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visualization_utils.py
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visualization_utils.py
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import sys;
if sys.platform=="linux":
sys.path.append("/home/yuqiao/RfDNet/")
sys.path.append("/home/yuqiao/RfDNet/windows")
import numpy as np
from vtk.util.numpy_support import vtk_to_numpy, numpy_to_vtk
import os
import open3d as o3d
import datetime
import matplotlib.pyplot as plt
import vtk
# from utils import pc_util
# from prepare_refine_data import get_shapenet_model_by_scene
from glob import glob
import pickle
import trimesh
from plyfile import PlyData, PlyElement
transform_m = np.array([[0, 0, -1], [-1, 0, 0], [0, 1, 0]])
transform_GTtxt2ply = np.array([[1, 0, 0], [0, 0, -1], [0, 1, 0]])
CLS_STRS = [ "table", "chair", "bookshelf","sofa", "trash_bin", "cabinet", "display","bathtub"]
# ----------------vis grid occupancy values ----------------#
def vis_occ_hat_voxel_vtk(file= r"out\iscnet\2022.05.16.15.14_SA_10_epochs_occ_hat\occ_hat_epoch0.npz",
data=None,
all=False):
if file == None or file == "":
try:
occ_hat = data.detach().cpu().numpy() # np.ndarray [res,res,res]
except:
occ_hat = data
else:
data = np.load(file)
occ_hat = data['occ_hat'] # np.ndarray [res,res,res], res = 32
if not all:
points = np.argwhere(occ_hat > 0)
color = (1,0,0)
alpha = 0.2
pc_actor = get_pc_actor_vtk(points, color, alpha,point_size=10)
vis_actors_vtk([pc_actor])
else:
# modify this as needed
#b
thred1 = -22
thred2 = -7
thred3 = 0
#after sigmoid
thred1 = 0.05
thred2 = 0.1
thred3 = 0.5
colorVeryOut = ([0.1, 0.1, 0.5]) # blue
colorMediumOut = ([0.1, 0.5, 0.1]) # green
colorALittleOut = ([0.7, 0.5, 0.0]) # yellow
colorIn = ([1, 0, 0]) # red
alpha = 0.05
pointsVeryOut = np.argwhere(occ_hat< thred1)
pointsMediumOut = np.argwhere((occ_hat> thred1)&(occ_hat< thred2))
pointsALittleOut = np.argwhere((occ_hat> thred2)&(occ_hat< thred3))
pointsIn = np.argwhere(occ_hat> thred3)
point_size = 5
pc_actors = [get_pc_actor_vtk(pointsVeryOut, colorVeryOut, 0.05, 1),
get_pc_actor_vtk(pointsMediumOut, colorMediumOut, 0.1,7),
get_pc_actor_vtk(pointsALittleOut, colorALittleOut, 0.1,7),
get_pc_actor_vtk(pointsIn, colorIn, 0.1,10),]
vis_actors_vtk(pc_actors)
def vis_np_histogram(all_data,thresh = 100):
import matplotlib
matplotlib.use('TkAgg')
# thresh = 1.0 # 2500
# all_data[0] [all_data[0] > thresh] = thresh
# all_data[0] [all_data[0] < -thresh] = -thresh
#
# all_data[1] [all_data[1] > thresh] = thresh
# all_data[1] [all_data[1] < -thresh] = -thresh
# print(2, matplotlib.get_backend())
title = os.path.basename(" histogram")
labels = ['AE','pipeline']
plt.title(title)
plt.hist(all_data, bins=20, edgecolor="r", histtype="bar", alpha=0.5, label=labels,density=True)
plt.legend()
# ticks = np.arange(int(min), int(max), (int(max) - int(min)) / 20).tolist()
# ticks.append(0)
# ticks.append(max)
#
# plt.xticks(ticks)
plt.show()
def vis_multi_occ_hat_histogram(files,positiveOnly = False):
file_num = len(files)
# all_data = np.zeros((file_num,32*32*32))
all_data = []
labels = []
min = 0
max=0
for i,file in enumerate(files):
print("%d/%d"%((i+1),file_num))
data = np.load(file)
occ_data = data['occ_hat'].flatten()
if positiveOnly:
occ_data = occ_data[occ_data>0]
if min > np.min(occ_data):
min = np.min(occ_data)
if max < np.max(occ_data):
