-
Notifications
You must be signed in to change notification settings - Fork 0
/
annotation_tool.py
776 lines (637 loc) · 32.8 KB
/
annotation_tool.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
# Author: Anas Gouda ([email protected])
# FLW, TU Dortmund, Germany
"""Manual annotation tool for datasets with BOP format
Using RGB, Depth and Models the tool will generate the "scene_gt.json" annotation file
Other annotations can be generated usign other scripts [calc_gt_info.py, calc_gt_masks.py, ....]
original repo: https://github.com/FLW-TUDO/3d_annotation_tool
"""
import glob
import numpy as np
import open3d as o3d
import open3d.visualization.gui as gui
import open3d.visualization.rendering as rendering
import os
import json
import cv2
import warnings
# PARAMETERS.
################################################################################
p = {
# Folder containing the BOP datasets.
'dataset_path': '/path/to/dataset',
# Dataset split. Options: 'train', 'test'.
'dataset_split': 'val',
# Dataset split type. Options: 'synt', 'real', None = default. See dataset_params.py for options.
'dataset_split_type': None,
# scene number to open tool on
'start_scene_num': 1,
# image number inside scene to open tool on
'start_image_num': 0
}
################################################################################
dist = 0.002
deg = 1
class Dataset:
def __init__(self, dataset_path, dataset_split):
self.scenes_path = os.path.join(dataset_path, dataset_split)
self.objects_path = os.path.join(dataset_path, 'models')
class AnnotationScene:
def __init__(self, scene_point_cloud, scene_num, image_num):
self.annotation_scene = scene_point_cloud
self.scene_num = scene_num
self.image_num = image_num
self.obj_list = list()
def add_obj(self, obj_geometry, obj_name, obj_instance, transform=np.identity(4)):
self.obj_list.append(self.SceneObject(obj_geometry, obj_name, obj_instance, transform))
def get_objects(self):
return self.obj_list[:]
def remove_obj(self, index):
self.obj_list.pop(index)
class SceneObject:
def __init__(self, obj_geometry, obj_name, obj_instance, transform):
self.obj_geometry = obj_geometry
self.obj_name = obj_name
self.obj_instance = obj_instance
self.transform = transform
class Settings:
UNLIT = "defaultUnlit"
def __init__(self):
self.bg_color = gui.Color(1, 1, 1)
self.show_axes = False
self.highlight_obj = True
self.apply_material = True # clear to False after processing
self.scene_material = rendering.MaterialRecord()
self.scene_material.base_color = [0.9, 0.9, 0.9, 1.0]
self.scene_material.shader = Settings.UNLIT
self.annotation_obj_material = rendering.MaterialRecord()
self.annotation_obj_material.base_color = [0.9, 0.3, 0.3, 1.0]
self.annotation_obj_material.shader = Settings.UNLIT
class AppWindow:
MENU_OPEN = 1
MENU_EXPORT = 2
MENU_QUIT = 3
MENU_SHOW_SETTINGS = 11
MENU_ABOUT = 21
MATERIAL_NAMES = ["Unlit"]
MATERIAL_SHADERS = [
Settings.UNLIT
]
def _apply_settings(self):
bg_color = [
self.settings.bg_color.red, self.settings.bg_color.green,
self.settings.bg_color.blue, self.settings.bg_color.alpha
]
self._scene.scene.set_background(bg_color)
self._scene.scene.show_axes(self.settings.show_axes)
if self.settings.apply_material:
self._scene.scene.modify_geometry_material("annotation_scene", self.settings.scene_material)
self.settings.apply_material = False
self._show_axes.checked = self.settings.show_axes
self._highlight_obj.checked = self.settings.highlight_obj
self._point_size.double_value = self.settings.scene_material.point_size
def _on_layout(self, layout_context):
r = self.window.content_rect
self._scene.frame = r
width = 17 * layout_context.theme.font_size
height = min(
r.height,
self._settings_panel.calc_preferred_size(
layout_context, gui.Widget.Constraints()).height)
self._settings_panel.frame = gui.Rect(r.get_right() - width, r.y, width,
height)
