def _main(cat_id, example_id):
from dids import Dataset
import matplotlib.pyplot as plt
from util3d.mayavi_vis import vis_point_cloud
from mayavi import mlab
colors = (
(1, 0, 0),
(0, 1, 0),
(0, 0, 1),
(1, 1, 1),
)
image_ds = SegmentedImageDataset(cat_id)
pc_ds = PointCloudDataset(cat_id)
s_ds = SegmentationDataset(cat_id)
ds = Dataset.zip(image_ds, pc_ds, s_ds)
with ds:
image, pc, s = ds[example_id]
print(np.min(s))
print(np.max(s))
ns = np.max(s) + 1
plt.imshow(image)
for i in range(ns - 1):
cloud = pc[s == i + 1]
color = colors[i % len(colors)]
vis_point_cloud(cloud, color=color, scale_factor=0.02)
plt.show(block=False)
mlab.show()
def vis(image, cloud):
import matplotlib.pyplot as plt
from util3d.mayavi_vis import vis_point_cloud, mlab
plt.imshow(image)
plt.show(block=False)
vis_point_cloud(
cloud, axis_order='xzy', color=(0, 0, 1), scale_factor=0.02)
mlab.show()
plt.close()
def vis(image, cloud):
import matplotlib.pyplot as plt
from mayavi import mlab
from util3d.mayavi_vis import vis_point_cloud
plt.imshow(image)
vis_point_cloud(cloud, color=(0, 0, 1), scale_factor=0.01)
plt.show(block=False)
mlab.show()
plt.close()
def vis(mesh, cloud):
import numpy as np
from util3d.mayavi_vis import vis_mesh, vis_point_cloud
from mayavi import mlab
vertices, faces = (np.array(mesh[k]) for k in ('vertices', 'faces'))
vis_mesh(vertices, faces, color=(0, 0, 1), axis_order='xzy')
vis_point_cloud(np.array(cloud),
color=(0, 1, 0),
scale_factor=0.01,
axis_order='xzy')
mlab.show()
def vis_example_data(self, feature_data, label_data):
import matplotlib.pyplot as plt
from util3d.mayavi_vis import vis_point_cloud
from mayavi import mlab
image = feature_data['image']
point_cloud = label_data
image -= np.min(image)
image /= np.max(image)
plt.imshow(image)
plt.show(block=False)
vis_point_cloud(point_cloud, color=(0, 0, 1), scale_factor=0.01)
mlab.show()
plt.close()
def vis(cloud):
from mayavi import mlab
from util3d.mayavi_vis import vis_point_cloud, vis_normals
import numpy as np
if hasattr(cloud, 'keys'):
points = np.array(cloud['points'])
normals = np.array(cloud['normals'])
else:
points = np.array(cloud)
normals = None
vis_point_cloud(points, scale_factor=0.01)
if normals is not None:
vis_normals(points, normals, scale_factor=0.002)
mlab.show()
def vis_clouds(model_id,
pre_sampled=True,
n_samples=1024,
edge_length_threshold=0.1,
shuffle=False):
import random
import numpy as np
from mayavi import mlab
import matplotlib.pyplot as plt
from dids import Dataset
from shapenet.core.blender_renderings.config import RenderConfig
from shapenet.core.meshes import get_mesh_dataset
from util3d.mayavi_vis import vis_point_cloud
from util3d.mayavi_vis import vis_mesh
from template_ffd.data.ids import get_example_ids
from template_ffd.inference.clouds import get_inferred_cloud_dataset
from template_ffd.model import get_builder
builder = get_builder(model_id)
cat_id = builder.cat_id
kwargs = dict(model_id=model_id, n_samples=n_samples)
if not pre_sampled:
kwargs['edge_length_threshold'] = edge_length_threshold
cloud_dataset = get_inferred_cloud_dataset(pre_sampled=pre_sampled,
**kwargs)
image_dataset = RenderConfig().get_dataset(cat_id, builder.view_index)
example_ids = get_example_ids(cat_id, 'eval')
if shuffle:
example_ids = list(example_ids)
random.shuffle(example_ids)
mesh_dataset = get_mesh_dataset(cat_id)
zipped_dataset = Dataset.zip(image_dataset, cloud_dataset, mesh_dataset)
# zipped_dataset = Dataset.zip(image_dataset, cloud_dataset)
with zipped_dataset:
for example_id in example_ids:
