本文详细介绍了如何使用Open3D库在点云中进行语义分割，并展示了如何绘制带有角度的3D盒子，包括官方示例和箭头绘制方法，同时提到了与Tensorboard的整合。
1. open3d 可视化语义分割点云和box(with angle)
- visualize semantic segmentation points
def draw_boxes(vis, boxes, color):
"""
Args:
vis: o3d.visualization.Visualizer
boxes: (N, 7)： xyzlhw,angle
color: (0, 1, 0)
"""
for i, box in enumerate(boxes):
b = o3d.geometry.OrientedBoundingBox()
b.center = box[:3]
b.extent = box[3:6]
# print(box[6])
R = o3d.geometry.OrientedBoundingBox.get_rotation_matrix_from_xyz((0, 0, box[6]))
b.rotate(R, b.center)
b.color = color
vis.add_geometry(b)
point_cloud = o3d.geometry.PointCloud()
point_cloud.points = o3d.utility.Vector3dVector(valid_points1[:, :])
point_cloud.colors = o3d.utility.Vector3dVector(colors[valid_points[:, 8].astype(np.int32)])
vis = o3d.visualization.Visualizer()
vis.create_window()
vis.add_geometry(point_cloud)
draw_boxes(vis, boxes, (0,1,0))
vis.get_render_option().background_color = np.asarray([0, 0, 0]) # you can set the bg color
vis.run()
vis.destroy_window()
- visualize box with angle
# (N, 7)
point_cloud = o3d.geometry.PointCloud()
point_cloud.points = o3d.utility.Vector3dVector(valid_points1[:, :])
point_cloud.colors = o3d.utility.Vector3dVector(colors[valid_points[:, 8].astype(np.int32)])
vis = o3d.visualization.Visualizer()
vis.create_window()
vis.add_geometry(point_cloud)
for i, box in enumerate(bboxes):
b = o3d.geometry.OrientedBoundingBox()
b.center = box[:3]
b.extent = box[3:6]
# with heading
R = o3d.geometry.OrientedBoundingBox.get_rotation_matrix_from_xyz((0, 0, box[6]))
b.rotate(R, b.center)
# 2nd method
#lines_box = np.array([[0, 1], [1, 2], [0, 3], [2, 3], [4, 5], [4, 7], [5, 6], [6, 7],
# [0, 4], [1, 5], [2, 6], [3, 7]])
#colors = np.array([[0, 1, 0] for j in range(len(lines_box))])
#line_set = o3d.geometry.LineSet()
#line_set.lines = o3d.utility.Vector2iVector(lines_box)
#line_set.colors = o3d.utility.Vector3dVector(colors)
#line_set.points = o3d.utility.Vector3dVector(points_3dbox)
#vis.add_geometry(line_set)
vis.add_geometry(b)
vis.get_render_option().background_color = np.asarray([0, 0, 0]) # 设置一些渲染属性
vis.run()
vis.destroy_window()
- 将vis可视化效果保存为图片形式
vis.capture_screen_image("temp_%04d.jpg" % i)
2. 一些官方示例-用于参考
# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# The MIT License (MIT)
#
# Copyright (c) 2018-2021 www.open3d.org
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
# IN THE SOFTWARE.
# ----------------------------------------------------------------------------
from time import sleep
from numpy import outer
import open3d as o3d
if __name__ == "__main__":
