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[Fix] fix point cloud loop visualization error #1914

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merged 4 commits into from
Oct 17, 2022
Merged

[Fix] fix point cloud loop visualization error #1914

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908e999
fix point cloud loop visualization error
ZCMax Oct 12, 2022
50be2b0
fix browse_dataset
JingweiZhang12 Oct 13, 2022
09af12a
fix browse_dataset
JingweiZhang12 Oct 13, 2022
a3e9d18
support saving lidar_det
JingweiZhang12 Oct 13, 2022
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45 changes: 28 additions & 17 deletions mmdet3d/visualization/local_visualizer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -120,7 +120,15 @@ def __init__(self,
self.set_points(points, pcd_mode=pcd_mode, frame_cfg=frame_cfg)
self.pts_seg_num = 0

def _initialize_o3d_vis(self, frame_cfg) -> tuple:
def _clear_o3d_vis(self) -> None:
"""Clear open3d vis."""

if hasattr(self, 'o3d_vis'):
del self.o3d_vis
del self.pcd
del self.points_colors

def _initialize_o3d_vis(self, frame_cfg) -> o3d.visualization.Visualizer:
"""Initialize open3d vis according to frame_cfg.

Args:
Expand All @@ -141,8 +149,8 @@ def _initialize_o3d_vis(self, frame_cfg) -> tuple:
def set_points(self,
points: np.ndarray,
pcd_mode: int = 0,
vis_mode: str = 'replace',
frame_cfg: dict = dict(size=1, origin=[0, 0, 0]),
vis_task: str = 'lidar_det',
points_color: Tuple = (0.5, 0.5, 0.5),
points_size: int = 2,
mode: str = 'xyz') -> None:
Expand All @@ -154,11 +162,15 @@ def set_points(self,
pcd_mode (int): The point cloud mode (coordinates):
0 represents LiDAR, 1 represents CAMERA, 2
represents Depth. Defaults to 0.
vis_mode (str): The visualization mode in Open3D:
'replace': Replace the existing point cloud with
input point cloud.
'add': Add input point cloud into existing point
cloud.
Defaults to 'replace'.
frame_cfg (dict): The coordinate frame config while Open3D
visualization initialization.
Defaults to dict(size=1, origin=[0, 0, 0]).
vis_task (str): Visualiztion task, it includes:
'lidar_det', 'multi-modality_det', 'mono_det', 'lidar_seg'.
point_color (tuple[float], optional): the color of points.
Default: (0.5, 0.5, 0.5).
points_size (int, optional): the size of points to show
Expand All @@ -167,6 +179,7 @@ def set_points(self,
available mode ['xyz', 'xyzrgb']. Default: 'xyz'.
"""
assert points is not None
assert vis_mode in ('replace', 'add')
check_type('points', points, np.ndarray)

if not hasattr(self, 'o3d_vis'):
Expand All @@ -176,7 +189,7 @@ def set_points(self,
if pcd_mode != Coord3DMode.DEPTH:
points = Coord3DMode.convert(points, pcd_mode, Coord3DMode.DEPTH)

if hasattr(self, 'pcd') and vis_task != 'lidar_seg':
if hasattr(self, 'pcd') and vis_mode != 'add':
self.o3d_vis.remove_geometry(self.pcd)

# set points size in Open3D
Expand Down Expand Up @@ -524,8 +537,7 @@ def draw_seg_mask(self, seg_mask_colors: np.array):
self.o3d_vis.add_geometry(mesh_frame)
seg_points = copy.deepcopy(seg_mask_colors)
seg_points[:, 0] += offset
self.set_points(
seg_points, vis_task='lidar_seg', pcd_mode=2, mode='xyzrgb')
self.set_points(seg_points, pcd_mode=2, vis_mode='add', mode='xyzrgb')

def _draw_instances_3d(self, data_input: dict, instances: InstanceData,
input_meta: dict, vis_task: str,
Expand Down Expand Up @@ -559,7 +571,7 @@ def _draw_instances_3d(self, data_input: dict, instances: InstanceData,
else:
bboxes_3d_depth = bboxes_3d.clone()

