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import os
import json
import argparse
import open3d
# import pymesh
import numpy as np
import matplotlib.pyplot as plt
from shapely.geometry import Polygon
from descartes.patch import PolygonPatch
from misc.figures import plot_coords
from misc.colors import colormap_255, semantics_cmap
def visualize_wireframe(annos, vis=True, ret=False):
"""visualize wireframe
"""
colormap = np.array(colormap_255) / 255
junctions = np.array([item['coordinate'] for item in annos['junctions']])
_, junction_pairs = np.where(np.array(annos['lineJunctionMatrix']))
junction_pairs = junction_pairs.reshape(-1, 2)
# extract hole lines
lines_holes = []
for semantic in annos['semantics']:
if semantic['type'] in ['window', 'door']:
for planeID in semantic['planeID']:
lines_holes.extend(np.where(np.array(annos['planeLineMatrix'][planeID]))[0].tolist())
lines_holes = np.unique(lines_holes)
# extract cuboid lines
cuboid_lines = []
for cuboid in annos['cuboids']:
for planeID in cuboid['planeID']:
cuboid_lineID = np.where(np.array(annos['planeLineMatrix'][planeID]))[0].tolist()
cuboid_lines.extend(cuboid_lineID)
cuboid_lines = np.unique(cuboid_lines)
cuboid_lines = np.setdiff1d(cuboid_lines, lines_holes)
# visualize junctions
connected_junctions = junctions[np.unique(junction_pairs)]
connected_colors = np.repeat(colormap[0].reshape(1, 3), len(connected_junctions), axis=0)
junction_set = open3d.geometry.PointCloud()
junction_set.points = open3d.utility.Vector3dVector(connected_junctions)
junction_set.colors = open3d.utility.Vector3dVector(connected_colors)
# visualize line segments
line_colors = np.repeat(colormap[5].reshape(1, 3), len(junction_pairs), axis=0)
# color holes
if len(lines_holes) != 0:
line_colors[lines_holes] = colormap[6]
# color cuboids
if len(cuboid_lines) != 0:
line_colors[cuboid_lines] = colormap[2]
line_set = open3d.geometry.LineSet()
line_set.points = open3d.utility.Vector3dVector(junctions)
line_set.lines = open3d.utility.Vector2iVector(junction_pairs)
line_set.colors = open3d.utility.Vector3dVector(line_colors)
if vis:
open3d.visualization.draw_geometries([junction_set, line_set])
if ret:
return [junction_set, line_set]
def project(x, meta):
""" project 3D to 2D for polygon clipping
"""
proj_axis = max(range(3), key=lambda i: abs(meta['normal'][i]))
return tuple(c for i, c in enumerate(x) if i != proj_axis)
def project_inv(x, meta):
""" recover 3D points from 2D
"""
# Returns the vector w in the walls' plane such that project(w) equals x.
proj_axis = max(range(3), key=lambda i: abs(meta['normal'][i]))
w = list(x)
w[proj_axis:proj_axis] = [0.0]
c = -meta['offset']
for i in range(3):
c -= w[i] * meta['normal'][i]
c /= meta['normal'][proj_axis]
w[proj_axis] = c
return tuple(w)
def triangulate(points):
""" triangulate the plane for operation and visualization
"""
num_points = len(points)
indices = np.arange(num_points, dtype=np.int)
segments = np.vstack((indices, np.roll(indices, -1))).T
tri = pymesh.triangle()
tri.points = np.array(points)
tri.segments = segments
tri.verbosity = 0
tri.run()
return tri.mesh
def clip_polygon(polygons, vertices_hole, junctions, meta):
""" clip polygon the hole
"""
if len(polygons) == 1:
junctions = [junctions[vertex] for vertex in polygons[0]]
mesh_wall = triangulate(junctions)
vertices = np.array(mesh_wall.vertices)
faces = np.array(mesh_wall.faces)
return vertices, faces
else:
wall = []
holes = []
for polygon in polygons:
if np.any(np.intersect1d(polygon, vertices_hole)):
holes.append(polygon)
else:
wall.append(polygon)
# extract junctions on this plane
indices = []
junctions_wall = []
for plane in wall:
for vertex in plane:
indices.append(vertex)
junctions_wall.append(junctions[vertex])
junctions_holes = []