def __init__(self, width, height, scenes):
self.scenes = scenes
self.settings = Settings()
self.window = gui.Application.instance.create_window(
"BOP manual annotation tool", width, height)
w = self.window # to make the code more concise
# 3D widget
self._scene = gui.SceneWidget()
self._scene.scene = rendering.Open3DScene(w.renderer)
# ---- Settings panel ----
em = w.theme.font_size
separation_height = int(round(0.5 * em))
self._settings_panel = gui.Vert(
0, gui.Margins(0.25 * em, 0.25 * em, 0.25 * em, 0.25 * em))
view_ctrls = gui.CollapsableVert("View control", 0,
gui.Margins(em, 0, 0, 0))
view_ctrls.set_is_open(True)
self._show_axes = gui.Checkbox("Show axes")
self._show_axes.set_on_checked(self._on_show_axes)
view_ctrls.add_child(self._show_axes)
self._highlight_obj = gui.Checkbox("Highligh annotation objects")
self._highlight_obj.set_on_checked(self._on_highlight_obj)
view_ctrls.add_child(self._highlight_obj)
self._point_size = gui.Slider(gui.Slider.INT)
self._point_size.set_limits(1, 5)
self._point_size.set_on_value_changed(self._on_point_size)
grid = gui.VGrid(2, 0.25 * em)
grid.add_child(gui.Label("Point size"))
grid.add_child(self._point_size)
view_ctrls.add_child(grid)
self._settings_panel.add_child(view_ctrls)
# ----
w.set_on_layout(self._on_layout)
w.add_child(self._scene)
w.add_child(self._settings_panel)
# 3D Annotation tool options
annotation_objects = gui.CollapsableVert("Annotation Objects", 0.33 * em,
gui.Margins(em, 0, 0, 0))
annotation_objects.set_is_open(True)
self._meshes_available = gui.ListView()
# mesh_available.set_items(["bottle", "can"])
self._meshes_used = gui.ListView()
# mesh_used.set_items(["can_0", "can_1", "can_1", "can_1"])
add_mesh_button = gui.Button("Add Mesh")
remove_mesh_button = gui.Button("Remove Mesh")
add_mesh_button.set_on_clicked(self._add_mesh)
remove_mesh_button.set_on_clicked(self._remove_mesh)
annotation_objects.add_child(self._meshes_available)
annotation_objects.add_child(add_mesh_button)
annotation_objects.add_child(self._meshes_used)
annotation_objects.add_child(remove_mesh_button)
self._settings_panel.add_child(annotation_objects)
self._scene_control = gui.CollapsableVert("Scene Control", 0.33 * em,
gui.Margins(em, 0, 0, 0))
self._scene_control.set_is_open(True)
self._images_buttons_label = gui.Label("Images:")
self._samples_buttons_label = gui.Label("Scene: ")
self._pre_image_button = gui.Button("Previous")
self._pre_image_button.horizontal_padding_em = 0.8
self._pre_image_button.vertical_padding_em = 0
self._pre_image_button.set_on_clicked(self._on_previous_image)
self._next_image_button = gui.Button("Next")
self._next_image_button.horizontal_padding_em = 0.8
self._next_image_button.vertical_padding_em = 0
self._next_image_button.set_on_clicked(self._on_next_image)
self._pre_sample_button = gui.Button("Previous")
self._pre_sample_button.horizontal_padding_em = 0.8
self._pre_sample_button.vertical_padding_em = 0
self._pre_sample_button.set_on_clicked(self._on_previous_scene)
self._next_sample_button = gui.Button("Next")
self._next_sample_button.horizontal_padding_em = 0.8
self._next_sample_button.vertical_padding_em = 0
self._next_sample_button.set_on_clicked(self._on_next_scene)
# 2 rows for sample and scene control
h = gui.Horiz(0.4 * em) # row 1
h.add_stretch()
h.add_child(self._images_buttons_label)
h.add_child(self._pre_image_button)
h.add_child(self._next_image_button)
h.add_stretch()
self._scene_control.add_child(h)
h = gui.Horiz(0.4 * em) # row 2
h.add_stretch()
h.add_child(self._samples_buttons_label)
h.add_child(self._pre_sample_button)
h.add_child(self._next_sample_button)
h.add_stretch()
self._scene_control.add_child(h)
self._view_numbers = gui.Horiz(0.4 * em)
self._image_number = gui.Label("Image: " + f'{0:06}')
self._scene_number = gui.Label("Scene: " + f'{0:06}')
self._view_numbers.add_child(self._image_number)
