num, replace=False)
boxes = boxes[ids]
boxes_1 = boxlist_1.bbox3d.cpu().data.numpy().copy()
if max_num_1 > 0 and max_num_1 < boxes_1.shape[0]:
ids = np.random.choice(boxes_1.shape[0], max_num_1, replace=False)
boxes_1 = boxes_1[ids]
if offset_x is not None:
boxes_1[:,0] += offset_x
if not twolabels and 'labels' in self.fields():
labels = self.get_field('labels').cpu().data.numpy().astype(np.int32)
labels_1 = boxlist_1.get_field('labels').cpu().data.numpy().astype(np.int32)
labels = np.concatenate([labels, labels_1], 0)
else:
labels = np.array([0]*boxes.shape[0] + [1]*boxes_1.shape[0])
boxes = np.concatenate([boxes, boxes_1], 0)
if colors is not None:
colors = np.concatenate(colors, 0)
assert colors.shape[0] == boxes.shape[0]
if points is None:
if mesh:
Bbox3D.draw_bboxes_mesh(boxes, 'Z', is_yx_zb=self.mode=='yx_zb', labels=labels)
else:
Bbox3D.draw_bboxes(boxes, 'Z', is_yx_zb=self.mode=='yx_zb', labels=labels, random_color=False)
else:
if isinstance(points, torch.Tensor):
points = points.cpu().data.numpy()
if offset_x is not None:
tp = points.copy()
tp[:,0] += offset_x
points = np.concatenate([points, tp], 0)
#
tp = tp.copy()
tp[:,0] += offset_x
points = np.concatenate([points, tp], 0)
if mesh:
Bbox3D.draw_points_bboxes_mesh(points, boxes, 'Z', is_yx_zb=self.mode=='yx_zb', labels=labels, points_keep_rate=points_keep_rate, points_sample_rate=points_sample_rate, random_color=random_color, box_colors=colors)
else:
Bbox3D.draw_points_bboxes(points, boxes, 'Z', is_yx_zb=self.mode=='yx_zb', labels=labels, random_color=random_color,
points_keep_rate=points_keep_rate, points_sample_rate=points_sample_rate, box_colors=colors)
def split_bbox(bbox_fn, points_splited):
'''
bbox in file bbox_fn: up_axis='Y' with always x_size > z_size
transform with cam2world_box:
up_axis == 'Z'
always: x_size > y_size
'''
obj = os.path.basename(bbox_fn).split('.')[0]
min_point_num_per1sm = 10
# thickness_aug for cropping x
thickness_aug = 0.3
assert IndoorData._block_size0[-1] == -1 # do not crop box along z
bboxes = np.loadtxt(bbox_fn).reshape([-1,7])
#if DEBUG:
# #show_walls_1by1(bboxes)
# bboxes = bboxes[3:4]
areas = bboxes[:,3] * bboxes[:,5]
min_point_num = np.minimum( min_point_num_per1sm * areas, 200 )
bboxes_aug = bboxes.copy()
#bboxes_aug[:,4] += thickness_aug
bboxes_aug[:,3:6] = np.clip(bboxes_aug[:,3:6],a_min= thickness_aug, a_max=None )
bn = bboxes.shape[0]
sn = len(points_splited)
bboxes_splited = []
for i in range(0, sn):
# Use to constrain size_x size_z
point_masks_aug_i = Bbox3D.points_in_bbox(points_splited[i][:,0:3].copy(), bboxes_aug.copy())
# Use to constrain size_y (the thickness)
bboxes_tc = IndoorData.adjust_box_for_thickness_crop(bboxes)
point_masks_i = Bbox3D.points_in_bbox(points_splited[i][:,0:3].copy(), bboxes_tc)
pn_in_box_aug_i = np.sum(point_masks_aug_i, 0)
pn_in_box_i = np.sum(point_masks_i, 0)
#print(f'no aug:{pn_in_box_i}\n auged:{pn_in_box_aug_i}')
# (1) The bboxes with no points with thickness_aug will be removed firstly
keep_box_aug_i = pn_in_box_aug_i > min_point_num
bboxes_i = bboxes[keep_box_aug_i]
if DEBUG and obj=='ceiling' and 0:
rm_box_aug_i = pn_in_box_aug_i <= min_point_num
print(rm_box_aug_i)
bboxes_no_points_i = bboxes[rm_box_aug_i].copy()
bboxes_no_points_i[:,0] += 30
bboxes_show = np.concatenate([bboxes_i, bboxes_no_points_i],0)
Bbox3D.draw_points_bboxes(points_splited[i], bboxes_show, up_axis='Z', is_yx_zb=False)
points_aug_i = [points_splited[i][point_masks_aug_i[:,j]] for j in range(bn)]
points_aug_i = [points_aug_i[j] for j in range(bn) if keep_box_aug_i[j]]
points_i = [points_splited[i][point_masks_i[:,j]] for j in range(bn)]
points_i = [points_i[j] for j in range(bn) if keep_box_aug_i[j]]
# (2) Crop all the boxes by points and intersec_corners seperately
bn_i = bboxes_i.shape[0]
croped_bboxes_i = []
keep_unseen_intersection = False
if keep_unseen_intersection:
intersec_corners_idx_i, intersec_corners_i = Bbox3D.detect_all_intersection_corners(bboxes_i, 'Z')
else:
intersec_corners_idx_i = [None]*bn_i