for plane in holes:
junctions_hole = []
for vertex in plane:
indices.append(vertex)
junctions_hole.append(junctions[vertex])
junctions_holes.append(junctions_hole)
junctions_wall = [project(x, meta) for x in junctions_wall]
junctions_holes = [[project(x, meta) for x in junctions_hole] for junctions_hole in junctions_holes]
mesh_wall = triangulate(junctions_wall)
for hole in junctions_holes:
mesh_hole = triangulate(hole)
mesh_wall = pymesh.boolean(mesh_wall, mesh_hole, 'difference')
vertices = [project_inv(vertex, meta) for vertex in mesh_wall.vertices]
return vertices, np.array(mesh_wall.faces)
def draw_geometries_with_back_face(geometries):
vis = open3d.visualization.Visualizer()
vis.create_window()
render_option = vis.get_render_option()
render_option.mesh_show_back_face = True
for geometry in geometries:
vis.add_geometry(geometry)
vis.run()
vis.destroy_window()
def convert_lines_to_vertices(lines):
"""convert line representation to polygon vertices
"""
polygons = []
lines = np.array(lines)
polygon = None
while len(lines) != 0:
if polygon is None:
polygon = lines[0].tolist()
lines = np.delete(lines, 0, 0)
lineID, juncID = np.where(lines == polygon[-1])
vertex = lines[lineID[0], 1 - juncID[0]]
lines = np.delete(lines, lineID, 0)
if vertex in polygon:
polygons.append(polygon)
polygon = None
else:
polygon.append(vertex)
return polygons
def visualize_plane(annos, args, eps=0.9):
"""visualize plane
"""
colormap = np.array(colormap_255) / 255
junctions = [item['coordinate'] for item in annos['junctions']]
if args.color == 'manhattan':
manhattan = dict()
for planes in annos['manhattan']:
for planeID in planes['planeID']:
manhattan[planeID] = planes['ID']
# extract hole vertices
lines_holes = []
for semantic in annos['semantics']:
if semantic['type'] in ['window', 'door']:
for planeID in semantic['planeID']:
lines_holes.extend(np.where(np.array(annos['planeLineMatrix'][planeID]))[0].tolist())
lines_holes = np.unique(lines_holes)
_, vertices_holes = np.where(np.array(annos['lineJunctionMatrix'])[lines_holes])
vertices_holes = np.unique(vertices_holes)
# load polygons
polygons = []
for semantic in annos['semantics']:
for planeID in semantic['planeID']:
plane_anno = annos['planes'][planeID]
lineIDs = np.where(np.array(annos['planeLineMatrix'][planeID]))[0].tolist()
junction_pairs = [np.where(np.array(annos['lineJunctionMatrix'][lineID]))[0].tolist() for lineID in lineIDs]
polygon = convert_lines_to_vertices(junction_pairs)
vertices, faces = clip_polygon(polygon, vertices_holes, junctions, plane_anno)
polygons.append([vertices, faces, planeID, plane_anno['normal'], plane_anno['type'], semantic['type']])
plane_set = []
for i, (vertices, faces, planeID, normal, plane_type, semantic_type) in enumerate(polygons):
# ignore the room ceiling
# if plane_type == 'ceiling' and semantic_type not in ['door', 'window']:
if plane_type == 'ceiling' or semantic_type in ['door', 'window']:
continue
plane_vis = open3d.geometry.TriangleMesh()
plane_vis.vertices = open3d.utility.Vector3dVector(vertices)
plane_vis.triangles = open3d.utility.Vector3iVector(faces)
if args.color == 'normal':
if np.dot(normal, [1, 0, 0]) > eps:
plane_vis.paint_uniform_color(colormap[0])
elif np.dot(normal, [-1, 0, 0]) > eps:
plane_vis.paint_uniform_color(colormap[1])
elif np.dot(normal, [0, 1, 0]) > eps:
plane_vis.paint_uniform_color(colormap[2])
elif np.dot(normal, [0, -1, 0]) > eps:
plane_vis.paint_uniform_color(colormap[3])
elif np.dot(normal, [0, 0, 1]) > eps:
plane_vis.paint_uniform_color(colormap[4])
elif np.dot(normal, [0, 0, -1]) > eps:
plane_vis.paint_uniform_color(colormap[5])
else:
plane_vis.paint_uniform_color(colormap[6])
elif args.color == 'manhattan':
# paint each plane with manhattan world
if planeID not in manhattan.keys():
