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