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Visualization Utils
Author: Xiaoyang Wu (xiaoyang.wu.cs@gmail.com)
Please cite our work if the code is helpful to you.
"""
import os
try:
import open3d as o3d
except ImportError:
o3d = None
import numpy as np
import torch
def to_numpy(x):
if isinstance(x, torch.Tensor):
x = x.clone().detach().cpu().numpy()
assert isinstance(x, np.ndarray)
return x
def get_point_cloud(coord, color=None, verbose=True):
if not isinstance(coord, list):
coord = [coord]
if color is not None:
color = [color]
pcd_list = []
for i in range(len(coord)):
coord_ = to_numpy(coord[i])
if color is not None:
color_ = to_numpy(color[i])
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(coord_)
pcd.colors = o3d.utility.Vector3dVector(
np.zeros_like(coord_) if color is None else color_
)
pcd_list.append(pcd)
if verbose:
o3d.visualization.draw_geometries(pcd_list)
return pcd_list
def get_line_set(coord, line, color=(1.0, 0.0, 0.0), verbose=True):
coord = to_numpy(coord)
line = to_numpy(line)
colors = np.array([color for _ in range(len(line))])
line_set = o3d.geometry.LineSet()
line_set.points = o3d.utility.Vector3dVector(coord)
line_set.lines = o3d.utility.Vector2iVector(line)
line_set.colors = o3d.utility.Vector3dVector(colors)
if verbose:
o3d.visualization.draw_geometries([line_set])
return line_set
def save_point_cloud(coord, color=None, file_path="pc.ply", logger=None):
os.makedirs(os.path.dirname(file_path), exist_ok=True)
coord = to_numpy(coord)
if color is not None:
color = to_numpy(color)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(coord)
pcd.colors = o3d.utility.Vector3dVector(
np.ones_like(coord) if color is None else color
)
o3d.io.write_point_cloud(file_path, pcd)
if logger is not None:
logger.info(f"Save Point Cloud to: {file_path}")
def save_bounding_boxes(
bboxes_corners, color=(1.0, 0.0, 0.0), file_path="bbox.ply", logger=None
):
bboxes_corners = to_numpy(bboxes_corners)
# point list
points = bboxes_corners.reshape(-1, 3)
# line list
box_lines = np.array(
[
[0, 1],
[1, 2],
[2, 3],
[3, 0],
[4, 5],
[5, 6],
[6, 7],
[7, 0],
[0, 4],
[1, 5],
[2, 6],
[3, 7],
]
)
lines = []
for i, _ in enumerate(bboxes_corners):
lines.append(box_lines + i * 8)
lines = np.concatenate(lines)
# color list
color = np.array([color for _ in range(len(lines))])
# generate line set
line_set = o3d.geometry.LineSet()
line_set.points = o3d.utility.Vector3dVector(points)
line_set.lines = o3d.utility.Vector2iVector(lines)
line_set.colors = o3d.utility.Vector3dVector(color)
o3d.io.write_line_set(file_path, line_set)
if logger is not None:
logger.info(f"Save Boxes to: {file_path}")
def save_lines(
points, lines, color=(1.0, 0.0, 0.0), file_path="lines.ply", logger=None
):
points = to_numpy(points)
lines = to_numpy(lines)
colors = np.array([color for _ in range(len(lines))])
line_set = o3d.geometry.LineSet()
line_set.points = o3d.utility.Vector3dVector(points)
line_set.lines = o3d.utility.Vector2iVector(lines)
line_set.colors = o3d.utility.Vector3dVector(colors)
o3d.io.write_line_set(file_path, line_set)
if logger is not None:
logger.info(f"Save Lines to: {file_path}")
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