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