self._view_numbers.add_child(self._scene_number)
self._scene_control.add_child(self._view_numbers)
self._settings_panel.add_child(self._scene_control)
refine_position = gui.Button("Refine position")
refine_position.set_on_clicked(self._on_refine)
generate_save_annotation = gui.Button("generate annotation - save/update")
generate_save_annotation.set_on_clicked(self._on_generate)
self._scene_control.add_child(refine_position)
self._scene_control.add_child(generate_save_annotation)
# ---- Menu ----
if gui.Application.instance.menubar is None:
file_menu = gui.Menu()
file_menu.add_separator()
file_menu.add_item("Quit", AppWindow.MENU_QUIT)
settings_menu = gui.Menu()
settings_menu.set_checked(AppWindow.MENU_SHOW_SETTINGS, True)
help_menu = gui.Menu()
help_menu.add_item("About", AppWindow.MENU_ABOUT)
menu = gui.Menu()
menu.add_menu("File", file_menu)
menu.add_menu("Help", help_menu)
gui.Application.instance.menubar = menu
w.set_on_menu_item_activated(AppWindow.MENU_QUIT, self._on_menu_quit)
w.set_on_menu_item_activated(AppWindow.MENU_ABOUT, self._on_menu_about)
# ----
# ---- annotation tool settings ----
self._on_point_size(1) # set default size to 1
self._apply_settings()
self._annotation_scene = None
# set callbacks for key control
self._scene.set_on_key(self._transform)
self._left_shift_modifier = False
def _update_scene_numbers(self):
self._scene_number.text = "Scene: " + f'{self._annotation_scene.scene_num:06}'
self._image_number.text = "Image: " + f'{self._annotation_scene.image_num:06}'
def _transform(self, event):
if event.is_repeat:
return gui.Widget.EventCallbackResult.HANDLED
if event.key == gui.KeyName.LEFT_SHIFT:
if event.type == gui.KeyEvent.DOWN:
self._left_shift_modifier = True
elif event.type == gui.KeyEvent.UP:
self._left_shift_modifier = False
return gui.Widget.EventCallbackResult.HANDLED
# if ctrl is pressed then increase translation and angle values
global dist, deg
if event.key == gui.KeyName.LEFT_CONTROL:
if event.type == gui.KeyEvent.DOWN:
dist = 0.05
deg = 90
elif event.type == gui.KeyEvent.UP:
dist = 0.005
deg = 1
return gui.Widget.EventCallbackResult.HANDLED
# if no active_mesh selected print error
if self._meshes_used.selected_index == -1:
self._on_error("No objects are highlighted in scene meshes")
return gui.Widget.EventCallbackResult.HANDLED
def move(x, y, z, rx, ry, rz):
self._annotation_changed = True
objects = self._annotation_scene.get_objects()
active_obj = objects[self._meshes_used.selected_index]
# translation or rotation
if x != 0 or y != 0 or z != 0:
h_transform = np.array([[1, 0, 0, x], [0, 1, 0, y], [0, 0, 1, z], [0, 0, 0, 1]])
else: # elif rx!=0 or ry!=0 or rz!=0:
center = active_obj.obj_geometry.get_center()
rot_mat_obj_center = active_obj.obj_geometry.get_rotation_matrix_from_xyz((rx, ry, rz))
T_neg = np.vstack((np.hstack((np.identity(3), -center.reshape(3, 1))), [0, 0, 0, 1]))
R = np.vstack((np.hstack((rot_mat_obj_center, [[0], [0], [0]])), [0, 0, 0, 1]))
T_pos = np.vstack((np.hstack((np.identity(3), center.reshape(3, 1))), [0, 0, 0, 1]))
h_transform = np.matmul(T_pos, np.matmul(R, T_neg))
active_obj.obj_geometry.transform(h_transform)
center = active_obj.obj_geometry.get_center()
self._scene.scene.remove_geometry(active_obj.obj_name)
self._scene.scene.add_geometry(active_obj.obj_name, active_obj.obj_geometry,
self.settings.annotation_obj_material,
add_downsampled_copy_for_fast_rendering=True)
# update values stored of object
active_obj.transform = np.matmul(h_transform, active_obj.transform)
if event.type == gui.KeyEvent.DOWN: # only move objects with down strokes
# Refine
if event.key == gui.KeyName.R:
self._on_refine()
# Translation
if not self._left_shift_modifier:
if event.key == gui.KeyName.L:
print("L pressed: translate in +ve X direction")
move(dist, 0, 0, 0, 0, 0)
elif event.key == gui.KeyName.H:
print("H pressed: translate in -ve X direction")
