437 lines
12 KiB
Python
437 lines
12 KiB
Python
|
#
|
||
|
|
#
|
||
|
|
# 0=================================0
|
||
|
|
# | Kernel Point Convolutions |
|
||
|
|
# 0=================================0
|
||
|
|
#
|
||
|
|
#
|
||
|
|
# ----------------------------------------------------------------------------------------------------------------------
|
||
|
|
#
|
||
|
|
# Script for various visualization with mayavi
|
||
|
|
#
|
||
|
|
# ----------------------------------------------------------------------------------------------------------------------
|
||
|
|
#
|
||
|
|
# Hugues THOMAS - 11/06/2018
|
||
|
|
#
|
||
|
|
|
||
|
|
|
||
|
|
# ----------------------------------------------------------------------------------------------------------------------
|
||
|
|
#
|
||
|
|
# Imports and global variables
|
||
|
|
# \**********************************/
|
||
|
|
#
|
||
|
|
|
||
|
|
|
||
|
|
# Basic libs
|
||
|
|
import torch
|
||
|
|
import numpy as np
|
||
|
|
from sklearn.neighbors import KDTree
|
||
|
|
from os import makedirs, remove, rename, listdir
|
||
|
|
from os.path import exists, join
|
||
|
|
import time
|
||
|
|
|
||
|
|
import sys
|
||
|
|
|
||
|
|
# PLY reader
|
||
|
|
from utils.ply import write_ply, read_ply
|
||
|
|
|
||
|
|
# Configuration class
|
||
|
|
from utils.config import Config
|
||
|
|
|
||
|
|
|
||
|
|
def show_ModelNet_models(all_points):
|
||
|
|
from mayavi import mlab
|
||
|
|
|
||
|
|
###########################
|
||
|
|
# Interactive visualization
|
||
|
|
###########################
|
||
|
|
|
||
|
|
# Create figure for features
|
||
|
|
fig1 = mlab.figure('Models', bgcolor=(1, 1, 1), size=(1000, 800))
|
||
|
|
fig1.scene.parallel_projection = False
|
||
|
|
|
||
|
|
# Indices
|
||
|
|
global file_i
|
||
|
|
file_i = 0
|
||
|
|
|
||
|
|
def update_scene():
|
||
|
|
|
||
|
|
# clear figure
|
||
|
|
mlab.clf(fig1)
|
||
|
|
|
||
|
|
# Plot new data feature
|
||
|
|
points = all_points[file_i]
|
||
|
|
|
||
|
|
# Rescale points for visu
|
||
|
|
points = (points * 1.5 + np.array([1.0, 1.0, 1.0])) * 50.0
|
||
|
|
|
||
|
|
# Show point clouds colorized with activations
|
||
|
|
activations = mlab.points3d(points[:, 0],
|
||
|
|
points[:, 1],
|
||
|
|
points[:, 2],
|
||
|
|
points[:, 2],
|
||
|
|
scale_factor=3.0,
|
||
|
|
scale_mode='none',
|
||
|
|
figure=fig1)
|
||
|
|
|
||
|
|
# New title
|
||
|
|
mlab.title(str(file_i), color=(0, 0, 0), size=0.3, height=0.01)
|
||
|
|
text = '<--- (press g for previous)' + 50 * ' ' + '(press h for next) --->'
|
||
|
|
mlab.text(0.01, 0.01, text, color=(0, 0, 0), width=0.98)
|
||
|
|
mlab.orientation_axes()
|
||
|
|
|
||
|
|
return
|
||
|
|
|
||
|
|
def keyboard_callback(vtk_obj, event):
|
||
|
|
global file_i
|
||
|
|
|
||
|
|
if vtk_obj.GetKeyCode() in ['g', 'G']:
|
||
|
|
|
||
|
|
file_i = (file_i - 1) % len(all_points)
|
||
|
|
update_scene()
|
||
|
|
|
||
|
|
elif vtk_obj.GetKeyCode() in ['h', 'H']:
|
||
|
|
|
||
|
|
file_i = (file_i + 1) % len(all_points)
|
||
|
|
update_scene()
|
||
|
|
|
||
|
|
return
|
||
|
|
|
||
|
|
# Draw a first plot
|
||
|
|
update_scene()
|
||
|
|
