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