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[Fix] enable visualization of the demo results online #473

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Apr 30, 2021
Merged

[Fix] enable visualization of the demo results online #473

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266d5ca
enable visualization of the demo results online
WU-Wenhao Apr 22, 2021
5a046af
adding snapshot to determine whether to save the online visualization…
WU-Wenhao Apr 22, 2021
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14 changes: 13 additions & 1 deletion demo/multi_modality_demo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,12 @@ def main():
'--score-thr', type=float, default=0.0, help='bbox score threshold')
parser.add_argument(
'--out-dir', type=str, default='demo', help='dir to save results')
parser.add_argument(
'--show', action='store_true', help='show online visuliaztion results')
parser.add_argument(
'--snapshot',
action='store_true',
help='whether to save online visuliaztion results')
args = parser.parse_args()

# build the model from a config file and a checkpoint file
Expand All @@ -25,7 +31,13 @@ def main():
result, data = inference_multi_modality_detector(model, args.pcd,
args.image, args.ann)
# show the results
show_result_meshlab(data, result, args.out_dir, args.score_thr)
show_result_meshlab(
data,
result,
args.out_dir,
args.score_thr,
show=args.show,
snapshot=args.snapshot)


if __name__ == '__main__':
Expand Down
14 changes: 13 additions & 1 deletion demo/pcd_demo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,14 +14,26 @@ def main():
'--score-thr', type=float, default=0.0, help='bbox score threshold')
parser.add_argument(
'--out-dir', type=str, default='demo', help='dir to save results')
parser.add_argument(
'--show', action='store_true', help='show online visuliaztion results')
parser.add_argument(
'--snapshot',
action='store_true',
help='whether to save online visuliaztion results')
args = parser.parse_args()

# build the model from a config file and a checkpoint file
model = init_detector(args.config, args.checkpoint, device=args.device)
# test a single image
result, data = inference_detector(model, args.pcd)
# show the results
show_result_meshlab(data, result, args.out_dir, args.score_thr)
show_result_meshlab(
data,
result,
args.out_dir,
args.score_thr,
show=args.show,
snapshot=args.snapshot)


if __name__ == '__main__':
Expand Down
22 changes: 18 additions & 4 deletions mmdet3d/apis/inference.py
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Original file line number Diff line number Diff line change
Expand Up @@ -185,14 +185,21 @@ def inference_multi_modality_detector(model, pcd, image, ann_file):
return result, data


def show_result_meshlab(data, result, out_dir, score_thr=0.0):
def show_result_meshlab(data,
result,
out_dir,
score_thr=0.0,
show=False,
snapshot=False):
"""Show result by meshlab.

Args:
data (dict): Contain data from pipeline.
result (dict): Predicted result from model.
out_dir (str): Directory to save visualized result.
score_thr (float): Minimum score of bboxes to be shown. Default: 0.0
show (bool): Visualize the results online. Defaults to False.
snapshot (bool): Whether to save the online results. Defaults to False.
"""
points = data['points'][0][0].cpu().numpy()
pts_filename = data['img_metas'][0][0]['pts_filename']
Expand Down Expand Up @@ -220,7 +227,14 @@ def show_result_meshlab(data, result, out_dir, score_thr=0.0):
show_bboxes = Box3DMode.convert(pred_bboxes, box_mode, Box3DMode.DEPTH)
else:
show_bboxes = deepcopy(pred_bboxes)
show_result(points, None, show_bboxes, out_dir, file_name, show=False)
show_result(
points,
None,
show_bboxes,
out_dir,
file_name,
show=show,
snapshot=snapshot)

if 'img' not in data.keys():
return out_dir, file_name
Expand All @@ -242,7 +256,7 @@ def show_result_meshlab(data, result, out_dir, score_thr=0.0):
data['img_metas'][0][0]['lidar2img'],
out_dir,
file_name,
show=False)
show=show)
elif box_mode == Box3DMode.DEPTH:
if 'calib' not in data.keys():
raise NotImplementedError(
Expand All @@ -260,7 +274,7 @@ def show_result_meshlab(data, result, out_dir, score_thr=0.0):
file_name,
depth_bbox=True,
img_metas=data['img_metas'][0][0],
show=False)
show=show)
else:
raise NotImplementedError(
f'visualization of {box_mode} bbox is not supported')
Expand Down
40 changes: 27 additions & 13 deletions mmdet3d/core/visualizer/show_result.py
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Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,13 @@ def convert_oriented_box_to_trimesh_fmt(box):
return


def show_result(points, gt_bboxes, pred_bboxes, out_dir, filename, show=True):
def show_result(points,
gt_bboxes,
pred_bboxes,
out_dir,
filename,
show=False,
snapshot=False):
"""Convert results into format that is directly readable for meshlab.