max = np.max(occ_data)
# occ_hat = data['occ_hat'].flatten()
# all_data[i,:] = data['occ_hat'].flatten()
all_data.append(occ_data)
labels.append(os.path.basename(file))
title = os.path.basename("occ histogram")
print(labels)
plt.title(title)
plt.hist(all_data, bins=20, edgecolor="r", histtype="bar", alpha=0.5, label=labels)
plt.legend()
ticks = np.arange(int(min), int(max), (int(max) - int(min)) / 20).tolist()
ticks.append(0)
ticks.append(max)
plt.xticks(ticks)
plt.show()
# ---------------- vtk_utils ----------------
def vis_actors_vtk(actors,parallel=False):
'''set renderer'''
renderer = vtk.vtkRenderer()
renderer.SetBackground(1, 1, 1) # 设置背景颜色
# Renderer Window
window = vtk.vtkRenderWindow()
window.AddRenderer(renderer)
window.FullScreenOn() # 相当于SetFullScreen(True)
window.BordersOn() # 相当于SetBorders(True)
# System Event
win_render = vtk.vtkRenderWindowInteractor()
win_render.SetRenderWindow(window)
# Style
interactor_camera = vtk.vtkInteractorStyleMultiTouchCamera()
# interactor_camera = vtk.vtkInteractorStyleImage() # cannot rotate
# interactor_camera = vtk.vtkInteractorStyleRubberBand3D() # cannot rotate,can draw a rectangle
# print(interactor_camera.GetAutoAdjustCameraClippingRange()) #1
interactor_camera.AutoAdjustCameraClippingRangeOff()
# interactor_camera.SetClippingRange(0, 1000000) # default is (0.1,1000) # not working
win_render.SetInteractorStyle(interactor_camera) # what if we comment it here
# win_render.SetInteractorStyle(vtk.vtkInteractorStyleMultiTouchCamera())
if parallel:
'''set camera''' # this part is new added
renderer.ResetCamera()
camera = vtk.vtkCamera()
# cam_K = np.array([[2000, 0, 2400], [0, 2000, 1600], [0, 0, 1]])
# camera_center = np.array([0, -3, 3])
# centroid = camera_center
# camera = set_camera(centroid, [[0., 0., 0.], [-centroid[0], -centroid[1],
# centroid[0] ** 2 / centroid[2] + centroid[1] ** 2 / centroid[
# 2]]], cam_K)
camera.ParallelProjectionOn()
# camera.SetClippingRange(0,1000000) # default is (0.1,1000) # not working
# camera.SetObliqueAngles(0,100) # (45,90) by default. # not working too
# camera.SetViewAngle(90) # 30 by default
renderer.SetActiveCamera(camera)
# Insert Actor
for actor in actors:
renderer.AddActor(actor)
# add axis actor
axes = vtk.vtkAxesActor()
renderer.AddActor(axes)
# visaulize
win_render.Initialize()
win_render.Start()
def get_pc_actor_vtk(pc_np,color = (0,0,1),alpha = 0.3,point_size = 3,
normalize=False,bbox = None,bobox_rotation_only=False,
use_translation=False,translation=None):
if isinstance(pc_np,str):
if os.path.exists(pc_np):
pc_np = read_ply(pc_np)
else:
# print('wrong pc input:',pc_np)
pc_np = np.zeros((1,3))
alpha = 0
obj_points = pc_np
if bbox is not None:
# print('bbox is not None', bbox)
if bobox_rotation_only:
obj_points = pc_fit2standard_rotation_only(obj_points, bbox)
else:
obj_points = pc_fit2standard(obj_points, bbox)
if normalize and (bbox is None):
# get loc and scale for normalization
mesh = trimesh.load(meshfile, process=False)
# # swap axes
transform_GTtxt2ply = np.array([[1, 0, 0], [0, 0, -1], [0, 1, 0]])
transform_m = np.array([[0, 0, -1], [-1, 0, 0], [0, 1, 0]])
obj_points = obj_points.dot(transform_GTtxt2ply)
mesh.vertices = obj_points
# get loc and scale
bbox = mesh.bounding_box.bounds
loc = (bbox[0] + bbox[1]) / 2 # mesh.apply_translation(-loc)
scale = (bbox[1] - bbox[0]).max() # mesh.apply_scale(1 / scale)