self.set_points(points, pcd_mode=2, vis_task=vis_task)
self.set_points(points, pcd_mode=2)
self.draw_bboxes_3d(bboxes_3d_depth)

data_3d['bboxes_3d'] = tensor2ndarray(bboxes_3d_depth.tensor)
Expand Down Expand Up @@ -614,7 +626,7 @@ def _draw_pts_sem_seg(self,
pts_color = palette[pts_sem_seg]
seg_color = np.concatenate([points[:, :3], pts_color], axis=1)

self.set_points(points, pcd_mode=2, vis_task='lidar_seg')
self.set_points(points, pcd_mode=2, vis_mode='add')
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self.draw_seg_mask(seg_color)

@master_only
Expand Down Expand Up @@ -644,6 +656,7 @@ def show(self,
if save_path is not None:
self.o3d_vis.capture_screen_image(save_path)
self.o3d_vis.destroy_window()
self._clear_o3d_vis()

if hasattr(self, '_image'):
if drawn_img_3d is None:
Expand All @@ -662,7 +675,7 @@ def add_datasample(self,
show: bool = False,
wait_time: float = 0,
out_file: Optional[str] = None,
save_path: Optional[str] = None,
o3d_save_path: Optional[str] = None,
vis_task: str = 'mono_det',
pred_score_thr: float = 0.3,
step: int = 0) -> None:
Expand All @@ -673,9 +686,8 @@ def add_datasample(self,
ground truth and the right image is the prediction.
- If ``show`` is True, all storage backends are ignored, and
the images will be displayed in a local window.
- If ``out_file`` is specified, the drawn point cloud or
image will be saved to ``out_file``. t is usually used when
the display is not available.
- If ``out_file`` is specified, the drawn image will be saved to
``out_file``. It is usually used when the display is not available.

Args:
name (str): The image identifier.
Expand All @@ -691,8 +703,8 @@ def add_datasample(self,
image. Default to False.
wait_time (float): The interval of show (s). Defaults to 0.
out_file (str): Path to output file. Defaults to None.
save_path (str, optional): Path to save open3d visualized results.
Default: None.
o3d_save_path (str, optional): Path to save open3d visualized
results Default: None.
vis-task (str): Visualization task. Defaults to 'mono_det'.
pred_score_thr (float): The threshold to visualize the bboxes
and masks. Defaults to 0.3.
Expand Down Expand Up @@ -786,8 +798,7 @@ def add_datasample(self,

if show:
self.show(
vis_task,
save_path,
o3d_save_path,
drawn_img_3d,
drawn_img,
win_name=name,
Expand Down
14 changes: 11 additions & 3 deletions tools/misc/browse_dataset.py
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Original file line number Diff line number Diff line change
Expand Up @@ -71,7 +71,7 @@ def build_data_cfg(config_path, aug, cfg_options):
if aug:
show_pipeline = cfg.train_pipeline
else:
show_pipeline = cfg.eval_pipeline
show_pipeline = cfg.test_pipeline
for i in range(len(cfg.train_pipeline)):
if cfg.train_pipeline[i]['type'] == 'LoadAnnotations3D':
show_pipeline.insert(i, cfg.train_pipeline[i])
Expand Down Expand Up @@ -117,13 +117,20 @@ def main():

progress_bar = ProgressBar(len(dataset))

for item in dataset:
for i, item in enumerate(dataset):
# the 3D Boxes in input could be in any of three coordinates
data_input = item['inputs']
data_sample = item['data_samples'].numpy()

out_file = osp.join(
args.output_dir) if args.output_dir is not None else None
args.output_dir,
f'{i}.jpg') if args.output_dir is not None else None

# o3d_save_path is valid when args.not_show is False
o3d_save_path = osp.join(args.output_dir, f'pc_{i}.png') if (
args.output_dir is not None
and vis_task in ['lidar_det', 'lidar_seg', 'multi-modality_det']
and not args.not_show) else None

visualizer.add_datasample(
'3d visualzier',
Expand All @@ -132,6 +139,7 @@ def main():
show=not args.not_show,
wait_time=args.show_interval,
out_file=out_file,
o3d_save_path=o3d_save_path,
vis_task=vis_task)

progress_bar.update()
Expand Down