fig1.scene.interactor.add_observer('KeyPressEvent', keyboard_callback)
|
||
|
|
mlab.show()
|
||
|
|
|
||
|
|
|
||
|
|
def show_ModelNet_examples(clouds, cloud_normals=None, cloud_labels=None):
|
||
|
|
from mayavi import mlab
|
||
|
|
|
||
|
|
###########################
|
||
|
|
# Interactive visualization
|
||
|
|
###########################
|
||
|
|
|
||
|
|
# Create figure for features
|
||
|
|
fig1 = mlab.figure('Models', bgcolor=(1, 1, 1), size=(1000, 800))
|
||
|
|
fig1.scene.parallel_projection = False
|
||
|
|
|
||
|
|
if cloud_labels is None:
|
||
|
|
cloud_labels = [points[:, 2] for points in clouds]
|
||
|
|
|
||
|
|
# Indices
|
||
|
|
global file_i, show_normals
|
||
|
|
file_i = 0
|
||
|
|
show_normals = True
|
||
|
|
|
||
|
|
def update_scene():
|
||
|
|
|
||
|
|
# clear figure
|
||
|
|
mlab.clf(fig1)
|
||
|
|
|
||
|
|
# Plot new data feature
|
||
|
|
points = clouds[file_i]
|
||
|
|
labels = cloud_labels[file_i]
|
||
|
|
if cloud_normals is not None:
|
||
|
|
normals = cloud_normals[file_i]
|
||
|
|
else:
|
||
|
|
normals = None
|
||
|
|
|
||
|
|
# Rescale points for visu
|
||
|
|
points = (points * 1.5 + np.array([1.0, 1.0, 1.0])) * 50.0
|
||
|
|
|
||
|
|
# Show point clouds colorized with activations
|
||
|
|
activations = mlab.points3d(points[:, 0],
|
||
|
|
points[:, 1],
|
||
|
|
points[:, 2],
|
||
|
|
labels,
|
||
|
|
scale_factor=3.0,
|
||
|
|
scale_mode='none',
|
||
|
|
figure=fig1)
|
||
|
|
if normals is not None and show_normals:
|
||
|
|
activations = mlab.quiver3d(points[:, 0],
|
||
|
|
points[:, 1],
|
||
|
|
points[:, 2],
|
||
|
|
normals[:, 0],
|
||
|
|
normals[:, 1],
|
||
|
|
normals[:, 2],
|
||
|
|
scale_factor=10.0,
|
||
|
|
scale_mode='none',
|
||
|
|
figure=fig1)
|
||
|
|
|
||
|
|
# New title
|
||
|
|
mlab.title(str(file_i), color=(0, 0, 0), size=0.3, height=0.01)
|
||
|
|
text = '<--- (press g for previous)' + 50 * ' ' + '(press h for next) --->'
|
||
|
|
mlab.text(0.01, 0.01, text, color=(0, 0, 0), width=0.98)
|
||
|
|
mlab.orientation_axes()
|
||
|
|
|
||
|
|
return
|
||
|
|
|
||
|
|
def keyboard_callback(vtk_obj, event):
|
||
|
|
global file_i, show_normals
|
||
|
|
|
||
|
|
if vtk_obj.GetKeyCode() in ['g', 'G']:
|
||
|
|
file_i = (file_i - 1) % len(clouds)
|
||
|
|
update_scene()
|
||
|
|
|
||
|
|
elif vtk_obj.GetKeyCode() in ['h', 'H']:
|
||
|
|
file_i = (file_i + 1) % len(clouds)
|
||
|
|
update_scene()
|
||
|
|
|
||
|
|
elif vtk_obj.GetKeyCode() in ['n', 'N']:
|
||
|
|
show_normals = not show_normals
|
||
|
|
update_scene()
|
||
|
|
|
||
|
|
return
|
||
|
|
|
||
|
|
# Draw a first plot
|
||
|
|
update_scene()
|
||
|
|
fig1.scene.interactor.add_observer('KeyPressEvent', keyboard_callback)
|
||
|
|
mlab.show()
|
||
|
|
|
||
|
|
|
||
|
|
def show_neighbors(query, supports, neighbors):
|
||
|
|
from mayavi import mlab
|
||
|
|
|
||
|
|
###########################
|
||
|
|
# Interactive visualization
|
||
|
|
###########################
|
||
|
|
|
||
|
|
# Create figure for features
|
||
|
|
fig1 = mlab.figure('Models', bgcolor=(1, 1, 1), size=(1000, 800))
|
||
|
|
fig1.scene.parallel_projection = False
|
||
|
|
