def export(mesh_file, agg_file, seg_file, label_map_file, type, output_file):
label_map = util.read_label_mapping(opt.label_map_file,
label_from='raw_category',
label_to='nyu40id')
mesh_vertices = util_3d.read_mesh_vertices(mesh_file)
object_id_to_segs, label_to_segs = read_aggregation(agg_file)
seg_to_verts, num_verts = read_segmentation(seg_file)
label_ids = np.zeros(shape=(num_verts), dtype=np.uint32) # 0: unannotated
for label, segs in label_to_segs.items():
label_id = label_map[label]
for seg in segs:
verts = seg_to_verts[seg]
label_ids[verts] = label_id
if type == 'label':
util_3d.export_ids(output_file, label_ids)
elif type == 'instance':
instance_ids = np.zeros(shape=(num_verts),
dtype=np.uint32) # 0: unannotated
for object_id, segs in object_id_to_segs.items():
for seg in segs:
verts = seg_to_verts[seg]
instance_ids[verts] = object_id
util_3d.export_ids(output_file, label_ids * 1000 + instance_ids)
#util_3d.export_instance_ids_for_eval(output_file, label_ids, instance_ids)
else:
raise
def export(mesh_file, agg_file, seg_file, label_map_file, label_map_file2, type, output_file):
label_map = util.read_label_mapping(opt.label_map_file, label_from='raw_category', label_to='nyu40id')
label_map2 = load_mapping(label_map_file2)
label_map2[0] = 0
mesh_vertices = util_3d.read_mesh_vertices(mesh_file)
object_id_to_segs, label_to_segs = read_aggregation(agg_file)
seg_to_verts, num_verts = read_segmentation(seg_file)
label_ids = np.zeros(shape=(num_verts), dtype=np.uint32) # 0: unannotated
for label, segs in label_to_segs.items():
label_id = label_map[label]
for seg in segs:
verts = seg_to_verts[seg]
label_ids[verts] = label_id
if type == 'label':
util_3d.export_ids(output_file, label_ids)
elif type == 'instance':
instance_ids = np.zeros(shape=(num_verts), dtype=np.uint32) # 0: unannotated
for object_id, segs in object_id_to_segs.items():
for seg in segs:
verts = seg_to_verts[seg]
instance_ids[verts] = object_id
assert len(instance_ids) == len(label_ids)
for i in range(len(instance_ids)):
import ipdb
ipdb.set_trace()
instance_ids[i] = label_map2[label_ids[i]] * 1000 + instance_ids[i]
util_3d.export_ids(output_file, instance_ids)
else:
raise
def export(prediction_grid, world2grid, mesh_vertices, output_file):
grid_dim = prediction_grid.shape
grid_dim = np.flip(np.array(grid_dim), axis=0)
num_verts = mesh_vertices.shape[0]
ids = np.zeros(shape=(num_verts), dtype=np.uint32)
vertices_grid = util_3d.transform_points(world2grid, mesh_vertices)
for i in range(num_verts):
v = vertices_grid[i]
grid_coord = np.floor(v)
# clamp to grid bounds
grid_coord = np.clip(grid_coord, np.zeros((3)),
grid_dim - 1).astype(np.int32)
ids[i] = prediction_grid[grid_coord[2], grid_coord[1], grid_coord[0]]
util_3d.export_ids(output_file, ids)