# move to origin
# obj_points = obj_points - (obj_points.max(0) + obj_points.min(0)) / 2.
obj_points = obj_points - loc
# scale
obj_points = obj_points / scale
if use_translation:
# # get points from object
# rotate
# rotate through z axis, angle: theta GTorientation - proposal_orientation
theta = np.pi / 9 #
obj_points = obj_points.dot(get_rotation_matrix(theta + np.pi, 'y')) # rotate through axis by theta
# print(get_rotation_matrix(theta,'x'))
# print(get_rotation_matrix(theta,'y'))
obj_points = obj_points.dot(get_rotation_matrix(-theta, 'x')) # rotate through axis by theta
# move
obj_points = obj_points + np.array(translation)
# 新建 vtkPoints 实例
points = vtk.vtkPoints()
# 导入点数据
points.SetData(numpy_to_vtk(obj_points))
# 新建 vtkPolyData 实例
polydata = vtk.vtkPolyData()
# 设置点坐标
polydata.SetPoints(points)
# 顶点相关的 filter
vertex = vtk.vtkVertexGlyphFilter()
vertex.SetInputData(polydata)
# mapper 实例
mapper = vtk.vtkPolyDataMapper()
# 关联 filter 输出
mapper.SetInputConnection(vertex.GetOutputPort())
# actor 实例
actor = vtk.vtkActor()
# 关联 mapper
actor.SetMapper(mapper)
# actor.GetProperty().SetColor(1, 0, 0) # 设置点颜色
actor.GetProperty().SetColor(color) # 设置点颜色
actor.GetProperty().SetPointSize(point_size)
actor.GetProperty().SetOpacity(alpha)
return actor
def get_colorful_pc_actor_vtk(pc_np,point_colors = None,point_size = 3, opacity = 0.3,palette_name = 'crest_r',light = 1,cut=True):
pc_np = convert_torch2np(pc_np)
if point_colors is not None:
point_colors = convert_torch2np(point_colors)
centroid = np.array([3, 0, 3])
def set_points_property( point_clouds, point_colors):
points = vtk.vtkPoints()
vertices = vtk.vtkCellArray()
colors = vtk.vtkUnsignedCharArray()
colors.SetNumberOfComponents(3)
colors.SetName('Color')
x3 = point_clouds[:, 0]
y3 = point_clouds[:, 1]
z3 = point_clouds[:, 2]
for x, y, z, c in zip(x3, y3, z3, point_colors):
id = points.InsertNextPoint([x, y, z])
colors.InsertNextTuple3(*c)
vertices.InsertNextCell(1)
vertices.InsertCellPoint(id)
# Create a polydata object
point = vtk.vtkPolyData()
# Set the points and vertices we created as the geometry and topology of the polydata
point.SetPoints(points)
point.SetVerts(vertices)
point.GetPointData().SetScalars(colors)
point.GetPointData().SetActiveScalars('Color')
return point
colors = np.linalg.norm(pc_np - centroid, axis=1)
colors = depth_palette[np.int16((colors - colors.min()) / (colors.max() - colors.min()) * 99)]
mapper = vtk.vtkPolyDataMapper()
if point_colors is None:
point_colors =255 * colors* light
if point_colors.max() <=1.0:
point_colors *=255
if vtk.VTK_MAJOR_VERSION <= 5:
mapper.SetInput(set_points_property(pc_np, point_colors))
else:
mapper.SetInputData(set_points_property(pc_np, point_colors))
point_actor = vtk.vtkActor()
point_actor.SetMapper(mapper)
point_actor.GetProperty().SetPointSize(point_size)
point_actor.GetProperty().SetOpacity(opacity)
point_actor.GetProperty().SetInterpolationToPBR()
return point_actor
def get_text_actor_vtk(str="hihihihihihihihihihi",position = [0,0,0]):
text_source = vtk.vtkVectorText()
text_source.SetText(str)
# text_source.SetTextProperty().SetFontSize(20) # not ok
polyDataMapper = vtk.vtkPolyDataMapper()
polyDataMapper.SetInputConnection(text_source.GetOutputPort()) # this is the key
# actor = vtk.vtkActor()
actor = vtk.vtkFollower()
actor.SetMapper(polyDataMapper)
actor.GetProperty().SetColor(1.0,0,0)
scale_factor = 0.1
actor.SetScale(scale_factor,scale_factor,scale_factor)
offset_factor = 0.05
actor.SetPosition(position[0], position[1],position[2]);
return actor
def pc_fit2standard(points,bbox):
# translate: move to origin
# print('pc_fit2standard bbox',bbox[0:3])
# print('pc_fit2standard bbox',bbox[0:3].shape)
points = points - bbox[0:3]
# rotate
orientation = - bbox[6]
axis_rectified = np.array(
[[np.cos(orientation), np.sin(orientation), 0], [-np.sin(orientation), np.cos(orientation), 0], [0, 0, 1]])