|
||
|
|
# Indices
|
||
|
|
global file_i
|
||
|
|
file_i = 0
|
||
|
|
|
||
|
|
def update_scene():
|
||
|
|
|
||
|
|
# clear figure
|
||
|
|
mlab.clf(fig1)
|
||
|
|
|
||
|
|
# Rescale points for visu
|
||
|
|
p1 = (query * 1.5 + np.array([1.0, 1.0, 1.0])) * 50.0
|
||
|
|
p2 = (supports * 1.5 + np.array([1.0, 1.0, 1.0])) * 50.0
|
||
|
|
|
||
|
|
l1 = p1[:, 2]*0
|
||
|
|
l1[file_i] = 1
|
||
|
|
|
||
|
|
l2 = p2[:, 2]*0 + 2
|
||
|
|
l2[neighbors[file_i]] = 3
|
||
|
|
|
||
|
|
# Show point clouds colorized with activations
|
||
|
|
activations = mlab.points3d(p1[:, 0],
|
||
|
|
p1[:, 1],
|
||
|
|
p1[:, 2],
|
||
|
|
l1,
|
||
|
|
scale_factor=2.0,
|
||
|
|
scale_mode='none',
|
||
|
|
vmin=0.0,
|
||
|
|
vmax=3.0,
|
||
|
|
figure=fig1)
|
||
|
|
|
||
|
|
activations = mlab.points3d(p2[:, 0],
|
||
|
|
p2[:, 1],
|
||
|
|
p2[:, 2],
|
||
|
|
l2,
|
||
|
|
scale_factor=3.0,
|
||
|
|
scale_mode='none',
|
||
|
|
vmin=0.0,
|
||
|
|
vmax=3.0,
|
||
|
|
figure=fig1)
|
||
|
|
|
||
|
|
# New title
|
||
|
|
mlab.title(str(file_i), color=(0, 0, 0), size=0.3, height=0.01)
|
||
|
|
text = '<--- (press g for previous)' + 50 * ' ' + '(press h for next) --->'
|
||
|
|
mlab.text(0.01, 0.01, text, color=(0, 0, 0), width=0.98)
|
||
|
|
mlab.orientation_axes()
|
||
|
|
|
||
|
|
return
|
||
|
|
|
||
|
|
def keyboard_callback(vtk_obj, event):
|
||
|
|
global file_i
|
||
|
|
|
||
|
|
if vtk_obj.GetKeyCode() in ['g', 'G']:
|
||
|
|
|
||
|
|
file_i = (file_i - 1) % len(query)
|
||
|
|
update_scene()
|
||
|
|
|
||
|
|
elif vtk_obj.GetKeyCode() in ['h', 'H']:
|
||
|
|
|
||
|
|
file_i = (file_i + 1) % len(query)
|
||
|
|
update_scene()
|
||
|
|
|
||
|
|
return
|
||
|
|
|
||
|
|
# Draw a first plot
|
||
|
|
update_scene()
|
||
|
|
fig1.scene.interactor.add_observer('KeyPressEvent', keyboard_callback)
|
||
|
|
mlab.show()
|
||
|
|
|
||
|
|
|
||
|
|
def show_input_batch(batch):
|
||
|
|
from mayavi import mlab
|
||
|
|
|
||
|
|
###########################
|
||
|
|
# Interactive visualization
|
||
|
|
###########################
|
||
|
|
|
||
|
|
# Create figure for features
|
||
|
|
fig1 = mlab.figure('Input', bgcolor=(1, 1, 1), size=(1000, 800))
|
||
|
|
fig1.scene.parallel_projection = False
|
||
|
|
|
||
|
|
# Unstack batch
|
||
|
|
all_points = batch.unstack_points()
|
||
|
|
all_neighbors = batch.unstack_neighbors()
|
||
|
|
all_pools = batch.unstack_pools()
|
||
|
|
|
||
|
|
# Indices
|
||
|
|
global b_i, l_i, neighb_i, show_pools
|
||
|
|
b_i = 0
|
||
|
|
l_i = 0
|
||
|
|
neighb_i = 0
|
||
|
|
show_pools = False
|
||
|
|
|
||
|
|
def update_scene():
|
||
|
|
|
||
|
|
# clear figure
|
||
|
|
mlab.clf(fig1)
|
||
|
|
|
||
|
|
# Rescale points for visu
|
||
|
|
p = (all_points[l_i][b_i] * 1.5 + np.array([1.0, 1.0, 1.0])) * 50.0
|
||
|
|
labels = p[:, 2]*0
|
||
|
|
|
||
|
|
if show_pools:
|
||
|
|
p2 = (all_points[l_i+1][b_i][neighb_i:neighb_i+1] * 1.5 + np.array([1.0, 1.0, 1.0])) * 50.0
|
||
|
|
p = np.vstack((p, p2))
|
||
|
|
labels = np.hstack((labels, np.ones((1,), dtype=np.int32)*3))
|
||
|
|
pool_inds = all_pools[l_i][b_i][neighb_i]
|
||
|
|
pool_inds = pool_inds[pool_inds >= 0]
|
||