move(-dist, 0, 0, 0, 0, 0)
elif event.key == gui.KeyName.J:
print("Comma pressed: translate in +ve Y direction")
move(0, dist, 0, 0, 0, 0)
elif event.key == gui.KeyName.K:
print("I pressed: translate in -ve Y direction")
move(0, -dist, 0, 0, 0, 0)
elif event.key == gui.KeyName.COMMA:
print("K pressed: translate in +ve Z direction")
move(0, 0, dist, 0, 0, 0)
elif event.key == gui.KeyName.I:
print("J pressed: translate in -ve Z direction")
move(0, 0, -dist, 0, 0, 0)
# Rotation - keystrokes are not in same order as translation to make movement more human intuitive
else:
print("Left-Shift is clicked; rotation mode")
if event.key == gui.KeyName.K:
print("L pressed: rotate around +ve X direction")
move(0, 0, 0, 0, 0, deg * np.pi / 180)
elif event.key == gui.KeyName.J:
print("H pressed: rotate around -ve X direction")
move(0, 0, 0, 0, 0, -deg * np.pi / 180)
elif event.key == gui.KeyName.H:
print("K pressed: rotate around +ve Y direction")
move(0, 0, 0, 0, deg * np.pi / 180, 0)
elif event.key == gui.KeyName.L:
print("J pressed: rotate around -ve Y direction")
move(0, 0, 0, 0, -deg * np.pi / 180, 0)
elif event.key == gui.KeyName.COMMA:
print("Comma pressed: rotate around +ve Z direction")
move(0, 0, 0, deg * np.pi / 180, 0, 0)
elif event.key == gui.KeyName.I:
print("I pressed: rotate around -ve Z direction")
move(0, 0, 0, -deg * np.pi / 180, 0, 0)
return gui.Widget.EventCallbackResult.HANDLED
def _on_refine(self):
self._annotation_changed = True
# if no active_mesh selected print error
if self._meshes_used.selected_index == -1:
self._on_error("No objects are highlighted in scene meshes")
return gui.Widget.EventCallbackResult.HANDLED
target = self._annotation_scene.annotation_scene
objects = self._annotation_scene.get_objects()
active_obj = objects[self._meshes_used.selected_index]
source = active_obj.obj_geometry
trans_init = np.identity(4)
threshold = 0.004
radius = 0.002
target.estimate_normals(o3d.geometry.KDTreeSearchParamHybrid(radius=radius * 2, max_nn=30))
source.estimate_normals(o3d.geometry.KDTreeSearchParamHybrid(radius=radius * 2, max_nn=30))
reg = o3d.pipelines.registration.registration_icp(source, target, threshold, trans_init,
o3d.pipelines.registration.TransformationEstimationPointToPlane(),
o3d.pipelines.registration.ICPConvergenceCriteria(
max_iteration=50))
active_obj.obj_geometry.transform(reg.transformation)
# active_obj.obj_geometry.paint_uniform_color([0,1,0]) # Debug
self._scene.scene.remove_geometry(active_obj.obj_name)
self._scene.scene.add_geometry(active_obj.obj_name, active_obj.obj_geometry,
self.settings.annotation_obj_material,
add_downsampled_copy_for_fast_rendering=True)
active_obj.transform = np.matmul(reg.transformation, active_obj.transform)
def _on_generate(self):
image_num = self._annotation_scene.image_num
model_names = self.load_model_names()
json_6d_path = os.path.join(self.scenes.scenes_path, f"{self._annotation_scene.scene_num:06}", "scene_gt.json")
if os.path.exists(json_6d_path):
with open(json_6d_path, "r") as gt_scene:
gt_6d_pose_data = json.load(gt_scene)
else:
gt_6d_pose_data = {}
# wrtie/update "scene_gt.json"
with open(json_6d_path, 'w+') as gt_scene:
view_angle_data = list()
for obj in self._annotation_scene.get_objects():
transform_cam_to_object = obj.transform
translation = list(transform_cam_to_object[0:3, 3] * 1000) # convert meter to mm
model_names = self.load_model_names()
obj_id = model_names.index(obj.obj_name[:-2]) + 1 # assuming max number of object of same object 10
obj_data = {
"cam_R_m2c": transform_cam_to_object[0:3, 0:3].tolist(), # rotation matrix
"cam_t_m2c": translation, # translation
"obj_id": obj_id
}
view_angle_data.append(obj_data)
gt_6d_pose_data[str(image_num)] = view_angle_data
json.dump(gt_6d_pose_data, gt_scene)
self._annotation_changed = False
def _on_error(self, err_msg):
dlg = gui.Dialog("Error")
