| import networkx as nx |
| import trimesh |
| import matplotlib.pyplot as plt |
| import numpy as np |
| import pyvista as pv |
|
|
|
|
| class ObjNode(object): |
| def __init__(self, id=None, label=None, mesh=None, position=None, size=None, children=[], room_id = None,dataset='scannet'): |
| self.id = id |
| self.label = label |
| self.obj_mesh = mesh |
| self.size = size |
| self.position = position |
| self.children = children |
| self.room_id = room_id |
|
|
| self.align_matrix, self.position, self.z_min, self.z_max, self.bottom_rect, self.top_rect = self.get_object_information(dataset) |
|
|
| def __str__(self): |
| return "[{}:{},{},{}]".format(self.id, self.label, self.position, self.angle) |
|
|
| def get_object_information(self, dataset): |
| position = self.position |
| axis_align_matrix = None |
| x_min = position[0] - self.size[0] / 2 |
| x_max = position[0] + self.size[0] / 2 |
| y_min = position[1] - self.size[1] / 2 |
| y_max = position[1] + self.size[1] / 2 |
| z_min = position[2] - self.size[2] / 2 |
| z_max = position[2] + self.size[2] / 2 |
| top_vertics = np.array([[x_min, y_min, z_min], [x_max, y_min, z_min], |
| [x_max, y_max, z_min], [x_min, y_max, z_min]]) |
| bottom_vertics = np.array([[x_min, y_min, z_max], [x_max, y_min, z_max], [x_max, y_max, z_max], |
| [x_min, y_max, z_max]]) |
|
|
| return axis_align_matrix, position, z_min, z_max, bottom_vertics, top_vertics |
|
|
| def display_obb_box(self, scene_visible = True): |
|
|
| axis_align_matrix = self.align_matrix |
|
|
| obj_mesh = trimesh.load(self.obj_mesh) |
| scene_ply = pv.read(self.scan_ply) |
|
|
| |
| obj_mesh.apply_transform(axis_align_matrix) |
|
|
| if self.label == 'floor': |
|
|
| scene_mesh = trimesh.load(self.scan_mesh) |
| scene_mesh.apply_transform(axis_align_matrix) |
|
|
| |
| tgt_points = np.array(scene_mesh.bounding_box.as_outline().vertices) |
| tgt_edges = np.array(scene_mesh.bounding_box.as_outline().vertex_nodes) |
| tgt_points_new = [] |
| for edge in tgt_edges: |
| tgt_points_new.append(tgt_points[edge[0]]) |
| tgt_points_new.append(tgt_points[edge[1]]) |
|
|
| |
| plotter = pv.Plotter(off_screen=False) |
| light = pv.Light(light_type='headlight', intensity=0.2) |
| plotter.add_light(light) |
|
|
| plotter.add_mesh(scene_ply.transform(axis_align_matrix), rgb=True) |
| plotter.add_lines(np.array(tgt_points_new), color='red', width=3) |
|
|
| else: |
| |
| tgt_points = np.array(obj_mesh.bounding_box_oriented.as_outline().vertices) |
| tgt_edges = np.array(obj_mesh.bounding_box_oriented.as_outline().vertex_nodes) |
| tgt_points_new = [] |
| for edge in tgt_edges: |
| tgt_points_new.append(tgt_points[edge[0]]) |
| tgt_points_new.append(tgt_points[edge[1]]) |
|
|
| |
| aa_tgt_points = np.array(obj_mesh.bounding_box.as_outline().vertices) |
| aa_tgt_edges = np.array(obj_mesh.bounding_box.as_outline().vertex_nodes) |
| aa_tgt_points_new = [] |
| for edge in aa_tgt_edges: |
| aa_tgt_points_new.append(aa_tgt_points[edge[0]]) |
| aa_tgt_points_new.append(aa_tgt_points[edge[1]]) |
|
|
| |
| plotter = pv.Plotter(off_screen=False) |
| light = pv.Light(light_type='headlight', intensity=0.2) |
| plotter.add_light(light) |
|
|
| plotter.add_mesh(scene_ply.transform(axis_align_matrix), rgb=True) |
| plotter.add_lines(np.array(tgt_points_new), color='red', width=3) |
| plotter.add_lines(np.array(aa_tgt_points_new), color='yellow', width=3) |
|
|
| plotter.camera.zoom(1.2) |
| plotter.show() |
|
|
|
|
| if __name__ == '__main__': |
| obj_sample = ObjNode(id=1, label='', size='', |
| mesh='../../DataAnnotation/data/scannet_objs/scene0000_00/45/mesh.obj') |
| G = nx.DiGraph() |
| G.add_node(obj_sample.id, desc = 'here1') |
| G.add_node(obj_sample.id+1, desc = 'here2') |
| G.add_node(obj_sample.id +3, desc = 'here3') |
| G.add_edge(1, 2, name ='support') |
| G.add_edge(2, 1, name='support2') |
| pos = nx.spring_layout(G) |
| nx.draw(G,pos) |
| node_labels = nx.get_node_attributes(G, 'desc') |
| nx.draw_networkx_labels(G, pos, labels=node_labels) |
| edge_labels = nx.get_edge_attributes(G, 'name') |
| nx.draw_networkx_edge_labels(G, pos, edge_labels=edge_labels) |
|
|
| plt.show() |
|
|
