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dataset_explorer.py
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dataset_explorer.py
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import random
import pathlib
import argparse
import json
import hashlib
import numpy as np
import networkx as nx
import matplotlib.pyplot as plt
from OCC.Display.WebGl import threejs_renderer
from OCC.Core.STEPControl import STEPControl_Reader
from OCC.Extend.TopologyUtils import TopologyExplorer
from occwl.solid import Solid
from occwl.face import Face
from occwl.graph import face_adjacency
feat_names = ['chamfer', 'through_hole', 'triangular_passage', 'rectangular_passage', '6sides_passage',
'triangular_through_slot', 'rectangular_through_slot', 'circular_through_slot',
'rectangular_through_step', '2sides_through_step', 'slanted_through_step', 'Oring', 'blind_hole',
'triangular_pocket', 'rectangular_pocket', '6sides_pocket', 'circular_end_pocket',
'rectangular_blind_slot', 'v_circular_end_blind_slot', 'h_circular_end_blind_slot',
'triangular_blind_step', 'circular_blind_step', 'rectangular_blind_step', 'round', 'stock'
]
face_colors = [
(0.9700192609404378, 0.9055119492048388, 0.1323910958497898),
(0.06660504960373947, 0.8303813089118807, 0.18731932715332889),
(0.10215758587633339, 0.44758647359931925, 0.19743749570413038),
(0.39618326204551335, 0.62480565418795, 0.49263998623974803),
(0.9563194150570774, 0.6863431793453533, 0.40198773505084073),
(0.7130311335430903, 0.5230673415079722, 0.360958551997956),
(0.9546937583877466, 0.6021401628064251, 0.10398061899932864),
(0.128418629621174, 0.38339751306229297, 0.19158928190370528),
(0.9608394495112227, 0.8562415399879139, 0.35996379127307776),
(0.8447461411950761, 0.6094638042385847, 0.6270924499592639),
(0.608161974268185, 0.14829199916733193, 0.8045844806839375),
(0.3911100021120745, 0.4512360980634469, 0.4243274963243149),
(0.14587592017360218, 0.022838821343438398, 0.15571507918186522),
(0.8096958445411236, 0.7164091463852411, 0.10006398944389583),
(0.17637293645693264, 0.1958775455478048, 0.817706000786001),
(0.44944192621774237, 0.738938573906961, 0.47097575885431253),
(0.4988884139971932, 0.12540630349619342, 0.05117859638958533),
(0.7141989735141261, 0.10619575782538193, 0.40160785621449757),
(0.8907191760896118, 0.32853909664596714, 0.5617643232088937),
(0.003188679730863675, 0.2513818008038544, 0.31507520557618907),
(0.04338783996955187, 0.5109066219752398, 0.01751921372339693),
(0.08918523237871268, 0.09105427694981261, 0.2694775316636171),
(0.6080768096407021, 0.34579812513326547, 0.8826508065977654),
(0.4926405898863041, 0.9728342822717221, 0.9958939931665864),
(0.65, 0.65, 0.7)
]
def list_face(shape):
'''
input
shape: TopoDS_Shape
output
fset: {TopoDS_Face}
'''
"""
fset = set()
exp = TopExp_Explorer(shape, TopAbs_FACE)
while exp.More():
s = exp.Current()
exp.Next()
face = topods.Face(s)
fset.add(face)
return list(fset)
"""
topo = TopologyExplorer(shape)
return list(topo.faces())
def load_body_from_step(step_file):
"""
Load the body from the step file.
We expect only one body in each file
"""
assert pathlib.Path(step_file).suffix in ['.step', '.stp', '.STEP', '.STP']
reader = STEPControl_Reader()
reader.ReadFile(str(step_file))
reader.TransferRoots()
shape = reader.OneShape()
return shape
def load_json(pathname):
with open(pathname, "r") as fp:
return json.load(fp)
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument("--step_file", type=str, required=True, help="Path to load the step file from")
parser.add_argument("--label_file", type=str, required=True, help="Path to load the label file from")
parser.add_argument("--visual_label", type=str, choices=['seg', 'inst', 'bottom'], required=True, help="which label to visualize")
parser.add_argument("--show_stock", help='Whether to show stock faces in instance label visualization', action='store_true')
parser.add_argument("--show_fag", help='Whether to show face adjacency graph', action='store_true')
args = parser.parse_args()
assert pathlib.Path(args.step_file).stem == pathlib.Path(args.label_file).stem
shape = load_body_from_step(args.step_file)
labels = load_json(args.label_file)
# create graph
faces_list = list_face(shape)
num_faces = len(faces_list)
step_name, sapmle_label = labels[0]
print(step_name)
seg_label, inst_label, bottom_label = sapmle_label['seg'], sapmle_label['inst'], sapmle_label['bottom']
# check map between face id and segmentaion label
assert len(faces_list) == len(seg_label)
print(seg_label)
# check relation_matrix describing the feature instances
assert len(faces_list) == len(inst_label)
for row in inst_label:
print(row)
# check map between face id and botto identification label
assert len(faces_list) == len(bottom_label)