points = points.dot(axis_rectified)
# rescale
# min_xyz = points.min(0)
# max_xyz = points.max(0)
# lengh_xyz = max_xyz - min_xyz
scale = np.max(bbox[3:6])
# # points = points - (max_xyz + min_xyz) / 2
# # points = points / lengh_xyz.max(0) # choose between theses2
points /= scale # choose between these 2
# swap axes
transform_m = np.array([[0, 0, -1], [-1, 0, 0], [0, 1, 0]])
points = points.dot(transform_m)
# print('np.max(points)',np.max(points))
# print('np.min(points)',np.min(points))
# print(scale,np.max(lengh_xyz))
return points
def pc_fit2standard_rotation_only(points,bbox):
# translate: move to origin
min_xyz = points.min(0)
max_xyz = points.max(0)
# points = points - bbox[0:3]
points = points - (max_xyz+min_xyz)/2
# rotate
orientation = - bbox[6]
axis_rectified = np.array(
[[np.cos(orientation), np.sin(orientation), 0], [-np.sin(orientation), np.cos(orientation), 0], [0, 0, 1]])
points = points.dot(axis_rectified)
# rescale
min_xyz = points.min(0)
max_xyz = points.max(0)
lengh_xyz = max_xyz - min_xyz
# scale = np.max(bbox[3:6])
scale = np.max(lengh_xyz)
points /= scale # choose between these 2
# swap axes
transform_m = np.array([[0, 0, -1], [-1, 0, 0], [0, 1, 0]])
points = points.dot(transform_m)
# print('np.max(points)',np.max(points))
# print('np.min(points)',np.min(points))
# print(scale,np.max(lengh_xyz))
return points
def get_mesh_actor_vtk(meshfile,
color = [1.0,0.67,0.6],opacity =1,
use_translation = False, translation =(0,0,0),
normalize = False,bbox = None, bobox_rotation_only = False):
'''get data'''
if isinstance(meshfile,str):
if ".ply" in meshfile: # proposal mesh
vtk_object = vtk.vtkPLYReader()
vtk_object.SetFileName(meshfile)
vtk_object.Update()
polydata = vtk_object.GetOutput()
elif ".obj" in meshfile: # GT mesh
vtk_object = vtk.vtkOBJReader()
vtk_object.SetFileName(meshfile)
vtk_object.Update()
polydata = vtk_object.GetOutput()
elif ".off" in meshfile:
polydata = read_off_vtk(meshfile)
# print("off", type(vtk_object))
else:
print("wrong",meshfile)
else:
polydata = read_trimesh_vtk(meshfile)
if bbox is not None:
# print('bbox is not None', bbox)
obj_points = vtk_to_numpy(polydata.GetPoints().GetData()).astype(np.float64)
if bobox_rotation_only:
obj_points = pc_fit2standard_rotation_only(obj_points,bbox)
else:
obj_points = pc_fit2standard(obj_points, bbox)
points_array = numpy_to_vtk(obj_points[..., :3], deep=True)
polydata.GetPoints().SetData(points_array)
if normalize and (bbox is None):
# print('normalize')
obj_points = vtk_to_numpy(polydata.GetPoints().GetData()).astype(np.float64)
# get loc and scale for normalization
mesh = trimesh.load(meshfile, process=False)
# # swap axes
transform_GTtxt2ply = np.array([[1, 0, 0], [0, 0, -1], [0, 1, 0]])
transform_m = np.array([[0, 0, -1], [-1, 0, 0], [0, 1, 0]])
obj_points = obj_points.dot(transform_GTtxt2ply)
mesh.vertices = obj_points
# get loc and scale
bbox = mesh.bounding_box.bounds
loc = (bbox[0] + bbox[1]) / 2 # mesh.apply_translation(-loc)
scale = (bbox[1] - bbox[0]).max() # mesh.apply_scale(1 / scale)
# move to origin
# obj_points = obj_points - (obj_points.max(0) + obj_points.min(0)) / 2.
obj_points = obj_points - loc
# scale
obj_points = obj_points / scale
points_array = numpy_to_vtk(obj_points[..., :3], deep=True)
polydata.GetPoints().SetData(points_array)
if use_translation:
# # get points from object
# polydata = vtk_object.GetOutput()
# read points using vtk_to_numpy
obj_points = vtk_to_numpy(polydata.GetPoints().GetData()).astype(np.float64)
if 'obj' in meshfile: # need extra normalize (ply are all normalized already)
# get loc and scale for normalization
mesh = trimesh.load(meshfile, process=False)
bbox = mesh.bounding_box.bounds
loc = (bbox[0] + bbox[1]) / 2 # mesh.apply_translation(-loc)
scale = (bbox[1] - bbox[0]).max() # mesh.apply_scale(1 / scale)
