Datasets:
File size: 1,480 Bytes
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bash:
python vis_preprocessed.py --npy ./Replica_OCC/preprocessed/office0.npy
"""
import argparse
import numpy as np
import open3d as o3d
def colorize_labels(labels: np.ndarray) -> np.ndarray:
"""Deterministic pseudo-colors for integer labels."""
labels = labels.astype(np.int64)
# simple hash -> [0,1]
r = ((labels * 97) % 255) / 255.0
g = ((labels * 57) % 255) / 255.0
b = ((labels * 17) % 255) / 255.0
return np.stack([r, g, b], axis=1)
def main():
ap = argparse.ArgumentParser()
ap.add_argument("--npy", type=str, required=True, help="path to preprocessed/<scene>.npy")
ap.add_argument("--max_points", type=int, default=300000, help="downsample for visualization")
args = ap.parse_args()
v = np.load(args.npy) # (N,7)
xyz = v[:, :3].astype(np.float32)
lab = v[:, 6].astype(np.int32)
# remove empty
mask = lab > 0
xyz = xyz[mask]
lab = lab[mask]
# random downsample for speed
if xyz.shape[0] > args.max_points:
idx = np.random.choice(xyz.shape[0], args.max_points, replace=False)
xyz = xyz[idx]
lab = lab[idx]
colors = colorize_labels(lab)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(xyz)
pcd.colors = o3d.utility.Vector3dVector(colors)
print("points:", np.asarray(pcd.points).shape[0], "unique labels:", len(np.unique(lab)))
o3d.visualization.draw_geometries([pcd])
if __name__ == "__main__":
main()
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