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