import mayavi.mlab as mlab import numpy as np import torch box_colormap = [ [1, 1, 1], [0, 1, 0], [0, 1, 1], [1, 1, 0], ] def check_numpy_to_torch(x): if isinstance(x, np.ndarray): return torch.from_numpy(x).float(), True return x, False def rotate_points_along_z(points, angle): """ Args: points: (B, N, 3 + C) angle: (B), angle along z-axis, angle increases x ==> y Returns: """ points, is_numpy = check_numpy_to_torch(points) angle, _ = check_numpy_to_torch(angle) cosa = torch.cos(angle) sina = torch.sin(angle) zeros = angle.new_zeros(points.shape[0]) ones = angle.new_ones(points.shape[0]) rot_matrix = torch.stack(( cosa, sina, zeros, -sina, cosa, zeros, zeros, zeros, ones ), dim=1).view(-1, 3, 3).float() points_rot = torch.matmul(points[:, :, 0:3], rot_matrix) points_rot = torch.cat((points_rot, points[:, :, 3:]), dim=-1) return points_rot.numpy() if is_numpy else points_rot def boxes_to_corners_3d(boxes3d): """ 7 -------- 4 /| /| 6 -------- 5 . | | | | . 3 -------- 0 |/ |/ 2 -------- 1 Args: boxes3d: (N, 7) [x, y, z, dx, dy, dz, heading], (x, y, z) is the box center Returns: """ boxes3d, is_numpy = check_numpy_to_torch(boxes3d) template = boxes3d.new_tensor(( [1, 1, -1], [1, -1, -1], [-1, -1, -1], [-1, 1, -1], [1, 1, 1], [1, -1, 1], [-1, -1, 1], [-1, 1, 1], )) / 2 corners3d = boxes3d[:, None, 3:6].repeat(1, 8, 1) * template[None, :, :] corners3d = rotate_points_along_z(corners3d.view(-1, 8, 3), boxes3d[:, 6]).view(-1, 8, 3) corners3d += boxes3d[:, None, 0:3] return corners3d.numpy() if is_numpy else corners3d def visualize_pts(pts, fig=None, bgcolor=(0, 0, 0), fgcolor=(1.0, 1.0, 1.0), show_intensity=False, size=(600, 600), draw_origin=True): if not isinstance(pts, np.ndarray): pts = pts.cpu().numpy() if fig is None: fig = mlab.figure(figure=None, bgcolor=bgcolor, fgcolor=fgcolor, engine=None, size=size) if show_intensity: G = mlab.points3d(pts[:, 0], pts[:, 1], pts[:, 2], pts[:, 3], mode='point', colormap='gnuplot', scale_factor=1, figure=fig) else: G = mlab.points3d(pts[:, 0], pts[:, 1], pts[:, 2], mode='point', colormap='gnuplot', scale_factor=1, figure=fig) if draw_origin: mlab.points3d(0, 0, 0, color=(1, 1, 1), mode='cube', scale_factor=0.2) mlab.plot3d([0, 3], [0, 0], [0, 0], color=(0, 0, 1), tube_radius=0.1) mlab.plot3d([0, 0], [0, 3], [0, 0], color=(0, 1, 0), tube_radius=0.1) mlab.plot3d([0, 0], [0, 0], [0, 3], color=(1, 0, 0), tube_radius=0.1) return fig def draw_sphere_pts(pts, color=(0, 1, 0), fig=None, bgcolor=(0, 0, 0), scale_factor=0.2): if not isinstance(pts, np.ndarray): pts = pts.cpu().numpy() if fig is None: fig = mlab.figure(figure=None, bgcolor=bgcolor, fgcolor=None, engine=None, size=(600, 600)) if isinstance(color, np.ndarray) and color.shape[0] == 1: color = color[0] color = (color[0] / 255.0, color[1] / 255.0, color[2] / 255.0) if isinstance(color, np.ndarray): pts_color = np.zeros((pts.__len__(), 4), dtype=np.uint8) pts_color[:, 0:3] = color pts_color[:, 3] = 255 G = mlab.points3d(pts[:, 0], pts[:, 1], pts[:, 2], np.arange(0, pts_color.__len__()), mode='sphere', scale_factor=scale_factor, figure=fig) G.glyph.color_mode = 'color_by_scalar' G.glyph.scale_mode = 'scale_by_vector' G.module_manager.scalar_lut_manager.lut.table = pts_color else: mlab.points3d(pts[:, 0], pts[:, 1], pts[:, 2], mode='sphere', color=color, colormap='gnuplot', scale_factor=scale_factor, figure=fig) mlab.points3d(0, 0, 0, color=(1, 1, 1), mode='cube', scale_factor=0.2) mlab.plot3d([0, 3], [0, 0], [0, 0], color=(0, 0, 1), line_width=3, tube_radius=None, figure=fig) mlab.plot3d([0, 0], [0, 3], [0, 0], color=(0, 1, 0), line_width=3, tube_radius=None, figure=fig) mlab.plot3d([0, 0], [0, 