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import networkx as nx
import trimesh
import matplotlib.pyplot as plt
import numpy as np
import pyvista as pv
class ObjNode(object):
def __init__(self, id=None, label=None, mesh=None, position=None, size=None, children=[], room_id = None,dataset='scannet'):
self.id = id
self.label = label
self.obj_mesh = mesh
self.size = size
self.position = position
self.children = children
self.room_id = room_id
self.align_matrix, self.position, self.z_min, self.z_max, self.bottom_rect, self.top_rect = self.get_object_information(dataset)
def __str__(self):
return "[{}:{},{},{}]".format(self.id, self.label, self.position, self.angle)
def get_object_information(self, dataset):
position = self.position # - bias
axis_align_matrix = None
x_min = position[0] - self.size[0] / 2
x_max = position[0] + self.size[0] / 2
y_min = position[1] - self.size[1] / 2
y_max = position[1] + self.size[1] / 2
z_min = position[2] - self.size[2] / 2
z_max = position[2] + self.size[2] / 2
top_vertics = np.array([[x_min, y_min, z_min], [x_max, y_min, z_min],
[x_max, y_max, z_min], [x_min, y_max, z_min]])
bottom_vertics = np.array([[x_min, y_min, z_max], [x_max, y_min, z_max], [x_max, y_max, z_max],
[x_min, y_max, z_max]])
return axis_align_matrix, position, z_min, z_max, bottom_vertics, top_vertics
def display_obb_box(self, scene_visible = True):
axis_align_matrix = self.align_matrix
obj_mesh = trimesh.load(self.obj_mesh)
scene_ply = pv.read(self.scan_ply)
# rotate to axis align
obj_mesh.apply_transform(axis_align_matrix)
if self.label == 'floor':
scene_mesh = trimesh.load(self.scan_mesh)
scene_mesh.apply_transform(axis_align_matrix)
# draw aabb
tgt_points = np.array(scene_mesh.bounding_box.as_outline().vertices)
tgt_edges = np.array(scene_mesh.bounding_box.as_outline().vertex_nodes)
tgt_points_new = []
for edge in tgt_edges:
tgt_points_new.append(tgt_points[edge[0]])
tgt_points_new.append(tgt_points[edge[1]])
# show results
plotter = pv.Plotter(off_screen=False)
light = pv.Light(light_type='headlight', intensity=0.2)
plotter.add_light(light)
plotter.add_mesh(scene_ply.transform(axis_align_matrix), rgb=True)
plotter.add_lines(np.array(tgt_points_new), color='red', width=3)
else:
# draw bbox
tgt_points = np.array(obj_mesh.bounding_box_oriented.as_outline().vertices)
tgt_edges = np.array(obj_mesh.bounding_box_oriented.as_outline().vertex_nodes)
tgt_points_new = []
for edge in tgt_edges:
tgt_points_new.append(tgt_points[edge[0]])
tgt_points_new.append(tgt_points[edge[1]])
# draw aabb
aa_tgt_points = np.array(obj_mesh.bounding_box.as_outline().vertices)
aa_tgt_edges = np.array(obj_mesh.bounding_box.as_outline().vertex_nodes)
aa_tgt_points_new = []
for edge in aa_tgt_edges:
aa_tgt_points_new.append(aa_tgt_points[edge[0]])
aa_tgt_points_new.append(aa_tgt_points[edge[1]])
# show results
plotter = pv.Plotter(off_screen=False)
light = pv.Light(light_type='headlight', intensity=0.2)
plotter.add_light(light)
plotter.add_mesh(scene_ply.transform(axis_align_matrix), rgb=True)
plotter.add_lines(np.array(tgt_points_new), color='red', width=3)
plotter.add_lines(np.array(aa_tgt_points_new), color='yellow', width=3)
plotter.camera.zoom(1.2)
plotter.show()
if __name__ == '__main__':
obj_sample = ObjNode(id=1, label='', size='',
mesh='../../DataAnnotation/data/scannet_objs/scene0000_00/45/mesh.obj')
G = nx.DiGraph()
G.add_node(obj_sample.id, desc = 'here1')
G.add_node(obj_sample.id+1, desc = 'here2')
G.add_node(obj_sample.id +3, desc = 'here3')
G.add_edge(1, 2, name ='support')
G.add_edge(2, 1, name='support2')
pos = nx.spring_layout(G)
nx.draw(G,pos)
node_labels = nx.get_node_attributes(G, 'desc')
nx.draw_networkx_labels(G, pos, labels=node_labels)
edge_labels = nx.get_edge_attributes(G, 'name')
nx.draw_networkx_edge_labels(G, pos, edge_labels=edge_labels)
plt.show()
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