invalid_bn = 0
for k in range(bn_i):
croped_box_k = Bbox3D.crop_bbox_by_points(
bboxes_i[k], points_i[k], points_aug_i[k], 'Z', intersec_corners_idx_i[k])
if croped_box_k is not None:
croped_bboxes_i.append( croped_box_k )
else:
invalid_bn += 1
#Bbox3D.draw_points_bboxes(points_splited[i], bboxes_i[k:k+1], up_axis='Z', is_yx_zb=False, points_keep_rate=1.0)
pass
if len(croped_bboxes_i) > 0:
croped_bboxes_i = np.concatenate(croped_bboxes_i, 0)
else:
croped_bboxes_i = np.array([]).reshape([-1,7])
# (3) Refine x size of each bbox by thickness croped of intersected bbox
#croped_size = bboxes_i[:,3:6] - croped_bboxes_i[:,3:6]
refine_x_by_intersection = False # not correct yet
if refine_x_by_intersection:
for k in range(bn_i):
itsc0, itsc1 = intersec_corners_idx_i[k]
crop_value = [0,0]
if itsc0 >= 0:
crop_value[0] = Bbox3D.refine_intersection_x(croped_bboxes_i[k], 'neg', croped_bboxes_i[itsc0], 'Z')
if itsc1 >= 0:
crop_value[1] = Bbox3D.refine_intersection_x(croped_bboxes_i[k], 'pos', croped_bboxes_i[itsc1], 'Z')
if itsc0 >= 0 or itsc1 > 0:
croped_bboxes_i[k] = Bbox3D.crop_bbox_size(croped_bboxes_i[k], 'X', crop_value)
#crop_ysize_neg = croped_size[itsc0,1] if itsc0 >= 0 else 0
#crop_ysize_pos = croped_size[itsc1,1] if itsc1 >= 0 else 0
#croped_bboxes_i[k] = Bbox3D.crop_bbox_size(croped_bboxes_i[k], 'X', [crop_ysize_neg, crop_ysize_pos])
# (4) remove too small wall
min_wall_size_x = 0.2
sizex_mask = croped_bboxes_i[:,3] > min_wall_size_x
croped_bboxes_i = croped_bboxes_i[sizex_mask]
bboxes_splited.append(croped_bboxes_i)
show = False
if show and DEBUG and len(points_i) > 0 and obj=='ceiling':
print(croped_bboxes_i[:,3])
points = np.concatenate(points_i,0)
points = points_splited[i]
points1 = points.copy()
points1[:,0] += 30
points = np.concatenate([points, points1], 0)
bboxes_i[:,0] += 30
bboxes_i = np.concatenate([bboxes_i, croped_bboxes_i], 0)
#Bbox3D.draw_points_bboxes(points, bboxes_i, up_axis='Z', is_yx_zb=False)
Bbox3D.draw_points_bboxes_mesh(points, bboxes_i, up_axis='Z', is_yx_zb=False)
import pdb; pdb.set_trace() # XXX BREAKPOINT
pass
return bboxes_splited
def render_parsed_house_walls(parsed_dir, show_pcl=SHOW_PCL, show_by_class=0):
print(f'parsed_dir:{parsed_dir}')
house_name = os.path.basename(parsed_dir)
bboxes = []
labels = []
for obj in CLASSES:
bbox_fn_ = f'{parsed_dir}/object_bbox/{obj}.txt'
bboxes_ = np.loadtxt(bbox_fn_).reshape([-1, 7])
bboxes.append(bboxes_)
label = DSET_METAS0.class_2_label[obj]
labels += [label] * bboxes_.shape[0]
bboxes = np.concatenate(bboxes, 0)
labels = np.array(labels).astype(np.int8)
if bboxes.shape[0] > 0:
scene_size = Bbox3D.boxes_size(bboxes)
print(f'scene wall size:{scene_size}')
#Bbox3D.draw_bboxes(bboxes, up_axis='Z', is_yx_zb=False, labels=labels)
#if not show_pcl:
Bbox3D.draw_bboxes_mesh(bboxes, up_axis='Z', is_yx_zb=False)
#Bbox3D.draw_bboxes_mesh(bboxes, up_axis='Z', is_yx_zb=False, labels=labels)
#show_walls_offsetz(bboxes)
if show_by_class:
for c in range(1, max(labels) + 1):
cs = DSET_METAS0.label_2_class[c]
print(cs)
if cs not in ['wall', 'window', 'door']:
#if cs not in ['wall']:
continue
mask = labels == c
bboxes_c = bboxes[mask]
show_walls_offsetz(bboxes_c)
if show_pcl:
pcl_fn = f'{parsed_dir}/pcl_camref.ply'
if not os.path.exists(pcl_fn):
return
pcd = open3d.read_point_cloud(pcl_fn)
points = np.asarray(pcd.points)
points = cam2world_pcl(points)
colors = np.asarray(pcd.colors)
pcl = np.concatenate([points, colors], 1)
scene_size = pcl_size(pcl)
print(f'scene pcl size:{scene_size}')
print(f'point num: {pcl.shape[0]}')
#pcl = cut_points_roof(pcl)
#Bbox3D.draw_points(pcl, points_keep_rate=POINTS_KEEP_RATE)
#Bbox3D.draw_points(pcl, points_keep_rate=POINTS_KEEP_RATE, animation_fn='points.mp4', ani_size=AniSizes[house_name])
bboxes[:, 2] += 0.1
Bbox3D.draw_points_bboxes(pcl,
bboxes,
up_axis='Z',
is_yx_zb=False,
points_keep_rate=POINTS_KEEP_RATE)
Bbox3D.draw_points_bboxes_mesh(pcl,
bboxes,
up_axis='Z',
is_yx_zb=False,
points_keep_rate=POINTS_KEEP_RATE)