Args:
Expand All @@ -77,8 +83,12 @@ def show_result(points, gt_bboxes, pred_bboxes, out_dir, filename, show=True):
pred_bboxes (np.ndarray): Predicted boxes.
out_dir (str): Path of output directory
filename (str): Filename of the current frame.
show (bool): Visualize the results online. Defaults to True.
show (bool): Visualize the results online. Defaults to False.
snapshot (bool): Whether to save the online results. Defaults to False.
"""
result_path = osp.join(out_dir, filename)
mmcv.mkdir_or_exist(result_path)

if show:
from .open3d_vis import Visualizer

Expand All @@ -87,10 +97,9 @@ def show_result(points, gt_bboxes, pred_bboxes, out_dir, filename, show=True):
vis.add_bboxes(bbox3d=pred_bboxes)
if gt_bboxes is not None:
vis.add_bboxes(bbox3d=gt_bboxes, bbox_color=(0, 0, 1))
vis.show()

result_path = osp.join(out_dir, filename)
mmcv.mkdir_or_exist(result_path)
show_path = osp.join(result_path,
f'{filename}_online.png') if snapshot else None
vis.show(show_path)
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I don't think we should save the online results every time, at least let's pass a parameter to determine whether to save? Like what I've done here?

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Thanks for your advice. I have also considered the problem of mandatory saving online results. I will modify the corresponding operation lately.


if points is not None:
_write_obj(points, osp.join(result_path, f'{filename}_points.obj'))
Expand Down Expand Up @@ -119,7 +128,8 @@ def show_seg_result(points,
filename,
palette,
ignore_index=None,
show=False):
show=False,
snapshot=False):
"""Convert results into format that is directly readable for meshlab.

Args:
Expand All @@ -132,6 +142,8 @@ def show_seg_result(points,
ignore_index (int, optional): The label index to be ignored, e.g. \
unannotated points. Defaults to None.
show (bool, optional): Visualize the results online. Defaults to False.
snapshot (bool, optional): Whether to save the online results. \
Defaults to False.
"""
# we need 3D coordinates to visualize segmentation mask
if gt_seg is not None or pred_seg is not None:
Expand All @@ -154,6 +166,9 @@ def show_seg_result(points,
pred_seg_color = np.concatenate([points[:, :3], pred_seg_color],
axis=1)

result_path = osp.join(out_dir, filename)
mmcv.mkdir_or_exist(result_path)

# online visualization of segmentation mask
# we show three masks in a row, scene_points, gt_mask, pred_mask
if show:
Expand All @@ -164,10 +179,9 @@ def show_seg_result(points,
vis.add_seg_mask(gt_seg_color)
if pred_seg is not None:
vis.add_seg_mask(pred_seg_color)
vis.show()

result_path = osp.join(out_dir, filename)
mmcv.mkdir_or_exist(result_path)
show_path = osp.join(result_path,
f'{filename}_online.png') if snapshot else None
vis.show(show_path)

if points is not None:
_write_obj(points, osp.join(result_path, f'{filename}_points.obj'))
Expand All @@ -188,7 +202,7 @@ def show_multi_modality_result(img,
filename,
depth_bbox=False,
img_metas=None,
show=True,
show=False,
gt_bbox_color=(61, 102, 255),
pred_bbox_color=(241, 101, 72)):
"""Convert multi-modality detection results into 2D results.
Expand All @@ -205,7 +219,7 @@ def show_multi_modality_result(img,
filename (str): Filename of the current frame.
depth_bbox (bool): Whether we are projecting camera bbox or lidar bbox.
img_metas (dict): Used in projecting cameta bbox.
show (bool): Visualize the results online. Defaults to True.
show (bool): Visualize the results online. Defaults to False.
gt_bbox_color (str or tuple(int)): Color of bbox lines.
The tuple of color should be in BGR order. Default: (255, 102, 61)
pred_bbox_color (str or tuple(int)): Color of bbox lines.
Expand Down