image, cloud, mesh = zipped_dataset[example_id]
# image, cloud = zipped_dataset[example_id]
plt.imshow(image)
vis_point_cloud(np.array(cloud),
color=(0, 1, 0),
scale_factor=0.01)
v, f = (np.array(mesh[k]) for k in ('vertices', 'faces'))
vis_mesh(v,
f,
color=(0, 0, 1),
opacity=0.1,
include_wireframe=False)
plt.show(block=False)
mlab.show()
plt.close()
def vis_clouds(
model_id, pre_sampled=True, n_samples=1024, edge_length_threshold=0.1,
shuffle=False):
import random
import numpy as np
from mayavi import mlab
import matplotlib.pyplot as plt
from dids import Dataset
from shapenet.core.blender_renderings.config import RenderConfig
from shapenet.core.meshes import get_mesh_dataset
from util3d.mayavi_vis import vis_point_cloud
from util3d.mayavi_vis import vis_mesh
from template_ffd.data.ids import get_example_ids
from template_ffd.inference.clouds import get_inferred_cloud_dataset
from template_ffd.model import get_builder
builder = get_builder(model_id)
cat_id = builder.cat_id
kwargs = dict(model_id=model_id, n_samples=n_samples)
if not pre_sampled:
kwargs['edge_length_threshold'] = edge_length_threshold
cloud_dataset = get_inferred_cloud_dataset(
pre_sampled=pre_sampled, **kwargs)
image_dataset = RenderConfig().get_dataset(cat_id, builder.view_index)
example_ids = get_example_ids(cat_id, 'eval')
if shuffle:
example_ids = list(example_ids)
random.shuffle(example_ids)
mesh_dataset = get_mesh_dataset(cat_id)
zipped_dataset = Dataset.zip(image_dataset, cloud_dataset, mesh_dataset)
# zipped_dataset = Dataset.zip(image_dataset, cloud_dataset)
with zipped_dataset:
for example_id in example_ids:
image, cloud, mesh = zipped_dataset[example_id]
# image, cloud = zipped_dataset[example_id]
plt.imshow(image)
vis_point_cloud(
np.array(cloud), color=(0, 1, 0), scale_factor=0.01)
v, f = (np.array(mesh[k]) for k in ('vertices', 'faces'))
vis_mesh(
v, f, color=(0, 0, 1), opacity=0.1, include_wireframe=False)
plt.show(block=False)
mlab.show()
plt.close()
def vis(cat_desc, regime='e', shuffle=True):
import matplotlib.pyplot as plt
from mayavi import mlab
from util3d.mayavi_vis import vis_point_cloud, vis_voxels
all_ds = get_ds(cat_desc, regime)
cat_id = cat_desc_to_id(cat_desc)
example_ids = list(get_example_ids(cat_id, 'eval'))
random.shuffle(example_ids)
def vis_mesh(mesh, include_wireframe=False, **kwargs):
from util3d.mayavi_vis import vis_mesh as vm
v, f = (np.array(mesh[k]) for k in ('vertices', 'faces'))
vm(v, f, include_wireframe=include_wireframe, **kwargs)
with all_ds:
for example_id in example_ids:
print(example_id)
image, gt_mesh, cloud, mesh, voxels, template_mesh = \
all_ds[example_id]
plt.imshow(image)
mlab.figure()
vis_mesh(gt_mesh, color=(0, 0, 1))
mlab.figure()
vis_mesh(mesh, color=(0, 1, 0))
mlab.figure()
vis_mesh(template_mesh, color=(1, 0, 0))
mlab.figure()
vis_point_cloud(np.array(cloud),
scale_factor=0.01,
color=(0, 1, 0))
mlab.figure()
vis_voxels(voxels.data, color=(0, 1, 0))
plt.show(block=False)
mlab.show()
plt.close()
def vis_example_data(self, feature_data, label_data):
import matplotlib.pyplot as plt
from shapenet.core import cat_id_to_desc
from util3d.mayavi_vis import vis_point_cloud
from mayavi import mlab
image = feature_data['image']
point_cloud = label_data
image -= np.min(image)
image /= np.max(image)
plt.imshow(image)
cat_ids = self.cat_id
cat_index = feature_data['cat_index']
if isinstance(cat_ids, str):
assert(cat_index == 0)
cat_id = cat_ids
else:
cat_id = cat_ids[cat_index]
plt.title('%s: %s' %
(cat_id_to_desc(cat_id), feature_data['example_id']))
plt.show(block=False)
