def plot(pts, colors, dir, label_mean, label):
ext = label[5:8]
theta = label[8:10]
center = np.array([0., 0., 0.])
box_min = label_mean - (ext / 2)
box_max = label_mean + (ext / 2)
box = np.hstack((box_min, box_max))
box_pts = helpers.rotate_box(box, label_mean, theta)
plot = pv.Plotter()
plot.add_points(label_mean,
color=[0, 1, 0],
render_points_as_spheres=True,
point_size=30)
plot.add_points(pts,
scalars=colors,
rgb=True,
render_points_as_spheres=True,
point_size=20)
plot.add_arrows(center, dir, 0.75, color=[0, 0, 1])
for l in helpers.make_lines(box_pts):
plot.add_mesh(l, color=[1, 0, 0], line_width=6)
plot.show()
def plot_kitti(scan, img, pred_c, pred_attr, pred_clf, label):
cmap = helpers.colormap(cfg['model']['n_classes'])
pred_oabb = helpers.kitti_scenenet_to_oabb(pred_c, pred_attr)
label_mask = tf.cast(label['bbox_3d'], tf.bool)[:, :, 0, 0]
label_oabb = tf.boolean_mask(label['bbox_3d'], label_mask).numpy()
plot = pv.Plotter(off_screen=not VIS,
shape=(2, 1),
window_size=(1240, 800))
plot.subplot(0, 0)
plot.add_points(scan, scalars=scan[:, 2], render_points_as_spheres=True)
for i, box in enumerate(pred_oabb):
for l in helpers.make_lines(box):
plot.add_mesh(l, color=cmap[pred_clf[i][0]], line_width=3)
for i, box in enumerate(label_oabb):
for l in helpers.make_lines(box):
plot.add_mesh(l, color=[0, 1, 0], line_width=3)
plot.view_xz()
plot.subplot(1, 0)
img = np.flip(img.transpose(1, 0, 2), 1)
cpos = [(img.shape[0] / 2., img.shape[1] / 2., 770),
(img.shape[0] / 2., img.shape[1] / 2., 0.0), (0.0, 1.0, 0.0)]
plot.camera_position = cpos
plot.add_mesh(img[:, :, None, 0],
scalars=img.reshape((-1, 3), order='F'),
rgb=True)
plot.remove_scalar_bar()
if VIS:
plot.show()
else:
if not os.path.isdir(SCREENSHOT_SAVE_DIR):
os.makedirs(SCREENSHOT_SAVE_DIR)
plot.show(screenshot=os.path.join(SCREENSHOT_SAVE_DIR,
'pred_{}'.format(int(time.time()))))
def plot_scene(scene, scene_pts, scene_ext, gt_pts, gt_ext):
pts = scene[:, 0:3]
cols = scene[:, 3:6]
cols = cols[pts[:, 2] < np.max(pts[:, 2]) - 1.5]
pts = pts[pts[:, 2] < np.max(pts[:, 2]) - 1.5]
plot = pv.Plotter()
plot.set_background('white')
plot.add_points(pts,
scalars=cols,
rgb=True,
opacity=1,
render_points_as_spheres=True,
point_size=10)
if scene_pts.shape[0] > 0:
ext_hwd = scene_ext[:, :3]
ext_theta = scene_ext[:, 3:5]
boxes_min = scene_pts - (ext_hwd / 2)
boxes_max = scene_pts + (ext_hwd / 2)
boxes = np.hstack((boxes_min, boxes_max))
box_pts = helpers.rotate_boxes(boxes, scene_pts, ext_theta)
classes = np.linspace(0, 1, box_pts.shape[0] + 1)
rgb_classes = np.array(
[colorsys.hsv_to_rgb(c, 0.8, 0.8) for c in classes])
for i, box in enumerate(box_pts):
lines = helpers.make_lines(box)
[
plot.add_mesh(l, color=rgb_classes[i], line_width=4)
for l in lines
]
plot.view_xy()
plot.show()
def plot(pts, colors, labels):
labels_mask = labels.astype(np.bool)[:, 0]
labels = labels[labels_mask]
centers = labels[:, :3]
ext = labels[:, 3:6]
theta = labels[:, 6:8]
boxes_min = centers - (ext / 2)
boxes_max = centers + (ext / 2)
boxes = np.hstack((boxes_min, boxes_max))
obj_pts = rotate_boxes(boxes, centers, theta)
plot = pv.Plotter()
plot.view_xy()
# Remove ceiling
colors = colors[pts[:, 2] < np.max(pts[:, 2]) - 1.]
pts = pts[pts[:, 2] < np.max(pts[:, 2]) - 1.]
plot.add_points(pts,
scalars=colors,
rgb=True,
render_points_as_spheres=True,
point_size=15)
plot.add_points(labels[:, :3],
color=[0, 0, 1],
render_points_as_spheres=True,
point_size=20)
classes = np.linspace(0, 1, obj_pts.shape[0] + 1)
rgb_classes = np.array([colorsys.hsv_to_rgb(c, 0.8, 0.8) for c in classes])
for i, pts in enumerate(obj_pts):
lines = helpers.make_lines(pts)
for l in lines:
plot.add_mesh(l, color=rgb_classes[i], line_width=6)
plot.show()