# move to origin
# obj_points = obj_points - (obj_points.max(0) + obj_points.min(0)) / 2.
obj_points = obj_points - loc
# scale
obj_points = obj_points/scale
# rotae
# rotate through z axis, angle: theta GTorientation - proposal_orientation
theta = np.pi / 9 #
obj_points = obj_points.dot(get_rotation_matrix(theta+np.pi ,'y')) # rotate through axis by theta
# print(get_rotation_matrix(theta,'x'))
# print(get_rotation_matrix(theta,'y'))
obj_points = obj_points.dot(get_rotation_matrix(-theta,'x')) # rotate through axis by theta
# move
obj_points = obj_points + np.array(translation)
# print(obj_points[:,0].max(0),obj_points[:,0].min(0))
# print(obj_points[:,1].max(0),obj_points[:,1].min(0))
# print(obj_points[:,2].max(0),obj_points[:,2].min(0))
# # obj_points = obj_points.dot(np.diag(1 / (obj_points.max(0) - obj_points.min(0)))).dot(
# # np.diag(box['box3D'][3:6]))
points_array = numpy_to_vtk(obj_points[..., :3], deep=True)
polydata.GetPoints().SetData(points_array)
# vtk_object.Update()
'''set mapper'''
mapper = vtk.vtkPolyDataMapper()
# mapper.SetInputConnection(vtk_object.GetOutputPort()) # vtk_object is vtkmodules.vtkCommonDataModel.vtkPolyData
if vtk.VTK_MAJOR_VERSION <= 5:
mapper.SetInput(polydata)
else:
mapper.SetInputData(polydata)
'''set actor'''
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor.GetProperty().SetColor(color)
actor.GetProperty().SetOpacity(opacity)
'''material: doesn't seem helpful'''
# actor.GetProperty().SetDiffuse(0.1) #
actor.GetProperty().SetAmbient(0.1)
# actor.GetProperty().SetSpecular(0.2)
return actor
def get_bbox_actor_vtk(bboxes,color = [1.0,0.67,0.6],opacity =1):
bbox_param = bboxes
centers = bbox_param[:,:3]
orientation = bbox_param[:,6]
sizes = bbox_param[:,3:6]
axis_rectified = np.array(
[[np.cos(orientation), np.sin(orientation), 0], [-np.sin(orientation), np.cos(orientation), 0], [0, 0, 1]])
vectors = np.diag(sizes / 2.).dot(axis_rectified)
print(vectors)
corners = get_box_corners(center,vectors)
# center = bbox_param[:3]
# orientation = bbox_param[6]
# sizes = bbox_param[3:6]
#
# axis_rectified = np.array(
# [[np.cos(orientation), np.sin(orientation), 0], [-np.sin(orientation), np.cos(orientation), 0], [0, 0, 1]])
# vectors = np.diag(sizes / 2.).dot(axis_rectified)
#
# corners = get_box_corners(center,vectors)
def get_box_corners( center, vectors):
'''
Convert box center and vectors to the corner-form
:param center:
:param vectors:
:return: corner points and faces related to the box
'''
corner_pnts = [None] * 8
corner_pnts[0] = tuple(center - vectors[0] - vectors[1] - vectors[2])
corner_pnts[1] = tuple(center + vectors[0] - vectors[1] - vectors[2])
corner_pnts[2] = tuple(center + vectors[0] + vectors[1] - vectors[2])
corner_pnts[3] = tuple(center - vectors[0] + vectors[1] - vectors[2])
corner_pnts[4] = tuple(center - vectors[0] - vectors[1] + vectors[2])
corner_pnts[5] = tuple(center + vectors[0] - vectors[1] + vectors[2])
corner_pnts[6] = tuple(center + vectors[0] + vectors[1] + vectors[2])
corner_pnts[7] = tuple(center - vectors[0] + vectors[1] + vectors[2])
faces = [(0, 3, 2, 1), (4, 5, 6, 7), (0, 1, 5, 4), (1, 2, 6, 5), (2, 3, 7, 6), (0, 4, 7, 3)]
return corner_pnts, faces
def vis_pc_vtk(pc_np):
# 新建 vtkPoints 实例
points = vtk.vtkPoints()
# 导入点数据
points.SetData(numpy_to_vtk(pc_np))
# 新建 vtkPolyData 实例
polydata = vtk.vtkPolyData()
# 设置点坐标
polydata.SetPoints(points)
# 顶点相关的 filter
vertex = vtk.vtkVertexGlyphFilter()
vertex.SetInputData(polydata)
# mapper 实例
mapper = vtk.vtkPolyDataMapper()
# 关联 filter 输出
mapper.SetInputConnection(vertex.GetOutputPort())
# actor 实例
actor = vtk.vtkActor()
# 关联 mapper
actor.SetMapper(mapper)
actor.GetProperty().SetColor(1, 0, 0) # 设置点颜色
actor.GetProperty().SetPointSize(3)
# renderer
renderer = vtk.vtkRenderer()
renderer.SetBackground(1, 1, 1) # 设置背景颜色
# Renderer Window
window = vtk.vtkRenderWindow()
window.AddRenderer(renderer)
window.FullScreenOn() # 相当于SetFullScreen(True)
window.BordersOn() # 相当于SetBorders(True)
# System Event
win_render = vtk.vtkRenderWindowInteractor()
win_render.SetRenderWindow(window)
