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Commit dc7bd50a authored by 1a8fa007520eaf08a0ff2aa23436817a's avatar 1a8fa007520eaf08a0ff2aa23436817a
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module2/exo4/exercice.ipynb
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...@@ -371,26 +371,26 @@ ...@@ -371,26 +371,26 @@
}, },
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"source": [ "source": [
"import pyquaternion\n", "import pyquaternion\n",
"\n", "\n",
"def obbox_properties_to_vertices(obbox_properties)\n", "def obbox_properties_to_vertices(obbox_properties):\n",
" \"\"\"\n", " \"\"\"\n",
" Convert 3D box properties (center, dimensions, and quaternion)\n", " Convert 3D box properties (center, dimensions, and quaternion)\n",
" \"\"\"\n", " \"\"\"\n",
" if isinstance(obbox_properties, str):\n", " if isinstance(obbox_properties, str):\n",
" obbox_properties = a = map(float, obbox_properties.split())\n", " obbox_properties = list(map(float, obbox_properties.split()))\n",
" \n", " \n",
"# TODO ADD EXTRA CHECKS\n", "# TODO ADD EXTRA CHECKS\n",
"# if isinstance(obbox_properties, iterable) and len(obbox_properties == 10) and \n", "# if isinstance(obbox_properties, iterable) and len(obbox_properties == 10) and \n",
" \n", " \n",
" # Extract properties\n", " # Extract properties\n",
" cx, cy, cz = [0:3]\n", " cx, cy, cz = obbox_properties[0:3]\n",
" dx, dy, dz = [3:6]\n", " dx, dy, dz = obbox_properties[3:6]\n",
" qx, qy, qz, qw = [6:10]\n", " qx, qy, qz, qw = obbox_properties[6:10]\n",
"\n", "\n",
" # Constants for converting properties to vertices\n", " # Constants for converting properties to vertices\n",
" X = [0, 0, 1, 1, 0, 0, 1, 1]\n", " X = [0, 0, 1, 1, 0, 0, 1, 1]\n",
...@@ -398,9 +398,9 @@ ...@@ -398,9 +398,9 @@
" Z = [0, 0, 0, 0, 1, 1, 1, 1]\n", " Z = [0, 0, 0, 0, 1, 1, 1, 1]\n",
"\n", "\n",
" # Properties to unrotated vertices\n", " # Properties to unrotated vertices\n",
" x = [c_x + (-0.5 * d_x if v == 0 else 0.5 * d_x) for v in X]\n", " x = [cx + (-0.5 * dx if v == 0 else 0.5 * dx) for v in X]\n",
" y = [c_y + (-0.5 * d_y if v == 0 else 0.5 * d_y) for v in Y]\n", " y = [cy + (-0.5 * dy if v == 0 else 0.5 * dy) for v in Y]\n",
" z = [c_z + (-0.5 * d_z if v == 0 else 0.5 * d_z) for v in Z]\n", " z = [cz + (-0.5 * dz if v == 0 else 0.5 * dz) for v in Z]\n",
" unrotated_vertices = zip(x, y, z)\n", " unrotated_vertices = zip(x, y, z)\n",
" \n", " \n",
" # Apply quaternion\n", " # Apply quaternion\n",
...@@ -411,85 +411,1331 @@ ...@@ -411,85 +411,1331 @@
" \n", " \n",
" x, y, z = zip(*vertices)\n", " x, y, z = zip(*vertices)\n",
" \n", " \n",
" return x, y, z\n", " return x, y, z"
]
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"import plotly.graph_objects as go\n",
"import numpy as np\n",
"\n", "\n",
"def box_vertices" "def label_to_mesh_3d(label, color='magenta'):\n",
" x, y, z = obbox_properties_to_vertices(label['@obbox'])\n",
" mesh_3d = go.Mesh3d(\n",
" x=x, y=y, z=z,\n",
" color=color,\n",
" opacity=0.5,\n",
" # i, j and k give the vertices of triangles\n",
" i = [7, 0, 0, 0, 4, 4, 6, 6, 4, 0, 3, 2],\n",
" j = [3, 4, 1, 2, 5, 6, 5, 2, 0, 1, 6, 3],\n",
" k = [0, 7, 2, 3, 6, 7, 1, 1, 5, 5, 7, 6],\n",
" name=label['@nyu_class'],\n",
" showscale=True\n",
" )\n",
" return mesh_3d\n",
"\n",
"def plot_obbox(obbox):\n",
" x, y, z = obbox_properties_to_vertices(obbox)\n",
" fig = go.Figure(data=[\n",
" go.Mesh3d(\n",
" x=x, y=y, z=z,\n",
" color='magenta',\n",
" opacity=0.5,\n",
" # i, j and k give the vertices of triangles\n",
" i = [7, 0, 0, 0, 4, 4, 6, 6, 4, 0, 3, 2],\n",
" j = [3, 4, 1, 2, 5, 6, 5, 2, 0, 1, 6, 3],\n",
" k = [0, 7, 2, 3, 6, 7, 1, 1, 5, 5, 7, 6],\n",
" name='y',\n",
" showscale=True\n",
" )\n",
" ])\n",
" return fig\n",
"\n",
"# fig.show()"
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" {\"responsive\": true}\n",
" ).then(function(){\n",
" \n",
"var gd = document.getElementById('a2572bb8-2f68-4914-9e5d-faf6a569a205');\n",
"var x = new MutationObserver(function (mutations, observer) {{\n",
" var display = window.getComputedStyle(gd).display;\n",
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" Plotly.purge(gd);\n",
" observer.disconnect();\n",
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]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"plot_obbox(sample_label['@obbox'])"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"Take a look at the classes in the sample scene:"
]
},
{
"cell_type": "code",
"execution_count": 55,
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [
{ {
"ename": "NameError", "data": {
"evalue": "name 'np' is not defined", "text/plain": [
"output_type": "error", "{'bag',\n",
"traceback": [ " 'bed',\n",
"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", " 'bookshelf',\n",
"\u001b[0;31mNameError\u001b[0m Traceback (most recent call last)", " 'box',\n",