0], [0, 3], color=(1, 0, 0), line_width=3, tube_radius=None, figure=fig) return fig def draw_grid(x1, y1, x2, y2, fig, tube_radius=None, color=(0.5, 0.5, 0.5)): mlab.plot3d([x1, x1], [y1, y2], [0, 0], color=color, tube_radius=tube_radius, line_width=1, figure=fig) mlab.plot3d([x2, x2], [y1, y2], [0, 0], color=color, tube_radius=tube_radius, line_width=1, figure=fig) mlab.plot3d([x1, x2], [y1, y1], [0, 0], color=color, tube_radius=tube_radius, line_width=1, figure=fig) mlab.plot3d([x1, x2], [y2, y2], [0, 0], color=color, tube_radius=tube_radius, line_width=1, figure=fig) return fig def draw_multi_grid_range(fig, grid_size=20, bv_range=(-60, -60, 60, 60)): for x in range(bv_range[0], bv_range[2], grid_size): for y in range(bv_range[1], bv_range[3], grid_size): fig = draw_grid(x, y, x + grid_size, y + grid_size, fig) return fig def draw_scenes(points, gt_boxes=None, ref_boxes=None, ref_scores=None, ref_labels=None): if not isinstance(points, np.ndarray): points = points.cpu().numpy() if ref_boxes is not None and not isinstance(ref_boxes, np.ndarray): ref_boxes = ref_boxes.cpu().numpy() if gt_boxes is not None and not isinstance(gt_boxes, np.ndarray): gt_boxes = gt_boxes.cpu().numpy() if ref_scores is not None and not isinstance(ref_scores, np.ndarray): ref_scores = ref_scores.cpu().numpy() if ref_labels is not None and not isinstance(ref_labels, np.ndarray): ref_labels = ref_labels.cpu().numpy() fig = visualize_pts(points) fig = draw_multi_grid_range(fig, bv_range=(0, -40, 80, 40)) if gt_boxes is not None: corners3d = boxes_to_corners_3d(gt_boxes) fig = draw_corners3d(corners3d, fig=fig, color=(0, 0, 1), max_num=100) if ref_boxes is not None and len(ref_boxes) > 0: ref_corners3d = boxes_to_corners_3d(ref_boxes) if ref_labels is None: fig = draw_corners3d(ref_corners3d, fig=fig, color=(0, 1, 0), cls=ref_scores, max_num=100) else: for k in range(ref_labels.min(), ref_labels.max() + 1): cur_color = tuple(box_colormap[k % len(box_colormap)]) mask = (ref_labels == k) fig = draw_corners3d(ref_corners3d[mask], fig=fig, color=cur_color, cls=ref_scores[mask], max_num=100) mlab.view(azimuth=-179, elevation=54.0, distance=104.0, roll=90.0) return fig def draw_corners3d(corners3d, fig, color=(1, 1, 1), line_width=2, cls=None, tag='', max_num=500, tube_radius=None): """ :param corners3d: (N, 8, 3) :param fig: :param color: :param line_width: :param cls: :param tag: :param max_num: :return: """ import mayavi.mlab as mlab num = min(max_num, len(corners3d)) for n in range(num): b = corners3d[n] # (8, 3) if cls is not None: if isinstance(cls, np.ndarray): mlab.text3d(b[6, 0], b[6, 1], b[6, 2], '%.2f' % cls[n], scale=(0.3, 0.3, 0.3), color=color, figure=fig) else: mlab.text3d(b[6, 0], b[6, 1], b[6, 2], '%s' % cls[n], scale=(0.3, 0.3, 0.3), color=color, figure=fig) for k in range(0, 4): i, j = k, (k + 1) % 4 mlab.plot3d([b[i, 0], b[j, 0]], [b[i, 1], b[j, 1]], [b[i, 2], b[j, 2]], color=color, tube_radius=tube_radius, line_width=line_width, figure=fig) i, j = k + 4, (k + 1) % 4 + 4 mlab.plot3d([b[i, 0], b[j, 0]], [b[i, 1], b[j, 1]], [b[i, 2], b[j, 2]], color=color, tube_radius=tube_radius, line_width=line_width, figure=fig) i, j = k, k + 4 mlab.plot3d([b[i, 0], b[j, 0]], [b[i, 1], b[j, 1]], [b[i, 2], b[j, 2]], color=color, tube_radius=tube_radius, line_width=line_width, figure=fig) i, j = 0, 5 mlab.plot3d([b[i, 0], b[j, 0]], [b[i, 1], b[j, 1]], [b[i, 2], b[j, 2]], color=color, tube_radius=tube_radius, line_width=line_width, figure=fig) i, j = 1, 4 mlab.plot3d([b[i, 0], b[j, 0]], [b[i, 1], b[j, 1]], [b[i, 2], b[j, 2]], color=color, tube_radius=tube_radius, line_width=line_width, figure=fig) return fig