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import os |
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import json |
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import argparse |
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import cv2 |
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import numpy as np |
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import matplotlib.pyplot as plt |
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from misc.utils import get_corners_of_bb3d_no_index, project_3d_points_to_2d, parse_camera_info |
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def visualize_bbox(args): |
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with open(os.path.join(args.path, f"scene_{args.scene:05d}", "bbox_3d.json")) as file: |
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annos = json.load(file) |
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id2index = dict() |
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for index, object in enumerate(annos): |
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id2index[object.get('ID')] = index |
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scene_path = os.path.join(args.path, f"scene_{args.scene:05d}", "2D_rendering") |
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for room_id in np.sort(os.listdir(scene_path)): |
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room_path = os.path.join(scene_path, room_id, "perspective", "full") |
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if not os.path.exists(room_path): |
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continue |
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for position_id in np.sort(os.listdir(room_path)): |
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position_path = os.path.join(room_path, position_id) |
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image = cv2.imread(os.path.join(position_path, 'rgb_rawlight.png')) |
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image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) |
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height, width, _ = image.shape |
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instance = cv2.imread(os.path.join(position_path, 'instance.png'), cv2.IMREAD_UNCHANGED) |
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camera_info = np.loadtxt(os.path.join(position_path, 'camera_pose.txt')) |
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rot, trans, K = parse_camera_info(camera_info, height, width) |
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plt.figure() |
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plt.imshow(image) |
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for index in np.unique(instance)[:-1]: |
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bbox = annos[id2index[index]] |
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basis = np.array(bbox['basis']) |
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coeffs = np.array(bbox['coeffs']) |
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centroid = np.array(bbox['centroid']) |
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corners = get_corners_of_bb3d_no_index(basis, coeffs, centroid) |
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corners = corners - trans |
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gt2dcorners = project_3d_points_to_2d(corners, rot, K) |
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num_corner = gt2dcorners.shape[1] // 2 |
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plt.plot(np.hstack((gt2dcorners[0, :num_corner], gt2dcorners[0, 0])), |
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np.hstack((gt2dcorners[1, :num_corner], gt2dcorners[1, 0])), 'r') |
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plt.plot(np.hstack((gt2dcorners[0, num_corner:], gt2dcorners[0, num_corner])), |
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np.hstack((gt2dcorners[1, num_corner:], gt2dcorners[1, num_corner])), 'b') |
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for i in range(num_corner): |
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plt.plot(gt2dcorners[0, [i, i + num_corner]], gt2dcorners[1, [i, i + num_corner]], 'y') |
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plt.axis('off') |
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plt.axis([0, width, height, 0]) |
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plt.show() |
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def parse_args(): |
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parser = argparse.ArgumentParser( |
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description="Structured3D 3D Bounding Box Visualization") |
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parser.add_argument("--path", required=True, |
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help="dataset path", metavar="DIR") |
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parser.add_argument("--scene", required=True, |
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help="scene id", type=int) |
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return parser.parse_args() |
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def main(): |
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args = parse_args() |
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visualize_bbox(args) |
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if __name__ == "__main__": |
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main() |
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