vis_point_cloud(
point_cloud, color=(0, 0, 1), scale_factor=0.01, axis_order='xzy')
mlab.show()
plt.close()
def vis(cat_desc, regime='e', shuffle=True):
import matplotlib.pyplot as plt
from mayavi import mlab
from util3d.mayavi_vis import vis_point_cloud, vis_voxels
all_ds = get_ds(cat_desc, regime)
cat_id = cat_desc_to_id(cat_desc)
example_ids = list(get_example_ids(cat_id, 'eval'))
random.shuffle(example_ids)
def vis_mesh(mesh, include_wireframe=False, **kwargs):
from util3d.mayavi_vis import vis_mesh as vm
v, f = (np.array(mesh[k]) for k in ('vertices', 'faces'))
vm(v, f, include_wireframe=include_wireframe, **kwargs)
with all_ds:
for example_id in example_ids:
print(example_id)
image, gt_mesh, cloud, mesh, voxels, template_mesh = \
all_ds[example_id]
plt.imshow(image)
mlab.figure()
vis_mesh(gt_mesh, color=(0, 0, 1))
mlab.figure()
vis_mesh(mesh, color=(0, 1, 0))
mlab.figure()
vis_mesh(template_mesh, color=(1, 0, 0))
mlab.figure()
vis_point_cloud(
np.array(cloud), scale_factor=0.01, color=(0, 1, 0))
mlab.figure()
vis_voxels(voxels.data, color=(0, 1, 0))
plt.show(block=False)
mlab.show()
plt.close()
def map_np(self, example_id):
points = np.array(self._dataset[example_id], dtype=np.float32)
return sample_points(points, self._n_resamples, axis=0)
def get_sampled_point_cloud_dataset(
cat_id, example_ids, n_samples, n_resamples):
manager = SampledPointCloudManager(cat_id, n_samples, n_resamples)
base = base_dataset(example_ids)
return base.map(manager.map_tf)
if __name__ == '__main__':
from mayavi import mlab
from util3d.mayavi_vis import vis_point_cloud
from shapenet.core import cat_desc_to_id, get_example_ids
cat_desc = 'plane'
n_samples = 16384
# n_resamples = None
n_resamples = 1024
cat_id = cat_desc_to_id(cat_desc)
example_ids = get_example_ids(cat_id)
dataset = get_sampled_point_cloud_dataset(
cat_id, example_ids, n_samples, n_resamples)
pc = dataset.make_one_shot_iterator().get_next()
with tf.train.MonitoredSession() as sess:
while not sess.should_stop():
cloud = sess.run(pc)
vis_point_cloud(cloud, color=(0, 0, 1), scale_factor=0.01)
mlab.show()
cat_desc = 'plane'
n_points = 16384
cat_id = cat_desc_to_id(cat_desc)
show_normals = True
if vis_normals:
dataset = get_cloud_normal_dataset(cat_id, n_points)
else:
dataset = get_point_cloud_dataset(cat_id, n_points)
with dataset:
for example_id in dataset:
data = dataset[example_id]
s = random.sample(range(n_points), 1024)
if show_normals:
cloud = np.array(data['points'])
normals = np.array(data['normals'])
cloud = cloud[s]
normals = normals[s]
else:
cloud = np.array(data)
normals = None
cloud = cloud[s]
vis_point_cloud(cloud,
axis_order='xzy',
color=(0, 0, 1),
scale_factor=0.002)
if normals is not None:
vis_normals(cloud, normals, scale_factor=0.01, axis_order='xzy')
mlab.show()
def test_surface_voxels():
point_cloud = voxels_to_point_cloud(get_surface_voxels(voxels))
vis_point_cloud(point_cloud[:len(point_cloud) // 2], color=(0, 0, 1))
mlab.show()
return example_id
else:
return None
alignments = alignments.map_keys(key_map_fn, inverse_map_fn)
zipped = ZippedDataset(clouds, alignments)
def transform(vals):
cloud, alignment = vals
R = euler_matrix(0, 0, (1 - alignment) * np.pi / 2)[:3, :3]
return np.matmul(np.array(cloud), R)
aligned = zipped.map(transform)
with aligned:
for k in aligned:
cloud = aligned[k]
vis_point_cloud(cloud, color=(0, 0, 1), scale_factor=0.01)
mlab.show()
# with zipped:
# print(len(tuple(zipped)))
# print(len(tuple(alignments)))
# print(len(tuple(clouds)))
# for k in zipped:
# cloud, alignment = zipped[k]
