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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]
# gt_o3d_box_tgt.color = [1, 0, 0]
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)
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