# Style
interactor_camera = vtk.vtkInteractorStyleMultiTouchCamera()
print(interactor_camera.GetAutoAdjustCameraClippingRange())
interactor_camera.AutoAdjustCameraClippingRangeOn()
win_render.SetInteractorStyle(interactor_camera)
# win_render.SetInteractorStyle(vtk.vtkInteractorStyleMultiTouchCamera())
# Insert Actor
renderer.AddActor(actor)
win_render.Initialize()
win_render.Start()
def get_rotation_matrix (theta, axis):
if axis == 'x':
rotation_matrix = np.array(
[[1, 0, 0],
[0, np.cos(theta), -np.sin(theta)],
[0, np.sin(theta), np.cos(theta)]])
elif axis == 'y':
rotation_matrix = np.array(
[[np.cos(theta), 0, np.sin(theta)],
[0, 1, 0],
[-np.sin(theta), 0, np.cos(theta)]])
elif axis == 'z':
rotation_matrix = np.array(
[[np.cos(theta), np.sin(-theta), 0],
[np.sin(theta), np.cos(theta), 0],
[0, 0, 1]])
else:
print('wrong axis:',axis)
rotation_matrix = 'error'
return rotation_matrix
def read_trimesh_vtk(mesh):
v = np.array(mesh.vertices)
f = np.array(mesh.faces)
nodes = v
elements = f
# Make the building blocks of polyData attributes
Mesh = vtk.vtkPolyData()
Points = vtk.vtkPoints()
Cells = vtk.vtkCellArray()
# Load the point and cell's attributes
for i in range(len(nodes)):
Points.InsertPoint(i, nodes[i])
for i in range(len(elements)):
Cells.InsertNextCell(mkVtkIdList(elements[i]))
# Assign pieces to vtkPolyData
Mesh.SetPoints(Points)
Mesh.SetPolys(Cells)
return Mesh
def read_off_vtk(meshfile):
mesh = trimesh.load(meshfile)
return read_trimesh_vtk(mesh)
# v = np.array(mesh.vertices)
# f = np.array( mesh.faces)
# nodes = v
# elements = f
#
# # Make the building blocks of polyData attributes
# Mesh = vtk.vtkPolyData()
# Points = vtk.vtkPoints()
# Cells = vtk.vtkCellArray()
#
# # Load the point and cell's attributes
# for i in range(len(nodes)):
# Points.InsertPoint(i, nodes[i])
#
# for i in range(len(elements)):
# Cells.InsertNextCell(mkVtkIdList(elements[i]))
#
# # Assign pieces to vtkPolyData
# Mesh.SetPoints(Points)
# Mesh.SetPolys(Cells)
# return Mesh
def mkVtkIdList(it):
vil = vtk.vtkIdList()
for i in it:
vil.InsertNextId(int(i))
return vil
def read_ply(filename):
""" read XYZ point cloud from filename PLY file """
plydata = PlyData.read(filename)
pc = plydata['vertex'].data
pc_array = np.array([[x, y, z] for x,y,z in pc])
return pc_array
# ---------------- vis scene ----------------
def main_compare_dimr_scenes(mesh = True, pc = False):
# root_path = '../dimr/datasets/gt_meshes/'
root_paths = [
# 'datasets/gt_meshes/',
# 'datasets/dimr_meshes/',
# 'exp/scannetv2/rfs/rfs_pretrained_scannet/result/epoch256_nmst0.3_scoret0.05_npointt100/val/',
# 'exp/scannetv2/rfs/my_testteacher_scannet/result/epoch256_nmst0.3_scoret0.05_npointt100/val/',
# 'exp/scannetv2/rfs/my_pretrained_scannet/result/epoch256_nmst0.3_scoret0.05_npointt100/val/',
# 'exp/scannetv2/rfs/rfs_phase2_epoch9_scannet/result/epoch256_nmst0.3_scoret0.05_npointt100/val/',
# f'exp/scannetv2/rfs/[2022.09.02]pcn_test_scannet/result/epoch256_nmst0.3_scoret0.05_npointt100/val/',
# f'exp/scannetv2/rfs/[2022.09.05]test_pcn_train_on_pretrained_scannet/result/epoch256_nmst0.3_scoret0.05_npointt100/val/',
# 'exp/scannetv2/rfs/[2022.09.05]test_pcn_train_on_pretrained_high_thre_scannet/result/epoch256_nmst0.3_scoret0.4_npointt100/val/',
# 'exp/scannetv2/rfs/[2022.09.05]test_self_trained_pcn_scannet/result/epoch256_nmst0.3_scoret0.4_npointt100/val/',
# 'exp/scannetv2/rfs/[2022.09.08]test_trained_gt_scannet/result/epoch256_nmst0.3_scoret0.05_npointt100/val/',
# 'exp/scannetv2/rfs/[2022.09.08.19.22]test_trained_gt2_scannet/result/epoch256_nmst0.3_scoret0.4_npointt100/val/',
# 'exp/scannetv2/rfs/my_phase2_epoch5_scannet/result/epoch256_nmst0.3_scoret0.05_npointt100/val/',
# 'exp/scannetv2/rfs/my_phase2_epoch5_scannet_student/result/epoch256_nmst0.3_scoret0.05_npointt100/val/',
# '../original_dimr/exp/scannetv2/rfs/rfs_pretrained_0.4_scannet/result/epoch256_nmst0.3_scoret0.4_npointt100/val/',
# '../dimr/exp/scannetv2/rfs/2022.10.12_test_all_scannet/result/epoch256_nmst0.3_scoret0.05_npointt100/val/',