|
|
labels[pool_inds] = 2
|
||
|
|
else:
|
||
|
|
neighb_inds = all_neighbors[l_i][b_i][neighb_i]
|
||
|
|
neighb_inds = neighb_inds[neighb_inds >= 0]
|
||
|
|
labels[neighb_inds] = 2
|
||
|
|
labels[neighb_i] = 3
|
||
|
|
|
||
|
|
# Show point clouds colorized with activations
|
||
|
|
mlab.points3d(p[:, 0],
|
||
|
|
p[:, 1],
|
||
|
|
p[:, 2],
|
||
|
|
labels,
|
||
|
|
scale_factor=2.0,
|
||
|
|
scale_mode='none',
|
||
|
|
vmin=0.0,
|
||
|
|
vmax=3.0,
|
||
|
|
figure=fig1)
|
||
|
|
|
||
|
|
|
||
|
|
"""
|
||
|
|
mlab.points3d(p[-2:, 0],
|
||
|
|
p[-2:, 1],
|
||
|
|
p[-2:, 2],
|
||
|
|
labels[-2:]*0 + 3,
|
||
|
|
scale_factor=0.16 * 1.5 * 50,
|
||
|
|
scale_mode='none',
|
||
|
|
mode='cube',
|
||
|
|
vmin=0.0,
|
||
|
|
vmax=3.0,
|
||
|
|
figure=fig1)
|
||
|
|
mlab.points3d(p[-1:, 0],
|
||
|
|
p[-1:, 1],
|
||
|
|
p[-1:, 2],
|
||
|
|
labels[-1:]*0 + 2,
|
||
|
|
scale_factor=0.16 * 2 * 2.5 * 1.5 * 50,
|
||
|
|
scale_mode='none',
|
||
|
|
mode='sphere',
|
||
|
|
vmin=0.0,
|
||
|
|
vmax=3.0,
|
||
|
|
figure=fig1)
|
||
|
|
|
||
|
|
"""
|
||
|
|
|
||
|
|
# New title
|
||
|
|
title_str = '<([) b_i={:d} (])> <(,) l_i={:d} (.)> <(N) n_i={:d} (M)>'.format(b_i, l_i, neighb_i)
|
||
|
|
mlab.title(title_str, color=(0, 0, 0), size=0.3, height=0.90)
|
||
|
|
if show_pools:
|
||
|
|
text = 'pools (switch with G)'
|
||
|
|
else:
|
||
|
|
text = 'neighbors (switch with G)'
|
||
|
|
mlab.text(0.01, 0.01, text, color=(0, 0, 0), width=0.3)
|
||
|
|
mlab.orientation_axes()
|
||
|
|
|
||
|
|
return
|
||
|
|
|
||
|
|
def keyboard_callback(vtk_obj, event):
|
||
|
|
global b_i, l_i, neighb_i, show_pools
|
||
|
|
|
||
|
|
if vtk_obj.GetKeyCode() in ['[', '{']:
|
||
|
|
b_i = (b_i - 1) % len(all_points[l_i])
|
||
|
|
neighb_i = 0
|
||
|
|
update_scene()
|
||
|
|
|
||
|
|
elif vtk_obj.GetKeyCode() in [']', '}']:
|
||
|
|
b_i = (b_i + 1) % len(all_points[l_i])
|
||
|
|
neighb_i = 0
|
||
|
|
update_scene()
|
||
|
|
|
||
|
|
elif vtk_obj.GetKeyCode() in [',', '<']:
|
||
|
|
if show_pools:
|
||
|
|
l_i = (l_i - 1) % (len(all_points) - 1)
|
||
|
|
else:
|
||
|
|
l_i = (l_i - 1) % len(all_points)
|
||
|
|
neighb_i = 0
|
||
|
|
update_scene()
|
||
|
|
|
||
|
|
elif vtk_obj.GetKeyCode() in ['.', '>']:
|
||
|
|
if show_pools:
|
||
|
|
l_i = (l_i + 1) % (len(all_points) - 1)
|
||
|
|
else:
|
||
|
|
l_i = (l_i + 1) % len(all_points)
|
||
|
|
neighb_i = 0
|
||
|
|
update_scene()
|
||
|
|
|
||
|
|
elif vtk_obj.GetKeyCode() in ['n', 'N']:
|
||
|
|
neighb_i = (neighb_i - 1) % all_points[l_i][b_i].shape[0]
|
||
|
|
update_scene()
|
||
|
|
|
||
|
|
elif vtk_obj.GetKeyCode() in ['m', 'M']:
|
||
|
|
neighb_i = (neighb_i + 1) % all_points[l_i][b_i].shape[0]
|
||
|
|
update_scene()
|
||
|
|
|
||
|
|
elif vtk_obj.GetKeyCode() in ['g', 'G']:
|
||
|
|
if l_i < len(all_points) - 1:
|
||
|
|
show_pools = not show_pools
|
||
|
|
neighb_i = 0
|
||
|
|
update_scene()
|
||
|
|
|
||
|
|
return
|
||
|
|
|
||
|
|
# Draw a first plot
|
||
|
|
update_scene()
|
||
|
|
fig1.scene.interactor.add_observer('KeyPressEvent', keyboard_callback)
|
||
|
|
mlab.show()
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|