| import open3d as o3d |
| import numpy as np |
| import torch |
|
|
|
|
| def vis_dataset(ObjNode_dict, relation, scene_path, scan_id, scene_center): |
| coordinate = o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.6, origin=[-0, -0, -0]) |
| pcd_data = torch.load(scene_path / 'pcd_with_global_alignment' / f'{scan_id}.pth') |
| points, colors, _ = pcd_data[0], pcd_data[1], pcd_data[-1] |
| o3d_pcd = o3d.geometry.PointCloud() |
| o3d_pcd.points = o3d.utility.Vector3dVector(points) |
| o3d_pcd.colors = o3d.utility.Vector3dVector(colors/255.0) |
| scene_show = [o3d_pcd] |
|
|
| np.random.shuffle(relation) |
| for rel in relation: |
| if len(rel) == 3: |
| if rel[1] == -2: |
| src = ObjNode_dict[rel[0]] |
| gt_o3d_box_src = o3d.geometry.OrientedBoundingBox(src.position + scene_center, np.eye(3, 3), |
| src.size) |
| gt_o3d_box_src.color = [0, 1, 0] |
| obj_label = f'''{src.label} {rel[2]}''' |
| bbox_show_list = [gt_o3d_box_src] |
| o3d.visualization.draw_geometries(scene_show + [coordinate] + bbox_show_list, |
| window_name=obj_label) |
|
|
| else: |
| src = ObjNode_dict[rel[0]] |
| tgt = ObjNode_dict[rel[1]] |
|
|
|
|
| gt_o3d_box_src = o3d.geometry.OrientedBoundingBox(src.position + scene_center, np.eye(3, 3), |
| src.size) |
| gt_o3d_box_src.color = [0, 1, 0] |
| gt_o3d_box_tgt = o3d.geometry.OrientedBoundingBox(tgt.position + scene_center, np.eye(3, 3), |
| tgt.size) |
| gt_o3d_box_tgt.color = [1, 0, 0] |
|
|
| obj_label = f'''{tgt.label} - {rel[2]} - {src.label} ''' |
| bbox_show_list = [gt_o3d_box_src, gt_o3d_box_tgt] |
|
|
| o3d.visualization.draw_geometries(scene_show + [coordinate] + bbox_show_list, |
| window_name=obj_label) |
| else: |
| tgts = [ObjNode_dict[tgt] for tgt in rel[0]] |
| gt_o3d_box_tgts = [o3d.geometry.OrientedBoundingBox(tgt.position + scene_center, np.eye(3, 3), tgt.size) |
| for tgt in tgts] |
| |
|
|
| obj_label = f''' {ObjNode_dict[tgts[0].id].label} {rel[1]}''' |
| bbox_show_list = [gt_o3d_box_tgts] |
| o3d.visualization.draw_geometries(scene_show + [coordinate] + bbox_show_list, |
| window_name=obj_label) |
|
|