# '../2dimr/exp/scannetv2/rfs/my_test_phase2_scannet/result/epoch256_nmst0.3_scoret0.05_npointt100/val/',
# '../2dimr/exp/scannetv2/rfs/2022.10.25.11.24_test_phase2_epoch4/result/epoch256_nmst0.3_scoret0.05_npointt100/val/',
# '../dimr/exp/scannetv2/rfs/2022.10.27.15.45_test_fixbox_all_epoch4/result/epoch256_nmst0.3_scoret0.05_npointt100/val/',
# '../dimr/exp/scannetv2/rfs/2022.10.31.15.07_test_nobboxscore_seg_cls_bbox_mesh/result/epoch256_nmst0.3_scoret0.05_npointt100/val/',
'../dimr/exp/scannetv2/rfs/2022.10.27.3finalscore/2022.10.27.16.50_test_fixbox_all_epoch4/result/epoch256_nmst0.3_scoret0.05_npointt100/val/',
]
colors = [
# green,
blue,
red,
]
# root_path = 'exp/scannetv2/rfs/rfs_pretrained_scannet/result/epoch256_nmst0.3_scoret0.05_npointt100/val/meshes'
# root_path = 'exp/scannetv2/rfs/my_pretrai ned_scannet/result/epoch256_nmst0.3_scoret0.05_npointt100/val/meshes'
# scene_names = ['scene0474_03', 'scene0704_01','scene0377_02','scene0606_02']
# scene_names = ['scene0423_01']
scene_names = ['scene0606_02']
scene_names = [
'scene0606_02',
'scene0046_00',
'scene0207_02',
'scene0700_01',
'scene0552_01',
'scene0377_00',
'scene0377_02',
'scene0025_00',
'scene0334_01',
'scene0423_02',
'scene0203_01',
'scene0591_00',
'scene0406_00',
'scene0193_00'
]
if len(root_paths)>1:
opacity = 0.5
else:
opacity =1
for scene_name in scene_names:
print(scene_name)
actor_list = []
for i,root_path in enumerate(root_paths):
if not os.path.exists(root_path):
print("root path doesn't exist",root_path)
else:
print(root_path)
root_path = root_path.replace('[','?').replace(']','?')
# mesh
if mesh:
match_str = os.path.join(root_path, 'meshes',scene_name + "*")
mesh_paths = glob(match_str)
print(match_str)
print(mesh_paths)
for path in mesh_paths:
if os.path.exists(path):
actor_list.append(get_mesh_actor_vtk(path, opacity=opacity,color=colors[i]))
else:
print("path doens't exists:", path)
# pc
if pc:
match_str = os.path.join(root_path, 'completed_pc', scene_name + "*")
completed_pc_paths = glob(match_str)
for path in completed_pc_paths:
if os.path.exists(path):
# print(path)
pc_np = read_ply(path)
actor_list.append(get_pc_actor_vtk(pc_np, alpha=1, color=colors[i]))
else:
print("path doens't exists:", path)
vis_actors_vtk(actor_list)
def main_vis_dimr_scenes():
# test_scene_names = get_test_scene_names()
# root_path = '../dimr/datasets/gt_meshes/'
# root_path = 'datasets/gt_meshes/'
root_path = 'exp/scannetv2/rfs/rfs_pretrained_scannet/result/epoch256_nmst0.3_scoret0.05_npointt100/val/meshes'
# root_path = 'exp/scannetv2/rfs/my_pretrai ned_scannet/result/epoch256_nmst0.3_scoret0.05_npointt100/val/meshes'
scene_name = "scene0474_03"
# scene_names = ['scene0474_03', 'scene0704_01']
# scene_names = ['scene0377_02']
scene_names = ['scene0606_02']
for scene_name in scene_names:
print(scene_name)
match_str = os.path.join(root_path, scene_name + "*")
mesh_paths = glob(match_str)
actor_list = []
for path in mesh_paths:
if os.path.exists(path):
actor_list.append(get_mesh_actor_vtk(path, opacity=1))
else:
print("path doens't exists:", path)
vis_actors_vtk(actor_list)
# ------------------vis genearted meshes------------------------------------
def all_target_dict2by_type_dict(all_target_dicts,processed_data_path = 'datasets/scannet/processed_data/'
):
return_dict = {
"table":{},
"chair":{},
"bookshelf":{},
"sofa":{},
"trash_bin":{},
"cabinet":{},
"display":{},
"bathtub":{},
}
for dict in all_target_dicts:
for scene_name, target_id_list in dict.items():
'''prepare scene GT data'''
GT_data_file = os.path.join(processed_data_path, scene_name + "/", 'bbox.pkl')
with open(GT_data_file, 'rb') as file:
bboxes = pickle.load((file))
GT_mesh_paths = [''] * len(target_id_list)
for i, target_id in enumerate(target_id_list):
'''get GT mesh'''
if not os.path.exists(GT_mesh_paths[i]):
for box_target_id, box in enumerate(bboxes):
if box_target_id == target_id:
target_cls_str = ShapeNetIDMap[box['shapenet_catid'][1:]]
# print(target_cls_str)
if scene_name not in return_dict[target_cls_str].keys():
return_dict[target_cls_str][scene_name] = []