# o3d.visualization.webrtc_server.enable_webrtc()
# cube_red = o3d.geometry.TriangleMesh.create_box(1, 2, 4)
# cube_red.compute_vertex_normals()
# cube_red.paint_uniform_color((1.0, 0.0, 0.0))
# o3d.visualization.draw(cube_red)
import numpy as np
import open3d.ml as ml3d
# or import open3d.ml.tf as ml3d
# OPEN3D.ML.VISUALIZER不行
# data = [ {
# 'name': 'my_point_cloud',
# 'points': np.random.rand(100,3).astype(np.float32),
# 'point_attr1': np.random.rand(100).astype(np.float32),
# } ]
# box1 = o3d.ml.vis.BoundingBox3D((20,1,1), front=(1,1,0),
# up = (0,0,1),
# left=(-1,1,0),
# size=(2,2,4),
# label_class=1,
# confidence=0.5,
# show_class=True,
# show_confidence=True,
# arrow_length=1.0)
# box2 = o3d.ml.vis.BoundingBox3D((10,1,1), front=(1,0,0),
# up = (0,0,1),
# left=(0,1,0),
# size=(4,2,2),
# label_class=0,
# confidence=0.5,
# arrow_length=1.0)
# lut = o3d.ml.vis.LabelLUT()
# lut.add_label("car", 1, (1,0,0))
# lut.add_label("people", 0, (0,1,0))
# # box_cl = o3d.ml.vis.BoundingBox3D.create_lines(data_box["bboxes"], lut, out_format="lineset")
# vis = ml3d.vis.Visualizer()
# vis.visualize(data, lut, bounding_boxes=[box2, box1])
# import pickle
# import numpy as np
# with open("train_0_197.pkl", 'rb') as f:
# data = pickle.load(f)
# #print(len(data))
# #print(data[0])
# for k, v in data[0].items():
# print(k)
# # print(data[0]['point_cloud'])
# np.set_printoptions(suppress=True)
# data = np.fromfile("0000000.bin", dtype=np.float32)
# data = data.reshape(-1, 6)
# import time
# import open3d as o3d
# # Monkey-patch torch.utils.tensorboard.SummaryWriter
# from open3d.visualization.tensorboard_plugin import summary
# # Utility function to convert Open3D geometry to a dictionary format
# from open3d.visualization.tensorboard_plugin.util import to_dict_batch
# from torch.utils.tensorboard import SummaryWriter
# cube = o3d.geometry.TriangleMesh.create_box(1, 2, 4)
# cube.compute_vertex_normals()
# cylinder = o3d.geometry.TriangleMesh.create_cylinder(radius=1.0,
# height=2.0,
# resolution=20,
# split=4)
# cylinder.compute_vertex_normals()
# colors = [(1.0, 0.0, 0.0), (0.0, 1.0, 0.0), (0.0, 0.0, 1.0)]
# # ... geometry creation code as above ...
# logdir = "/home/shimingli/Projects/3d_seg_head/scripts/test"
# writer = SummaryWriter(logdir)
# box1 = o3d.ml.vis.BoundingBox3D((20,1,1), front=(1,1,0),
# up = (0,0,1),
# left=(-1,1,0),
# size=(2,2,4),
# label_class=1,
# confidence=0.5,
# show_class=True,
# show_confidence=True,
# arrow_length=1.0)
# box2 = o3d.ml.vis.BoundingBox3D((10,1,1), front=(1,0,0),
# up = (0,0,1),
# left=(0,1,0),
# size=(4,2,2),
# label_class=0,
# confidence=0.5,
# arrow_length=1.0)
# print(to_dict_batch([cylinder]))
# import torch
# shape = data[None, :, :3].shape
# data = {
# "vertex_positions": data[None, :, :3],
# "vertex_colors": np.zeros(shape)
# }
# data_box = {
# "bboxes":[box1, box2],
# }
# lut = o3d.ml.vis.LabelLUT()
# lut.add_label("car", 1, (1,0,0))
# lut.add_label("people", 0, (0,1,0))
# box_cl = o3d.ml.vis.BoundingBox3D.create_lines(data_box["bboxes"], lut, out_format="lineset")
# # print(box_cl)
# # bbox_labels and bbox_confidences not supported in v14
# # box_cl.pop("bbox_labels")
# # box_cl.pop("bbox_confidences")
# # writer.add_3d('points', data, step=0)
# writer.add_3d("bboxes", to_dict_batch([box_cl]),step=1)
# writer.add_text('bboxes', 'This is an lstm', 0)
# mat = o3d.visualization.rendering.MaterialRecord()
# mat.shader = "unlitLine"
# mat.line_width = 5 # note that this is scaled with respect to pixels,
# # so will give different results depending on the
# # scaling values of your system
# o3d.visualization.draw({
# "name": "lines",
# "geometry": box_cl,
# "material": mat
# })
# #writer.add_3d("color", box_cl,step=0)
# # for step in range(3):
# # cube.paint_uniform_color(colors[step])
# # writer.add_3d('cube', data, step=step)
# # # cylinder.paint_uniform_color(colors[step])
# # # writer.add_3d('cylinder', to_dict_batch([cylinder]), step=step)
# # time.sleep(1)
import numpy as np
import open3d as o3d
import open3d.visualization.gui as gui
import open3d.visualization.rendering as rendering
app = gui.Application.instance
app.initialize()
def make_point_cloud(npts, center, radius):
pts = np.random.uniform(-radius, radius, size=[npts, 3]) + center
cloud = o3d.geometry.PointCloud()
cloud.points = o3d.utility.Vector3dVector(pts)
colors = np.random.uniform(0.0, 1.0, size=[npts, 3])
cloud.colors = o3d.utility.Vector3dVector(colors)
return cloud
points = make_point_cloud(100, (0, 0, 0), 1.0)
vis = o3d.visualization.O3DVisualizer("Open3D - 3D Text", 1024, 768)
vis.show_settings = True
vis.add_geometry("Points", points)
for idx in range(0, len(points.points)):
vis.add_3d_label(points.points[idx], "{}".format(idx))
vis.reset_camera_to_default()
app.add_window(vis)
app.run()
3. 绘制箭头
tensorboard 联合
可以和tensorboard融合，但是要与pip install tensorboard, 不是tensorflow的tensorboard； anaconda/bin/tensorboard 是可以的，否则出现datest not found问题
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