plane_vis.paint_uniform_color(colormap[6])
else:
plane_vis.paint_uniform_color(colormap[manhattan[planeID]])
plane_set.append(plane_vis)
draw_geometries_with_back_face(plane_set)
def plot_floorplan(annos, polygons):
"""plot floorplan
"""
fig = plt.figure()
ax = fig.add_subplot(1, 1, 1)
junctions = np.array([junc['coordinate'][:2] for junc in annos['junctions']])
for (polygon, poly_type) in polygons:
polygon = Polygon(junctions[np.array(polygon)])
plot_coords(ax, polygon.exterior, alpha=0.5)
if poly_type == 'outwall':
patch = PolygonPatch(polygon, facecolor=semantics_cmap[poly_type], alpha=0)
else:
patch = PolygonPatch(polygon, facecolor=semantics_cmap[poly_type], alpha=0.5)
ax.add_patch(patch)
plt.axis('equal')
plt.axis('off')
plt.show()
def visualize_floorplan(annos, vis=True, ret=False):
"""visualize floorplan
"""
# extract the floor in each semantic for floorplan visualization
planes = []
for semantic in annos['semantics']:
for planeID in semantic['planeID']:
if annos['planes'][planeID]['type'] == 'floor':
planes.append({'planeID': planeID, 'type': semantic['type']})
if semantic['type'] == 'outwall':
outerwall_planes = semantic['planeID']
# extract hole vertices
lines_holes = []
for semantic in annos['semantics']:
if semantic['type'] in ['window', 'door']:
for planeID in semantic['planeID']:
lines_holes.extend(np.where(np.array(annos['planeLineMatrix'][planeID]))[0].tolist())
lines_holes = np.unique(lines_holes)
# junctions on the floor
junctions = np.array([junc['coordinate'] for junc in annos['junctions']])
junction_floor = np.where(np.isclose(junctions[:, -1], 0))[0]
# construct each polygon
polygons = []
for plane in planes:
lineIDs = np.where(np.array(annos['planeLineMatrix'][plane['planeID']]))[0].tolist()
junction_pairs = [np.where(np.array(annos['lineJunctionMatrix'][lineID]))[0].tolist() for lineID in lineIDs]
polygon = convert_lines_to_vertices(junction_pairs)
polygons.append([polygon[0], plane['type']])
outerwall_floor = []
valid_outer_wall = True
for planeID in outerwall_planes:
lineIDs = np.where(np.array(annos['planeLineMatrix'][planeID]))[0].tolist()
lineIDs = np.setdiff1d(lineIDs, lines_holes)
junction_pairs = [np.where(np.array(annos['lineJunctionMatrix'][lineID]))[0].tolist() for lineID in lineIDs]
for jp in junction_pairs:
if len(jp) != 2:
valid_outer_wall = False
break
if not valid_outer_wall:
break
for jp in junction_pairs:
if len(jp) != 2:
continue
start, end = jp
if start in junction_floor and end in junction_floor:
outerwall_floor.append([start, end])
if valid_outer_wall:
outerwall_polygon = convert_lines_to_vertices(outerwall_floor)
polygons.append([outerwall_polygon[0], 'outwall'])
else:
polygons = None
if ret:
return polygons
if vis:
plot_floorplan(annos, polygons)
if ret:
return polygons
def parse_args():
parser = argparse.ArgumentParser(description="Structured3D 3D Visualization")
parser.add_argument("--path", required=True,
help="dataset path", metavar="DIR")
parser.add_argument("--scene", required=True,
help="scene id", type=int)
parser.add_argument("--type", choices=("floorplan", "wireframe", "plane"),
default="plane", type=str)
parser.add_argument("--color", choices=["normal", "manhattan"],
default="normal", type=str)
parser.add_argument("--savepath", type=str)
return parser.parse_args()
def main():
args = parse_args()
# load annotations from json
with open(os.path.join(args.path, f"scene_{args.scene:05d}", "annotation_3d.json")) as file:
annos = json.load(file)
if args.type == "wireframe":
visualize_wireframe(annos)
elif args.type == "plane":
visualize_plane(annos, args)
elif args.type == "floorplan":
visualize_floorplan(annos)
if __name__ == "__main__":
main()
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