print(bottom_label)
# instance adjacency numpy array to network graph
relation_graph = nx.from_numpy_array(np.array(inst_label))
# get face adjaceny graph (FAG)
if args.show_fag:
graph = face_adjacency(Solid(shape))
face_adj = np.zeros((num_faces, num_faces))
for face_idx in graph.nodes:
# check the order of occwl.face_adjacency is equal to occ_utils.list_face
assert graph.nodes[face_idx]["face"] == Face(faces_list[face_idx])
# face_adj[face_idx][face_idx] = 1 # self-loop
for neighbor in graph.neighbors(face_idx):
face_adj[face_idx][neighbor] = 1
# show FAG
plt.figure(figsize=(8, 8))
plt.axis('off')
fag = nx.from_numpy_array(face_adj)
inst_adj_pos = nx.nx_pydot.graphviz_layout(relation_graph)
# use same position layout to align fag with instance adjacency
nx.draw_networkx(fag, pos=inst_adj_pos, with_labels=True, node_size=350)
plt.show()
# graph visualization
if args.visual_label == 'seg':
# visualize face segmantic label graph
node_color = [None for _ in range(len(seg_label))] # default is background color
for face_id in seg_label.keys():
seg_lbl = seg_label[face_id]
node_color[int(face_id)] = face_colors[seg_lbl]
plt.figure(figsize=(8, 8))
plt.axis('off')
nx.draw_networkx(relation_graph, pos=inst_adj_pos, with_labels=True, node_size=350, node_color=node_color, edge_color='w')
plt.show()
elif args.visual_label == 'inst':
# visualize instance segmantic label graph
node_color = [None for _ in range(len(seg_label))] # default is background color
for face_id in seg_label.keys():
seg_lbl = seg_label[face_id]
node_color[int(face_id)] = face_colors[seg_lbl]
plt.figure(figsize=(8, 8))
plt.axis('off')
nx.draw_networkx(relation_graph, pos=inst_adj_pos, with_labels=True, node_size=350, node_color=node_color, edge_color='b')
plt.show()
elif args.visual_label == 'bottom':
# visualize bottom face segmantic label graph
node_color = [face_colors[24] for _ in range(len(seg_label))] # default is background color
for face_id in seg_label.keys():
if bottom_label[face_id]:
node_color[int(face_id)] = (0,1,0)
plt.figure(figsize=(8, 8))
plt.axis('off')
nx.draw_networkx(relation_graph, pos=inst_adj_pos, with_labels=True, node_size=350, node_color=node_color, edge_color='w')
plt.show()
# 3D label visualization
my_renderer = threejs_renderer.ThreejsRenderer()
all_faces = list_face(shape)
if args.visual_label == 'seg':
# display face type label
for face in all_faces:
face_id = all_faces.index(face)
face_type = seg_label[str(face_id)]
face_color = face_colors[face_type]
my_renderer.DisplayShape(face, color=face_color)
my_renderer.render()
elif args.visual_label == 'inst':
# display instance label
# display all faces
if args.show_stock:
for face in all_faces:
my_renderer.DisplayShape(face)
# display faces of each instance
instances = set() # delete repeat
for row_idx, row in enumerate(inst_label):
if np.sum(row) <= 1e-6 : # stock face, no linked face
continue
# non-stock face
instance = set() # delete repeat
for col_idx, item in enumerate(row):
if item: # have connections with currect face
instance.add(col_idx)
instances.add(frozenset(instance)) # hashable set
print('\n')
print('This Shape Has {} instances'.format(len(instances)))
print('\n')
# draw instance with different random color
for inst in instances:
rnd_color = (random.random(), random.random(), random.random())
for face_id in inst:
my_renderer.DisplayShape(all_faces[face_id], color=rnd_color)
my_renderer.render()
elif args.visual_label == 'bottom':
# display bottom face label
# display each face
for face in all_faces:
face_id = all_faces.index(face)
if bottom_label[str(face_id)]:
my_renderer.DisplayShape(face, color=(0,1,0))
else:
my_renderer.DisplayShape(face)
my_renderer.render()
# !!!!!!!!!have problem, obsolete !!!!!!!!!!!!!!!
# display, start_display, add_menu, add_function_to_menu = init_display()
# ais_shp = AIS_ColoredShape(shape)
# for face in bottom_map.keys():
# if bottom_map[face]:
# ais_shp.SetCustomColor(face, rgb_color(0,1,0))
# display.Context.Display(ais_shp, True)
# display.FitAll()
# start_display()
# OCC_DISPLAY, START_OCC_DISPLAY, ADD_MENU, _ = SimpleGui.init_display()
# OCC_DISPLAY.EraseAll()
# OCC_DISPLAY.DisplayShape(shape)
# # OCC_DISPLAY = display_bounds(bounds, OCC_DISPLAY, color="blue")
# OCC_DISPLAY.View_Iso()
# OCC_DISPLAY.FitAll()
# START_OCC_DISPLAY()
# gui = BasicViewer()
# # Explore the faces of the shape (these are known to be named)
# exp = TopExp_Explorer(shape, TopAbs_FACE)
# while exp.More():
# rgb = None
# s = exp.Current()
# exp.Next()
# item = tr.EntityFromShapeResult(s, 1)
# name = item.Name().ToCString()
# if name:
# print('Found entity: {}'.format(name))
# rgb = (1, 0, 0)
# gui.add(s, rgb)