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util.py
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util.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
from __future__ import print_function
import os
import torch
import torch.nn as nn
import torch.nn.functional as F
import torch.optim as optim
import numpy as np
from scipy.spatial.transform import Rotation
from math import cos, sin, radians
import sys
import mayavi.mlab as mlab
import os.path as osp
import pickle
def quat2mat(quat):
x, y, z, w = quat[:, 0], quat[:, 1], quat[:, 2], quat[:, 3]
B = quat.size(0)
w2, x2, y2, z2 = w.pow(2), x.pow(2), y.pow(2), z.pow(2)
wx, wy, wz = w*x, w*y, w*z
xy, xz, yz = x*y, x*z, y*z
rotMat = torch.stack([w2 + x2 - y2 - z2, 2*xy - 2*wz, 2*wy + 2*xz,
2*wz + 2*xy, w2 - x2 + y2 - z2, 2*yz - 2*wx,
2*xz - 2*wy, 2*wx + 2*yz, w2 - x2 - y2 + z2], dim=1).reshape(B, 3, 3)
return rotMat
def transform_point_cloud(point_cloud, rotation, translation):
if len(rotation.size()) == 2:
rot_mat = quat2mat(rotation)
else:
rot_mat = rotation
return torch.matmul(rot_mat, point_cloud) + translation.unsqueeze(2)
def npmat2euler(mats, seq='zyx'):
eulers = []
for i in range(mats.shape[0]):
r = Rotation.from_dcm(mats[i])
eulers.append(r.as_euler(seq, degrees=True))
return np.asarray(eulers, dtype='float32')
SCALE_FACTOR = 0.05
MODE = 'sphere'
DRAW_LINE = True
def visualize_scene(pc1, pc2, sf, output):
if pc1.shape[1] != 3:
pc1 = pc1.T
pc2 = pc2.T
sf = sf.T
output = output.T
gt = pc1 + sf
pred = pc1 + output
print('pc1, pc2, gt, pred', pc1.shape, pc2.shape, gt.shape, pred.shape)
fig = mlab.figure(figure=None, bgcolor=(0,0,0), fgcolor=(1,1,1), engine=None, size=(1600, 1000))
if False: #len(sys.argv) >= 4 and sys.argv[3] == 'pc1':
mlab.points3d(pc1[:, 0], pc1[:, 1], pc1[:, 2], color=(0,0,1), scale_factor=SCALE_FACTOR, figure=fig, mode=MODE) # blue
if False:
mlab.points3d(pc2[:, 0], pc2[:, 1], pc2[:, 2], color=(0,1,1), scale_factor=SCALE_FACTOR, figure=fig, mode=MODE) # cyan
mlab.points3d(gt[:, 0], gt[:, 1], gt[:, 2], color=(1,0,0), scale_factor=SCALE_FACTOR, figure=fig, mode=MODE) # red
mlab.points3d(pred[:, 0], pred[:,1], pred[:,2], color=(0,1,0), scale_factor=SCALE_FACTOR, figure=fig, mode=MODE) # green
# DRAW LINE
if True:
N = 2
x = list()
y = list()
z = list()
connections = list()
inner_index = 0
for i in range(gt.shape[0]):
x.append(gt[i, 0])
x.append(pred[i, 0])
y.append(gt[i, 1])
y.append(pred[i, 1])
z.append(gt[i, 2])
z.append(pred[i, 2])
connections.append(np.vstack(
[np.arange(inner_index, inner_index + N - 1.5),
np.arange(inner_index + 1,inner_index + N - 0.5)]
).T)
inner_index += N
x = np.hstack(x)
y = np.hstack(y)
z = np.hstack(z)
connections = np.vstack(connections)
src = mlab.pipeline.scalar_scatter(x, y, z)
src.mlab_source.dataset.lines = connections
src.update()
lines= mlab.pipeline.tube(src, tube_radius=0.005, tube_sides=6)
mlab.pipeline.surface(lines, line_width=2, opacity=.4, color=(1,1,0))
# DRAW LINE END
mlab.view(90, # azimuth
150, # elevation
50, # distance
[0, -1.4, 18], # focalpoint
roll=0)
mlab.orientation_axes()
mlab.show()
def visualize_transformed(pc1, pc2, output):
if pc1.shape[1] != 3:
pc1 = pc1.T
pc2 = pc2.T
output = output.T
pred = pc1 + output
print('pc1, pc2, pred', pc1.shape, pc2.shape, pred.shape)
fig = mlab.figure(figure=None, bgcolor=(0,0,0), fgcolor=(1,1,1), engine=None, size=(1600, 1000))
if False: #len(sys.argv) >= 4 and sys.argv[3] == 'pc1':
mlab.points3d(pc1[:, 0], pc1[:, 1], pc1[:, 2], color=(0,0,1), scale_factor=SCALE_FACTOR, figure=fig, mode=MODE) # blue
if False:
mlab.points3d(pc2[:, 0], pc2[:, 1], pc2[:, 2], color=(0,1,1), scale_factor=SCALE_FACTOR, figure=fig, mode=MODE) # cyan
mlab.points3d(pred[:, 0], pred[:,1], pred[:,2], color=(0,1,0), scale_factor=SCALE_FACTOR, figure=fig, mode=MODE) # green
mlab.view(90, # azimuth
150, # elevation
50, # distance
[0, -1.4, 18], # focalpoint
roll=0)
mlab.orientation_axes()
mlab.show()