def render_suncg_raw_house_walls(house_fn):
from suncg import split_room_parts, Suncg
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:
bboxes[obj] = np.concatenate([b.reshape([1, 7]) for b in bboxes[obj]],
0)
bboxes[obj] = cam2world_box(bboxes[obj])
walls = bboxes['wall']
print('\nThe raw SUNCG walls\n')
#Bbox3D.draw_bboxes(walls, up_axis='Z', is_yx_zb=False)
Bbox3D.draw_bboxes_mesh(walls, up_axis='Z', is_yx_zb=False)
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)
def get_part_bbox(vertices, triangle, triangle_norms, name=''):
'''
bbox: [xc, yc, zc, x_size, y_size, z_size, yaw]
'''
#show_mesh(vertices, triangle)
class_name = name.split('#')[0]
box_min = np.min(vertices, 0)
box_max = np.max(vertices, 0)
centroid = (box_min + box_max) / 2.0
y_size = box_max[1] - box_min[1]
## Find the 8 outside corners
distances = np.linalg.norm(vertices - np.expand_dims(centroid, 0), axis=1)
max_dis = max(distances)
out_corner_mask = (abs(distances - max_dis) < 1e-5)
n0 = vertices.shape[0]
#print([i for i in range(n0) if out_corner_mask[i]])
out_vertices = [
vertices[i:i + 1, :] for i in range(n0) if out_corner_mask[i]
]
if len(out_vertices) == 0:
import pdb
pdb.set_trace() # XXX BREAKPOINT
pass
return None
out_vertices = np.concatenate(out_vertices, 0)
if out_vertices.shape[0] != 8:
#Bbox3D.draw_points_open3d(out_vertices, show=True)
#Bbox3D.draw_points_open3d(vertices, show=True)
#show_mesh(vertices, triangle)
if class_name not in ENABLE_NO_RECTANGLE:
print(
f'\nFailed to find bbox, not rectangle, {class_name} \n {out_vertices.shape[0]} vertices\n'
)
assert False
import pdb
pdb.set_trace() # XXX BREAKPOINT
pass
return None
else:
print(
f'\nNot rectangle, use no yaw box, {class_name} \n {out_vertices.shape[0]} vertices\n'
)
min_max = {'min': box_min, 'max': box_max}
bbox_noyaw = Bbox3D.bbox_from_minmax(min_max)
#Bbox3D.draw_points_bboxes(vertices, bbox_noyaw, 'Y', is_yx_zb=False)
return bbox_noyaw
## Find the 4 corners on one side
x_right_mask = out_vertices[:, 0] - centroid[0] > 0
x_right_corners = np.concatenate(
[out_vertices[i:i + 1, :] for i in range(8) if x_right_mask[i]], 0)
assert x_right_corners.shape[0] == 4
x_right_cen = np.mean(x_right_corners, 0)
## get length
x_size = np.linalg.norm(x_right_cen - centroid) * 2
if not abs(x_right_cen[1] - centroid[1]) < 1e-7:
print("y should be same, pitch and rool should be 0")
## the angle between x_right_cen and x axis
x_direc = x_right_cen - centroid
x_direc = (x_direc) / np.linalg.norm(x_direc)
x_axis = np.array([1, 0, 0])
# [-90, 90]
yaw = np.arccos(np.sum(x_direc * x_axis))
if abs(yaw) < 0.01:
yaw = 0
else:
assert x_direc[0] > 0
assert x_direc[1] == 0
yaw *= np.sign(x_direc[2])
## Find the 2 corners at top within x_right_corners
top_mask = x_right_corners[:, 1] - centroid[1] > 0
x_right_top_corners = np.concatenate(
[x_right_corners[i:i + 1, :] for i in range(4) if top_mask[i]], 0)
assert x_right_top_corners.shape[0] == 2
# get z_size
z_size = np.linalg.norm(x_right_top_corners[0] - x_right_top_corners[1])
### got the bbox
xc, yc, zc = centroid
bbox = np.array([xc, yc, zc, x_size, y_size, z_size, yaw])
### Check
if yaw != 0 and False:
Bbox3D.draw_bboxes(bbox, 'Y', False)
if False:
min_max = {'min': box_min, 'max': box_max}
bbox_noyaw = Bbox3D.bbox_from_minmax(min_max)
bboxes_show = np.concatenate(
[bbox.reshape([1, 7]),
bbox_noyaw.reshape([1, 7])], 0)
Bbox3D.draw_points_bboxes(vertices, bboxes_show, 'Y', is_yx_zb=False)
return bbox