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 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 preprocess_cfr(ceilings_org, walls_org, obj):
'''
Z is up, Y is thickness
A ceiling is good:
(1) not contains multiple rooms:
cover no other ceilings
(2) >= 3 edge walls
A edge wall of a ceiling:
In three points of the wall cenline: two corners and centroid
at least two are on an edge of ceiling
'''
assert ceilings_org.ndim == walls_org.ndim == 2
dis_threshold = 0.07
if ceilings_org.shape[0] == 0:
return ceilings_org
if walls_org.shape[0] == 0:
return np.zeros(shape=[0, 7], dtype=np.float32)
#Bbox3D.draw_bboxes(walls_org, 'Z', False)
#Bbox3D.draw_bboxes(ceilings_org, 'Z', False)
ceilings = ceilings_org.copy()
ceilings, keep_ids0 = clean_repeat(ceilings)
walls = walls_org.copy()
cn = ceilings.shape[0]
ceilings[:, 2] = 0
walls[:, 2] = 0
walls[:, 5] = 0
ceil_corners0 = Bbox3D.bboxes_corners(ceilings, 'Z')
ceil_corners = np.take(ceil_corners0, Bbox3D._zpos_vs, axis=1)
ceil_corners[:, :, 2] = 0
ceiling_cens = ceilings[:, 0:3]
wall_cenlines = Bbox3D.bboxes_centroid_lines(walls, 'X', 'Z')
good_ceiling_ids0 = []
bad_small_ids = []
for c in range(cn):
# (1)
#print(f'c:{c}')
ceil_c = ceilings[c:c + 1].copy()
ceil_c[:, 3:6] += 0.2
mask_overlap = Bbox3D.points_in_bbox(ceil_corners.reshape([-1, 3]),
ceil_c).reshape([cn, 4])
mask_overlap = mask_overlap.all(1)
num_overlap = mask_overlap.sum() - 1
ol_ids = np.where(mask_overlap)[0]
ol_ids = [i for i in ol_ids if i != c]
#if any_overlap:
# area_ol = np.product(tmp[ol_ids,3:5], axis=1).sum()
# area_c = np.product(ceilings[c,3:5])
# area_ol_rate = area_ol / area_c
# import pdb; pdb.set_trace() # XXX BREAKPOINT
# pass
if Debug and 0:
print(f'ceiling, contain {num_overlap} other celings')
box_show = np.concatenate([walls_org, ceilings_org[c:c + 1]], 0)
Bbox3D.draw_bboxes_mesh(box_show, 'Z', False)
if num_overlap > 1:
continue
#if num_overlap >0:
# bad_small_ids += ol_ids
# (2)
edge_wall_num, winc_state = is_edge_wall_of_ceiling(
wall_cenlines, ceilings[c], walls_org)
if edge_wall_num >= 3 or (edge_wall_num == 2 and
(winc_state == 3).all()):
good_ceiling_ids0.append(c)
#good_ceiling_ids1 = [i for i in good_ceiling_ids0 if i not in bad_small_ids]
good_ceiling_ids1 = keep_ids0[good_ceiling_ids0]
good_ceiling_ids1 = np.array(good_ceiling_ids1).astype(np.int)
rm_num = cn - good_ceiling_ids1.shape[0]
bad_ceiling_ids = np.array(
[i for i in range(cn) if i not in good_ceiling_ids1]).astype(np.int32)
new_ceilings = ceilings_org[good_ceiling_ids1]
if Debug and rm_num > 0:
print(f'{cn} -> {good_ceiling_ids1.shape[0]}')
box_show = np.concatenate([walls_org, ceilings_org[good_ceiling_ids1]],
0)
Bbox3D.draw_bboxes_mesh(box_show, 'Z', False)
if rm_num > 0:
box_show = np.concatenate(
[walls_org, ceilings_org[bad_ceiling_ids]], 0)
Bbox3D.draw_bboxes_mesh(box_show, 'Z', False)
import pdb
pdb.set_trace() # XXX BREAKPOINT
#show_walls_1by1(new_ceilings)
pass
return new_ceilings
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)
def preprocess_cfr(ceilings_org, walls_org, obj):
'''
Z is up, Y is thickness
'''
#Bbox3D.draw_bboxes(walls, 'Z', False)
ceilings = ceilings_org.copy()
walls = walls_org.copy()
walls = replace_slant_walls(walls)
dis_threshold = 0.07
ceiling_cens = ceilings[:, 0:3]
ceiling_cens[:, 2] = 0
ceil_cenlines_x = Bbox3D.bboxes_centroid_lines(ceilings, 'X', 'Z')
ceil_cenlines_x[:, :, 2] = 0
#ceil_cenlines_y = Bbox3D.bboxes_centroid_lines(ceilings, 'Y', 'Z')
wall_cenlines = Bbox3D.bboxes_centroid_lines(walls, 'X', 'Z')
wall_cenlines[:, :, 2] = 0
ceilings_shrink = ceilings.copy()
ceilings_shrink[:, 3:5] -= 0.3
cn = ceilings.shape[0]
## Find edge wall nums
good_ceiling_ids = []
for c in range(cn):
# (0.1) If no any other overlap ceiling, try to keep it
# Otherwise, delete it when >3 wall inside ceiling
tmp = np.delete(ceiling_cens.copy(), c, axis=0)
any_overlap = Bbox3D.points_in_bbox(tmp, ceilings[c:c + 1]).any()
if any_overlap:
wall_corner0_in_ceil = Bbox3D.points_in_bbox(
wall_cenlines[:, 0, :], ceilings_shrink[c:c + 1])
wall_corner1_in_ceil = Bbox3D.points_in_bbox(
wall_cenlines[:, 1, :], ceilings_shrink[c:c + 1])
wall_inside_ceil = wall_corner0_in_ceil + wall_corner1_in_ceil
wall_inside_ceil_ids = np.where(wall_inside_ceil)[0]
nwic = wall_inside_ceil_ids.shape[0]
if nwic > 3:
if Debug and 1:
print(f'bad ceiling, contain {nwic} walls inside')
box_show = np.concatenate(
[walls_org, ceilings_org[c:c + 1]], 0)
Bbox3D.draw_bboxes_mesh(box_show, 'Z', False)
box_show = np.concatenate([
walls_org[wall_inside_ceil_ids], ceilings_org[c:c + 1]
], 0)
Bbox3D.draw_bboxes_mesh(box_show, 'Z', False)
import pdb
pdb.set_trace() # XXX BREAKPOINT
continue
# (1) the central corners of wall are inside of ceiling
wall_cenlines_auged = line_aug(wall_cenlines)
cw_cen_dis = ceiling_cens[c].reshape([1, 1, -1]) - wall_cenlines_auged
cw_cen_dis = np.linalg.norm(cw_cen_dis, axis=2)
ceil_diag_size = np.linalg.norm(ceilings[c, 3:5])
on_inside_ceil = (cw_cen_dis - ceil_diag_size / 2 <
dis_threshold).sum(1) >= 2
if Debug and 0:
#Bbox3D.draw_points_bboxes(wall_cenlines_auged.reshape([-1,3]), walls, 'Z', False)
inside_ids = np.where(on_inside_ceil)[0]
box_show = np.concatenate(
[walls_org[inside_ids], ceilings_org[c:c + 1]], 0)
Bbox3D.draw_bboxes_mesh(box_show, 'Z', False)
# (2) along x: wall central line is on x boundaries of ceiling
dis_cw = vertical_dis_points_lines(ceil_cenlines_x[c], wall_cenlines)
ceil_y_thickness = ceilings[c, 4]
mask_x0 = np.abs(dis_cw[0] - dis_cw[1]) < dis_threshold
mask_x1 = (np.abs(dis_cw - ceil_y_thickness / 2) <
dis_threshold).all(0)
mask_x = mask_x0 * mask_x1 * on_inside_ceil
wall_on_ceil_boundary_parall_x = np.where(mask_x)[0]
num_edgew_x = clean_edge_wall_same_side(
wall_cenlines[wall_on_ceil_boundary_parall_x])
# (3) along x: wall central line is on x boundaries of ceiling
ceil_x_thickness = ceilings[c, 3]
mask_y0 = dis_cw < dis_threshold
mask_y1 = np.abs(dis_cw - ceil_x_thickness) < dis_threshold
mask_y = (mask_y0 + mask_y1).all(0)
mask_y = mask_y * on_inside_ceil
wall_on_ceil_boundary_parall_y = np.where(mask_y)[0]
num_edgew_y = clean_edge_wall_same_side(
wall_cenlines[wall_on_ceil_boundary_parall_y])
#Bbox3D.point_in_box(wall_cenlines, ceilings[])
edge_wall_num = num_edgew_x + num_edgew_y
if edge_wall_num >= 3:
good_ceiling_ids.append(c)
if Debug and edge_wall_num < 3 and 0:
print(f'edge_wall_num: {edge_wall_num}')
box_show = np.concatenate([walls_org, ceilings_org[c:c + 1]], 0)
Bbox3D.draw_bboxes_mesh(box_show, 'Z', False)
#Bbox3D.draw_points_bboxes(ceil_cenlines_x[c], box_show, 'Z', False)
#Bbox3D.draw_points_bboxes(ceil_cenlines_x[c], ceilings[c:c+1], 'Z', False)
edge_walls_x = walls_org[wall_on_ceil_boundary_parall_x]
box_x = np.concatenate([edge_walls_x, ceilings_org[c:c + 1]], 0)
#Bbox3D.draw_bboxes_mesh(box_x, 'Z', False)
edge_walls_y = walls_org[wall_on_ceil_boundary_parall_y]
box_y = np.concatenate([edge_walls_y, ceilings_org[c:c + 1]], 0)
#Bbox3D.draw_bboxes_mesh(box_y, 'Z', False)
walls_inside = walls_org[wall_inside_ceil_ids]
box_ins = np.concatenate([walls_inside, ceilings_org[c:c + 1]], 0)
#Bbox3D.draw_bboxes_mesh(box_ins, 'Z', False)
import pdb
pdb.set_trace() # XXX BREAKPOINT
pass
good_ceiling_ids = np.array(good_ceiling_ids).reshape([-1])
new_cn = good_ceiling_ids.shape[0]
print(f'\n\n{obj} {cn} -> {new_cn}')
if new_cn == 0:
new_ceilings = ceilings_org[0:0]
else:
new_ceilings = ceilings_org[good_ceiling_ids]
if Debug and new_cn < cn:
print(good_ceiling_ids)
box_show = np.concatenate([walls_org, new_ceilings], 0)
Bbox3D.draw_bboxes_mesh(box_show, 'Z', False)
bad_ceil_ids = np.array([
i for i in range(cn) if i not in good_ceiling_ids
]).astype(np.int32)
if bad_ceil_ids.shape[0] > 0:
box_show = np.concatenate([walls_org, ceilings_org[bad_ceil_ids]],
0)
Bbox3D.draw_bboxes_mesh(box_show, 'Z', False)
import pdb
pdb.set_trace() # XXX BREAKPOINT
return ceilings