em = self.window.theme.font_size
dlg_layout = gui.Vert(em, gui.Margins(em, em, em, em))
dlg_layout.add_child(gui.Label(err_msg))
ok = gui.Button("OK")
ok.set_on_clicked(self._on_about_ok)
h = gui.Horiz()
h.add_stretch()
h.add_child(ok)
h.add_stretch()
dlg_layout.add_child(h)
dlg.add_child(dlg_layout)
self.window.show_dialog(dlg)
def _on_show_axes(self, show):
self.settings.show_axes = show
self._apply_settings()
def _on_highlight_obj(self, light):
self.settings.highlight_obj = light
if light:
self.settings.annotation_obj_material.base_color = [0.9, 0.3, 0.3, 1.0]
elif not light:
self.settings.annotation_obj_material.base_color = [0.9, 0.9, 0.9, 1.0]
self._apply_settings()
# update current object visualization
meshes = self._annotation_scene.get_objects()
for mesh in meshes:
self._scene.scene.modify_geometry_material(mesh.obj_name, self.settings.annotation_obj_material)
def _on_point_size(self, size):
self.settings.scene_material.point_size = int(size)
self.settings.apply_material = True
self._apply_settings()
def _on_menu_quit(self):
gui.Application.instance.quit()
def _on_menu_about(self):
# Show a simple dialog. Although the Dialog is actually a widget, you can
# treat it similar to a Window for layout and put all the widgets in a
# layout which you make the only child of the Dialog.
em = self.window.theme.font_size
dlg = gui.Dialog("About")
# Add the text
dlg_layout = gui.Vert(em, gui.Margins(em, em, em, em))
dlg_layout.add_child(gui.Label("BOP manual annotation tool"))
# Add the Ok button. We need to define a callback function to handle
# the click.
ok = gui.Button("OK")
ok.set_on_clicked(self._on_about_ok)
# We want the Ok button to be an the right side, so we need to add
# a stretch item to the layout, otherwise the button will be the size
# of the entire row. A stretch item takes up as much space as it can,
# which forces the button to be its minimum size.
h = gui.Horiz()
h.add_stretch()
h.add_child(ok)
h.add_stretch()
dlg_layout.add_child(h)
dlg.add_child(dlg_layout)
self.window.show_dialog(dlg)
def _on_about_ok(self):
self.window.close_dialog()
def _obj_instance_count(self, mesh_to_add, meshes):
types = [i[:-2] for i in meshes] # remove last 3 character as they present instance number (OBJ_INSTANCE)
equal_values = [i for i in range(len(types)) if types[i] == mesh_to_add]
count = 0
if len(equal_values):
indices = np.array(meshes)
indices = indices[equal_values]
indices = [int(x[-1]) for x in indices]
count = max(indices) + 1
# TODO change to fill the numbers missing in sequence
return count
def _add_mesh(self):
meshes = self._annotation_scene.get_objects()
meshes = [i.obj_name for i in meshes]
object_geometry = o3d.io.read_point_cloud(
self.scenes.objects_path + '/obj_' + f'{self._meshes_available.selected_index + 1:06}' + '.ply')
object_geometry.points = o3d.utility.Vector3dVector(
np.array(object_geometry.points) / 1000) # convert mm to meter
init_trans = np.identity(4)
center = self._annotation_scene.annotation_scene.get_center()
center[2] -= 0.2
init_trans[0:3, 3] = center
object_geometry.transform(init_trans)
new_mesh_instance = self._obj_instance_count(self._meshes_available.selected_value, meshes)
new_mesh_name = str(self._meshes_available.selected_value) + '_' + str(new_mesh_instance)
self._scene.scene.add_geometry(new_mesh_name, object_geometry, self.settings.annotation_obj_material,
add_downsampled_copy_for_fast_rendering=True)
self._annotation_scene.add_obj(object_geometry, new_mesh_name, new_mesh_instance, transform=init_trans)
meshes = self._annotation_scene.get_objects() # update list after adding current object
meshes = [i.obj_name for i in meshes]
self._meshes_used.set_items(meshes)
self._meshes_used.selected_index = len(meshes) - 1
def _remove_mesh(self):
if not self._annotation_scene.get_objects():
print("There are no object to be deleted.")