return_dict[target_cls_str][scene_name].append(target_id)
return return_dict
def vis_all_scene_data_vtk_new(start_id=0, skip=1, selected_object_dict=None,
root_paths=["out/iscnet/test_all_1489_scenes/visualization/"],
simplified = True,processed_data_path = 'datasets/scannet/processed_data/',
tittles = [''],by_row = True):
root_path = root_paths[0]
global_GT_mesh_path_dict = {} # {"scene0000_02":[GTpath1,GTpath2,...]}
global_proposal_mesh_path_dicts = [] # list of dicts
for i, root_path in enumerate(root_paths):
global_proposal_mesh_path_dicts.append({})
for scene_name, target_id_list in selected_object_dict.items():
'''prepare scene GT data'''
GT_data_file = os.path.join(processed_data_path, scene_name + "/", 'bbox.pkl')
with open(GT_data_file, 'rb') as file:
bboxes = pickle.load((file))
GT_mesh_paths = ['']*len(target_id_list)
'''go through all root paths'''
for root_path_id, root_path in enumerate(root_paths):
# proposal_mesh_path_dict = {}
proposal_mesh_paths = []
for i,target_id in enumerate(target_id_list):
# print('target_id',target_id)
# for all strings in proposal_pc_pathes, select one include "target_targetId"
'''get proposal_mesh'''
proposal_mesh_path_match_str = os.path.join(root_path, "*" +scene_name + "/",
'proposal_*_target_%d_*mesh.ply' % target_id)
# print(proposal_mesh_path_match_str)
temp = glob(proposal_mesh_path_match_str)
if (len(temp) == 0): # this object is not detected
proposal_mesh_paths.append("")
print("proposal noet found:",proposal_mesh_path_match_str)
else:
proposal_mesh_paths.append(temp[0])
'''get GT mesh'''
if not os.path.exists(GT_mesh_paths[i]):
for box_target_id, box in enumerate(bboxes):
if box_target_id == target_id:
target_cls_str = ShapeNetIDMap[box['shapenet_catid'][1:]]
box['box3D'][6] = np.mod(box['box3D'][6] + np.pi, 2 * np.pi) - np.pi
if simplified:
ShapeNetv2_path = "datasets/ShapeNetv2_data/watertight_scaled_simplified/"
shapenet_model_path = os.path.join(ShapeNetv2_path, box['shapenet_catid'] + "/",
box['shapenet_id'] + '.off')
else:
ShapeNetv2_path = "datasets/ShapeNetCore.v2/"
shapenet_model_path = os.path.join(ShapeNetv2_path, box['shapenet_catid'] + "/",
box['shapenet_id'] + "/models/model_normalized.obj")
# print(shapenet_model_path,os.path.exists(shapenet_model_path))
GT_mesh_paths[i] = shapenet_model_path
global_proposal_mesh_path_dicts[root_path_id][scene_name]=proposal_mesh_paths
global_GT_mesh_path_dict[scene_name] = GT_mesh_paths
'''visualize data'''
tittles = [*tittles,'GT']
cat_dicts = [*global_proposal_mesh_path_dicts, global_GT_mesh_path_dict]
# print(cat_dicts)
# for scene_name, path_list in global_GT_mesh_path_dict.items():
# for path in path_list:
# print("'" +path + "',")
all_mesh_actors = []
red = [255.0 /255, #1
171.0 /255, # 0.67
153.0 /255] # 0.6
margin = 1.2
x_offset_factor = 0.05
for root_path_id, mesh_dict in enumerate(cat_dicts): # same row
if by_row:
y_shift = - root_path_id * margin
x_shift = 0
offset_factor = 1
text_position =[x_shift - x_offset_factor * len(tittles[root_path_id]) -1 ,
y_shift ,#+ offset_factor,
0]
else:
x_shift = root_path_id*margin
y_shift = 0
text_position = [x_shift - x_offset_factor * len(tittles[root_path_id]),
y_shift - 1,
0]
all_mesh_actors.append(get_text_actor_vtk(tittles[root_path_id], text_position))
for scene_name,pathes in mesh_dict.items():
# print(scene_name,":",pathes)
for path in pathes: # same volume
if os.path.exists(path):
pass
all_mesh_actors.append(get_mesh_actor_vtk(path, red,1.0,True,(x_shift,y_shift,0)))
if by_row:
x_shift = x_shift + margin
else:
y_shift = y_shift +margin
vis_actors_vtk(all_mesh_actors,parallel=True)
def rename_files(path):
scene_path_list = os.listdir(path)
for i, scene_path in enumerate(scene_path_list):
if ("scene" in scene_path):
# print(scene_path)
new_scene_path = "scene%s" % scene_path.split("scene")[1]
print(new_scene_path)
command = "mv %s %s" % (os.path.join(path, scene_path), os.path.join(path, new_scene_path))
print(command)
# os.system(command)
os.rename(os.path.join(path, scene_path), os.path.join(path, new_scene_path))