"\u001b[0;32m<ipython-input-21-29c839d25695>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m\u001b[0m\n\u001b[1;32m 11\u001b[0m [1, 'magenta']],\n\u001b[1;32m 12\u001b[0m \u001b[0;31m# Intensity of each vertex, which will be interpolated and color-coded\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 13\u001b[0;31m \u001b[0mintensity\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mlinspace\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;36m0\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m1\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m12\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mendpoint\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;32mTrue\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 14\u001b[0m \u001b[0mintensitymode\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;34m'cell'\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 15\u001b[0m \u001b[0;31m# i, j and k give the vertices of triangles\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n", " 'cabinet',\n",
"\u001b[0;31mNameError\u001b[0m: name 'np' is not defined" " 'ceiling',\n",
] " 'chair',\n",
" 'desk',\n",
" 'door',\n",
" 'floor',\n",
" 'lamp',\n",
" 'prop',\n",
" 'shelves',\n",
" 'television',\n",
" 'towel',\n",
" 'unknown',\n",
" 'wall',\n",
" 'window'}"
]
},
"execution_count": 55,
"metadata": {},
"output_type": "execute_result"
} }
], ],
"source": [ "source": [
"import plotly.graph_objects as go\n", "classes = set()\n",
"fig = go.Figure(data=[\n", "for labebag',\n",
" go.Mesh3d(\n", " 'bed',\n",
" # 8 vertices of a cube\n", " 'bookshelf',\n",
" x=[0, 0, 1, 1, 0, 0, 1, 1],\n", " 'box',\n",
" y=[0, 1, 1, 0, 0, 1, 1, 0],\n", " 'cabinet',\n",
" z=[0, 0, 0, 0, 1, 1, 1, 1],\n", " 'ceiling',\n",
" colorbar_title='z',\n", " 'chair',\n",
" colorscale=[[0, 'gold'],\n", " 'desk',\n",
" [0.5, 'mediumturquoise'],\n", " 'door',\n",
" [1, 'magenta']],\n", " 'floor',\n",
" # Intensity of each vertex, which will be interpolated and color-coded\n", " 'lamp',\n",
" intensity = np.linspace(0, 1, 12, endpoint=True),\n", " 'prop',\n",
" intensitymode='cell',\n", " 'shelvel in labels:\n",
" # i, j and k give the vertices of triangles\n", " classes.add(label['@nyu_class'])\n",
" i = [7, 0, 0, 0, 4, 4, 6, 6, 4, 0, 3, 2],\n", "classes"
" j = [3, 4, 1, 2, 5, 6, 5, 2, 0, 1, 6, 3],\n", ]
" k = [0, 7, 2, 3, 6, 7, 1, 1, 5, 5, 7, 6],\n", },
" name='y',\n", {
" showscale=True\n", "cell_type": "markdown",
" )\n", "metadata": {},
"])\n", "source": [
"\n", "Check if a nyu_class can be represented by different colors in original dataset"
"fig.show()"
] ]
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 28, "execution_count": 57,
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [
{ {
"name": "stdout", "data": {
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"<class 'float'>\n", " 'bed': ['195 224 75'],\n",
"<class 'float'>\n", " 'ceiling': ['249 129 6',\n",
"<class 'float'>\n", " '216 148 91',\n",
"<class 'float'>\n", " '210 171 73',\n",
"<class 'float'>\n", " '85 110 41',\n",
"<class 'float'>\n", " '148 2 50',\n",
"<class 'float'>\n", " '90 67 102'],\n",
"<class 'float'>\n", " 'floor': ['244 244 249', '84 102 188'],\n",
"<class 'float'>\n", " 'desk': ['73 37 200', '95 228 26'],\n",
"<class 'float'>\n" " 'bookshelf': ['205 250 112'],\n",
] " 'window': ['240 88 86'],\n",
" 'door': ['153 91 119', '241 196 116', '36 242 138'],\n",
" 'chair': ['56 190 211', '174 76 53', '58 1 47', '206 81 234'],\n",
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" '120 165 250',\n",
" '18 10 103',\n",
" '246 199 122',\n",
" '172 40 30',\n",
" '223 121 124',\n",
" '63 144 165',\n",
" '99 1 245',\n",
" '130 237 103',\n",
" '67 146 89',\n",
" '134 201 211',\n",
" '150 163 193',\n",
" '209 54 93',\n",
" '227 28 148',\n",
" '59 198 224',\n",
" '135 155 63',\n",
" '245 37 151',\n",
" '110 170 171',\n",
" '161 250 79',\n",
" '30 162 66',\n",
" '88 228 147'],\n",
" 'towel': ['166 215 75', '190 249 53'],\n",
" 'television': ['182 11 150'],\n",
" 'bag': ['79 176 148'],\n",
" 'lamp': ['126 210 18', '196 36 92', '234 250 54']}"
]
},
"execution_count": 57,
"metadata": {},
"output_type": "execute_result"
} }
], ],
"source": [] "source": [
"classes = {}\n",
"for label in labels:\n",
" if label['@nyu_class'] in classes:\n",
" if label['@color'] not in classes[label['@nyu_class']]:\n",
" classes[label['@nyu_class']].append(label['@color'])\n",
" else:\n",
" classes[label['@nyu_class']] = [label['@color']]\n",
"classes"
]
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": null, "execution_count": null,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [] "source": [
"for label in labels:\n",
" "
]
} }
], ],
"metadata": { "metadata": {
......
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