return
meshes = self._annotation_scene.get_objects()
active_obj = meshes[self._meshes_used.selected_index]
self._scene.scene.remove_geometry(active_obj.obj_name) # remove mesh from scene
self._annotation_scene.remove_obj(self._meshes_used.selected_index) # remove mesh from class list
# update list after adding removing object
meshes = self._annotation_scene.get_objects() # get new list after deletion
meshes = [i.obj_name for i in meshes]
self._meshes_used.set_items(meshes)
def _make_point_cloud(self, rgb_img, depth_img, cam_K):
# convert images to open3d types
rgb_img_o3d = o3d.geometry.Image(cv2.cvtColor(rgb_img, cv2.COLOR_BGR2RGB))
depth_img_o3d = o3d.geometry.Image(depth_img)
# convert image to point cloud
intrinsic = o3d.camera.PinholeCameraIntrinsic(rgb_img.shape[0], rgb_img.shape[1],
cam_K[0, 0], cam_K[1, 1], cam_K[0, 2], cam_K[1, 2])
rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth(rgb_img_o3d, depth_img_o3d,
depth_scale=1, convert_rgb_to_intensity=False)
pcd = o3d.geometry.PointCloud.create_from_rgbd_image(rgbd, intrinsic)
return pcd
def scene_load(self, scenes_path, scene_num, image_num):
self._annotation_changed = False
self._scene.scene.clear_geometry()
geometry = None
scene_path = os.path.join(scenes_path, f'{scene_num:06}')
camera_params_path = os.path.join(scene_path, 'scene_camera.json')
with open(camera_params_path) as f:
data = json.load(f)
cam_K = data[str(image_num)]['cam_K']
cam_K = np.array(cam_K).reshape((3, 3))
depth_scale = data[str(image_num)]['depth_scale']
rgb_path = os.path.join(scene_path, 'rgb', f'{image_num:06}' + '.png')
rgb_img = cv2.imread(rgb_path)
depth_path = os.path.join(scene_path, 'depth', f'{image_num:06}' + '.png')
depth_img = cv2.imread(depth_path, -1)
depth_img = np.float32(depth_img * depth_scale / 1000)
try:
geometry = self._make_point_cloud(rgb_img, depth_img, cam_K)
except Exception:
print("Failed to load scene.")
if geometry is not None:
print("[Info] Successfully read scene ", scene_num)
if not geometry.has_normals():
geometry.estimate_normals()
geometry.normalize_normals()
else:
print("[WARNING] Failed to read points")
try:
self._scene.scene.add_geometry("annotation_scene", geometry, self.settings.scene_material,
add_downsampled_copy_for_fast_rendering=True)
bounds = geometry.get_axis_aligned_bounding_box()
self._scene.setup_camera(60, bounds, bounds.get_center())
center = np.array([0, 0, 0])
eye = center + np.array([0, 0, -0.5])
up = np.array([0, -1, 0])
self._scene.look_at(center, eye, up)
self._annotation_scene = AnnotationScene(geometry, scene_num, image_num)
self._meshes_used.set_items([]) # clear list from last loaded scene
# load values if an annotation already exists
model_names = self.load_model_names()
scene_gt_path = os.path.join(self.scenes.scenes_path, f"{self._annotation_scene.scene_num:06}",
'scene_gt.json')
# if os.path.exists(json_path):
with open(scene_gt_path) as scene_gt_file:
data = json.load(scene_gt_file)
scene_data = data[str(image_num)]
active_meshes = list()
for obj in scene_data:
# add object to annotation_scene object
obj_geometry = o3d.io.read_point_cloud(
os.path.join(self.scenes.objects_path, 'obj_' + f"{int(obj['obj_id']):06}" + '.ply'))
obj_geometry.points = o3d.utility.Vector3dVector(
np.array(obj_geometry.points) / 1000) # convert mm to meter
model_name = model_names[int(obj['obj_id']) - 1]
obj_instance = self._obj_instance_count(model_name, active_meshes)
obj_name = model_name + '_' + str(obj_instance)
translation = np.array(np.array(obj['cam_t_m2c']), dtype=np.float64) / 1000 # convert to meter
orientation = np.array(np.array(obj['cam_R_m2c']), dtype=np.float64)
transform = np.concatenate((orientation.reshape((3, 3)), translation.reshape(3, 1)), axis=1)
transform_cam_to_obj = np.concatenate(
