def loadBoundingBoxes(self):
transformList = []
bboxidList = []
for globalId, v in self.annotation3D.objects.items():
# skip dynamic objects
if len(v) > 1:
continue
for obj in v.values():
if str(obj) is not 'building':
continue
lines = np.array(obj.lines)
vertices = obj.vertices
faces = obj.faces
mesh = open3d.geometry.TriangleMesh()
mesh.vertices = open3d.utility.Vector3dVector(obj.vertices)
mesh.triangles = open3d.utility.Vector3iVector(obj.faces)
color = self.assignColor(globalId, 'semantic')
semanticId, instanceId = global2local(globalId)
transformList.append(obj.transform)
bboxidList.append(instanceId)
mesh.paint_uniform_color(color.flatten())
mesh.compute_vertex_normals()
self.bboxes.append(mesh)
self.bboxes_window.append([obj.start_frame, obj.end_frame])
return transformList, bboxidList
def assignColor(self, globalIds, gtType='semantic'):
if not isinstance(globalIds, (np.ndarray, np.generic)):
globalIds = np.array(globalIds)[None]
color = np.zeros((globalIds.size, 3))
for uid in np.unique(globalIds):
semanticId, instanceId = global2local(uid)
if gtType == 'semantic':
color[globalIds == uid] = id2label[semanticId].color
elif instanceId > 0:
color[globalIds == uid] = self.getColor(instanceId)
else:
color[globalIds == uid] = (96, 96, 96) # stuff objects in instance mode
color = color.astype(np.float) / 255.0
return color
def loadBoundingBoxWireframes(self):
self.lineSets = []
for globalId, v in self.annotation3D.objects.items():
# skip dynamic objects
if len(v) > 1:
continue
for obj in v.values():
lines = np.array(obj.lines)
points = obj.vertices
color = self.assignColor(0, 'semantic')
semanticId, instanceId = global2local(globalId)
if 'pole' in id2label[semanticId].name:
radius = 0.05
else:
radius = 0.08
color = np.tile(color, (lines.shape[0], 1))
line_set = open3d.geometry.LineSet(
points=open3d.utility.Vector3dVector(points),
lines=open3d.utility.Vector2iVector(lines),
)
line_set.colors = open3d.utility.Vector3dVector(color)
self.lineSets.append(line_set)