{
"cells": [
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Exploration of 3D Indoor Scenes Datasets"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Install useful dependencies for data exploration"
]
},
{
"cell_type": "code",
"execution_count": 140,
"metadata": {
"hideCode": false,
"hideOutput": true,
"hidePrompt": false
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Requirement already satisfied: plotly in /opt/conda/lib/python3.6/site-packages (4.9.0)\n",
"Requirement already satisfied: six in /opt/conda/lib/python3.6/site-packages (from plotly) (1.14.0)\n",
"Requirement already satisfied: retrying>=1.3.3 in /opt/conda/lib/python3.6/site-packages (from plotly) (1.3.3)\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"WARNING: pip is being invoked by an old script wrapper. This will fail in a future version of pip.\n",
"Please see https://github.com/pypa/pip/issues/5599 for advice on fixing the underlying issue.\n",
"To avoid this problem you can invoke Python with '-m pip' instead of running pip directly.\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Requirement already satisfied: pyquaternion in /opt/conda/lib/python3.6/site-packages (0.9.5)\n",
"Requirement already satisfied: numpy in /opt/conda/lib/python3.6/site-packages (from pyquaternion) (1.15.2)\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"WARNING: pip is being invoked by an old script wrapper. This will fail in a future version of pip.\n",
"Please see https://github.com/pypa/pip/issues/5599 for advice on fixing the underlying issue.\n",
"To avoid this problem you can invoke Python with '-m pip' instead of running pip directly.\n",
"WARNING: pip is being invoked by an old script wrapper. This will fail in a future version of pip.\n",
"Please see https://github.com/pypa/pip/issues/5599 for advice on fixing the underlying issue.\n",
"To avoid this problem you can invoke Python with '-m pip' instead of running pip directly.\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Requirement already satisfied: xmltodict in /opt/conda/lib/python3.6/site-packages (0.12.0)\n"
]
}
],
"source": [
"import pip\n",
"\n",
"def install(package):\n",
" if hasattr(pip, 'main'):\n",
" pip.main(['install', package])\n",
" else:\n",
" pip._internal.main(['install', package])\n",
"\n",
"# install('panda3d')\n",
"# install('ursina')\n",
"# install('ipyvolume')\n",
"install('plotly')\n",
"install('pyquaternion')\n",
"install('xmltodict')"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Explore SceneNN scene"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Copy minimalist scene data as string \"sample_scene_data\""
]
},
{
"cell_type": "code",
"execution_count": 141,
"metadata": {
"hideCode": true,
"hideOutput": true,
"hidePrompt": false
},
"outputs": [],
"source": [
"sample_scene_data = \"\"\"\n",
"\n",
"\n",
"\n",
"\n",
"\n",
"\n",
"\n",
"\n",
"\n",
"\n",
"\n",
"\n",
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"\n",
"\n",
"\n",
"\n",
"\n",
"\n",
"\n",
"\n",
"\n",
"\n",
"\n",
"\n",
"\"\"\""
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Load scene data as xml tree element"
]
},
{
"cell_type": "code",
"execution_count": 142,
"metadata": {},
"outputs": [],
"source": [
"import xmltodict\n",
"labels = xmltodict.parse(sample_scene_data)['annotation']['label']\n",
"sample_label = labels[0]\n",
"# sample_label"
]
},
{
"cell_type": "code",
"execution_count": 143,
"metadata": {},
"outputs": [],
"source": [
"import pyquaternion\n",
"\n",
"def obbox_properties_to_vertices(obbox_properties):\n",
" \"\"\"\n",
" Convert 3D box properties (center, dimensions, and quaternion)\n",
" \"\"\"\n",
" if isinstance(obbox_properties, str):\n",
" obbox_properties = list(map(float, obbox_properties.split()))\n",
" \n",
"# TODO ADD EXTRA CHECKS\n",
"# if isinstance(obbox_properties, iterable) and len(obbox_properties == 10) and \n",
" \n",
" # Extract properties\n",
" cx, cy, cz = obbox_properties[0:3]\n",
" dx, dy, dz = obbox_properties[3:6]\n",
" qx, qy, qz, qw = obbox_properties[6:10]\n",
"\n",
" # Constants for converting properties to vertices\n",
" X = [0, 0, 1, 1, 0, 0, 1, 1]\n",
" Y = [0, 1, 1, 0, 0, 1, 1, 0]\n",
" Z = [0, 0, 0, 0, 1, 1, 1, 1]\n",
"\n",
" # Properties to unrotated vertices\n",
" x = [(-0.5 * dx if v == 0 else 0.5 * dx) for v in X]\n",
" y = [(-0.5 * dy if v == 0 else 0.5 * dy) for v in Y]\n",
" z = [(-0.5 * dz if v == 0 else 0.5 * dz) for v in Z]\n",
" unrotated_vertices = zip(x, y, z)\n",
" \n",
" # Apply quaternion\n",
"# quaternion = pyquaternion.Quaternion(qw, qx, qy, qz)\n",
"# unrotated_vectors = [(v[0] - cx, v[1] - cy, v[2] - cz) for v in unrotated_vertices]\n",
"# vectors = [quaternion.rotate(v) for v in unrotated_vectors]\n",
"# vertices = [(v[0] + cx, v[1] + cy, v[2] + cz) for v in vectors]\n",
" \n",
" x, y, z = zip(*unrotated_vertices)\n",
" \n",
" return x, y, z\n",
"\n",
"def aabbox_properties_to_vertices(aabbox_properties):\n",
" \"\"\"\n",
" Convert axis-aligned 3D box properties (center, dimensions, and quaternion)\n",
" \"\"\"\n",
" if isinstance(aabbox_properties, str):\n",
" aabbox_properties = list(map(float, aabbox_properties.split()))\n",
" \n",
" # Extract properties\n",
" minx, miny, minz = aabbox_properties[0:3]\n",
" maxx, maxy, maxz = aabbox_properties[3:6]\n",
"\n",
" # Constants for converting properties to vertices\n",
" X = [0, 0, 1, 1, 0, 0, 1, 1]\n",
" Y = [0, 1, 1, 0, 0, 1, 1, 0]\n",
" Z = [0, 0, 0, 0, 1, 1, 1, 1]\n",
"\n",
" # Properties to vertices\n",
" x = [(minx if v == 0 else maxx) for v in X]\n",
" y = [(miny if v == 0 else maxy) for v in Y]\n",
" z = [(minz if v == 0 else maxz) for v in Z]\n",
" vertices = zip(x, y, z)\n",
" \n",
" x, y, z = zip(*vertices)\n",
" \n",
" return x, y, z\n"
]
},
{
"cell_type": "code",
"execution_count": 153,
"metadata": {},
"outputs": [],
"source": [
"import plotly.graph_objects as go\n",
"import numpy as np\n",
"\n",
"def vertices_to_mesh_3d(x, y, z, name='unknown_label', color='magenta'):\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=name,\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()"
]
},
{
"cell_type": "code",
"execution_count": 154,
"metadata": {
"scrolled": true
},
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