Update README.md

README.md

@@ -51,6 +51,92 @@ finalized_data
 │    └───...
 └───...
 ```
+
+## Data Visualization 
+
+We visualize the point cloud affordance and visual cue image in our dataset. 
+Modify the scene ID, affordance label and data directory for other visualizations 
+```python
+import open3d as o3d
+import numpy as np
+import cv2
+import random
+import os 
+import json
+
+scene_id = '420673'  #modify this 
+base_point_cloud_dir = './data' #modify this 
+point_cloud_annotation_dir = os.path.join(base_point_cloud_dir, scene_id, f"{scene_id}_annotations.json")
+point_cloud_dir = os.path.join(base_point_cloud_dir, scene_id, f"{scene_id}_laser_scan.ply")
+
+image_base_dir = './train' #modify this 
+image_scene_dir = os.path.join(image_base_dir, scene_id)
+action_list = os.listdir(image_scene_dir)
+
+label = 'hook_turn' #modify this 
+action_label = [i for i in action_list if label in i]
+action_folder = random.choice(action_label)
+action_dir = os.path.join(image_scene_dir, action_folder)
+image_list = os.listdir(action_dir)
+image_dir = os.path.join(action_dir, random.choice(image_list))
+
+
+pcd = o3d.io.read_point_cloud(point_cloud_dir)
+
+annotation = json.load(open(point_cloud_annotation_dir))
+for annotation_data in annotation['annotations']: 
+    if annotation_data['label'] == label: 
+        affordance_idx  = annotation_data['indices']
+
+
+        # color affordance red
+        colors[affordance_idx] = [1, 0, 0]
+        pcd = pcd.select_by_index(affordance_idx)
+        pcd.colors = o3d.utility.Vector3dVector(colors)
+
+        # render scene
+        vis = o3d.visualization.Visualizer()
+        vis.create_window(width=800, height=800, visible=False)
+        vis.add_geometry(pcd)
+        vis.poll_events()
+        vis.update_renderer()
+
+        scene_img = np.asarray(vis.capture_screen_float_buffer())
+        scene_img = (scene_img * 255).astype(np.uint8)
+        scene_img = cv2.cvtColor(scene_img, cv2.COLOR_RGB2BGR)
+
+        vis.destroy_window()
+
+        # load demonstration image
+        demo_img = cv2.imread(image_dir)
+
+        # resize to same height
+        h = min(scene_img.shape[0], demo_img.shape[0])
+
+        scene_img = cv2.resize(
+            scene_img,
+            (int(scene_img.shape[1] * h / scene_img.shape[0]), h)
+        )
+
+        demo_img = cv2.resize(
+            demo_img,
+            (int(demo_img.shape[1] * h / demo_img.shape[0]), h)
+        )
+
+        # concatenate
+        combined = np.hstack([scene_img, demo_img])
+
+        cv2.imshow("Visualization", combined)
+        cv2.waitKey(0)
+        exit()
+```
+![](docs/visualization.png)
+
+## Progress
+- **AffordBridge Dataset release**: ✅
+- **Detailed reasoning descriptions**: TBD
+
+
 ## Citation
 If you find this work interesting and helpful, please consider citing
 ```
@@ -61,6 +147,5 @@ If you find this work interesting and helpful, please consider citing
 	booktitle    = {CVPR},
 }
 ```
-
 ## License
 MIT License