(transform, np.array([0, 0, 0, 1]).reshape(1, 4))) # homogeneous transform
self._annotation_scene.add_obj(obj_geometry, obj_name, obj_instance, transform_cam_to_obj)
# adding object to the scene
obj_geometry.translate(transform_cam_to_obj[0:3, 3])
center = obj_geometry.get_center()
obj_geometry.rotate(transform_cam_to_obj[0:3, 0:3], center=center)
self._scene.scene.add_geometry(obj_name, obj_geometry, self.settings.annotation_obj_material,
add_downsampled_copy_for_fast_rendering=True)
active_meshes.append(obj_name)
self._meshes_used.set_items(active_meshes)
except Exception as e:
print(e)
self._update_scene_numbers()
def update_obj_list(self):
model_names = self.load_model_names()
self._meshes_available.set_items(model_names)
def load_model_names(self):
path = self.scenes.objects_path + '/models_names.json'
if os.path.exists(path):
with open(path) as f:
data = json.load(f)
model_names = [data[x]['name'] for x in data]
else: # model names file doesn't exist
warnings.warn(
"models_names.json doesn't exist. Objects will be loaded with their literal id (obj_000001, obj_000002, ...)")
no_of_models = len([os.path.basename(x)[:-4] for x in glob.glob(self.scenes.objects_path + '/*.ply')])
model_names = ['obj_' + f'{i + 1:06}' for i in range(no_of_models)]
return model_names
def _check_changes(self):
if self._annotation_changed:
self._on_error(
"Annotation changed but not saved. If you want to ignore the changes click the navigation button again.")
self._annotation_changed = False
return True
else:
return False
def _on_next_scene(self):
if self._check_changes():
return
if self._annotation_scene.scene_num + 1 > len(
next(os.walk(self.scenes.scenes_path))[1]): # 1 for how many folder (dataset scenes) inside the path
self._on_error("There is no next scene.")
return
self.scene_load(self.scenes.scenes_path, self._annotation_scene.scene_num + 1,
0) # open next scene on the first image
def _on_previous_scene(self):
if self._check_changes():
return
if self._annotation_scene.scene_num - 1 < 1:
self._on_error("There is no scene number before scene 1.")
return
self.scene_load(self.scenes.scenes_path, self._annotation_scene.scene_num - 1,
0) # open next scene on the first image
def _on_next_image(self):
if self._check_changes():
return
num = len(
next(os.walk(os.path.join(self.scenes.scenes_path, f'{self._annotation_scene.scene_num:06}', 'depth')))[2])
if self._annotation_scene.image_num + 1 >= len(
next(os.walk(os.path.join(self.scenes.scenes_path, f'{self._annotation_scene.scene_num:06}', 'depth')))[
2]): # 2 for files which here are the how many depth images
self._on_error("There is no next image.")
return
self.scene_load(self.scenes.scenes_path, self._annotation_scene.scene_num, self._annotation_scene.image_num + 1)
def _on_previous_image(self):
if self._check_changes():
return
if self._annotation_scene.image_num - 1 < 0:
self._on_error("There is no image number before image 0.")
return
self.scene_load(self.scenes.scenes_path, self._annotation_scene.scene_num, self._annotation_scene.image_num - 1)
def main():
if p['dataset_split_type']:
split_and_type = p['dataset_split'] + '_' + p['dataset_split_type']
else:
split_and_type = p['dataset_split']
scenes = Dataset(p['dataset_path'], split_and_type)
gui.Application.instance.initialize()
w = AppWindow(2048, 1536, scenes)
if os.path.exists(scenes.scenes_path) and os.path.exists(scenes.objects_path):
w.scene_load(scenes.scenes_path, p['start_scene_num'], p['start_image_num'])
w.update_obj_list()
else:
w.window.show_message_box("Error",
"Could not find scenes or object meshes folders " + scenes.scenes_path + "/" + scenes.objects_path)
print("Could not find scene or object meshes folder")
exit()
# Run the event loop. This will not return until the last window is closed.
gui.Application.instance.run()
if __name__ == "__main__":
main()