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paved2paradise_demo.py
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paved2paradise_demo.py
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import json
import matplotlib as mpl
import matplotlib.pyplot as plt
import numpy as np
import open3d as o3d
import os
from open3d.visualization import gui, rendering
from scipy.spatial.transform import Rotation
from sklearn.neighbors import NearestNeighbors
# Visualization stuff.
VMIN = 0
VMAX = 10
CMAP_NORM = mpl.colors.Normalize(vmin=VMIN, vmax=VMAX)
COLORMAP = "RdYlGn"
CMAP = plt.get_cmap(COLORMAP)
BBOX_COLOR = [1, 0, 0]
GRID_COLOR = [0.5, 0.5, 0.5]
CYL_RADIUS = 0.05
# The forward vector of the Ouster sensor.
FWD = np.array([1, 0, 0])
def color_by_dist(pcd):
pcd_points = np.array(pcd.points)
col_vals = np.linalg.norm(pcd_points, axis=1)
point_colors = CMAP(CMAP_NORM(col_vals))[:, :3]
pcd.colors = o3d.utility.Vector3dVector(point_colors)
def move_object_to_position(points, bbox, xy):
object_angle = np.arctan2(bbox.center[1], bbox.center[0])
new_angle = np.arctan2(xy[1], xy[0])
rot_angle = new_angle - object_angle
R = Rotation.from_euler("Z", rot_angle).as_matrix()
xy_dist = np.linalg.norm(xy)
bbox_dir = xy / xy_dist
bbox_dir = np.array(list(bbox_dir) + [0])
shift = xy_dist - np.linalg.norm(bbox.center[:2])
new_points = (R @ points.T).T + shift * bbox_dir
new_center = np.array(list(xy) + [bbox.center[2]])
new_R = R @ bbox.R
bbox = o3d.geometry.OrientedBoundingBox(new_center, new_R, bbox.extent)
bbox.color = BBOX_COLOR
return (new_points, bbox)
class Paved2Paradise:
def __init__(self):
self.w = None
self.theme = None
self.mat = rendering.MaterialRecord()
self.mat.shader = "defaultUnlit"
# See: https://github.com/isl-org/Open3D/issues/4921#issuecomment-1096845864.
self.bbox_mat = rendering.MaterialRecord()
self.bbox_mat.shader = "unlitLine"
self.bbox_mat.line_width = 2
self.obj_window = None
self.bg_window = None
self.scene_R = np.eye(2)
self.pcds = {}
self.grid_pcds = {}
self.ground_planes = {}
self.ground_pcds = {}
self.level_pcds = {}
self.level_ground_pcds = {}
self.show_grid_pcds = {"obj": False, "bg": False}
self.show_ground_planes = {"obj": False, "bg": False}
self.show_ground_pcds = {"obj": False, "bg": False}
self.show_level_pcds = {"obj": True, "bg": True}
self.obj_bbox = None
self._settings_panel = None
self.grid_points = 100
self.obj_x_range = (0, 13)
self.obj_y_range = (-5.625, 5.625)
self.bg_x_range = (0, 13)
self.bg_y_range = (-5.625, 5.625)
self.new_obj_xy = np.array([9.98, 1.19])
self.level_at_location = True
self.in_obj_xy = self.new_obj_xy.copy()
self.grids_info = {
"obj": {"length": 7, "width": 6},
"bg": {"length": 7, "width": 6},
}
self.show_new_obj_loc = True
self.occlude = True
self.sim_lidar = True
self.show_sector = False
self.rot_bg_scene = False
self.hit_thresh = 0.04
self.occlude_obj_thresh = 0.04
self.occlude_bg_thresh = 0.03
self.max_sector_angle = 2.25
self.neighbors = 2
self.elev_range = (-22.5, 22.5)
self.elev_res = 128
self.azim_res = 2048
self.sensor2lidar = 0.03618
self.new_scene = True
def run(self):
app = gui.Application.instance
app.initialize()
self.w = w = app.create_window("Paved2Paradise", 1024, 768)
self.theme = w.theme
self.obj_window = gui.SceneWidget()
self.obj_window.scene = rendering.Open3DScene(w.renderer)
self.obj_window.scene.set_background(np.zeros(4))
self.obj_window.scene.set_lighting(
rendering.Open3DScene.LightingProfile.NO_SHADOWS, (0, 0, 1)
)
w.add_child(self.obj_window)
self.bg_window = gui.SceneWidget()
self.bg_window.scene = rendering.Open3DScene(w.renderer)
self.bg_window.scene.set_background(np.zeros(4))
self.bg_window.scene.set_lighting(
rendering.Open3DScene.LightingProfile.NO_SHADOWS, (0, 0, 1)
)
w.add_child(self.bg_window)
self.comb_window = gui.SceneWidget()
self.comb_window.scene = rendering.Open3DScene(w.renderer)
self.comb_window.scene.set_background(np.zeros(4))
self.comb_window.scene.set_lighting(
rendering.Open3DScene.LightingProfile.NO_SHADOWS, (0, 0, 1)
)
w.add_child(self.comb_window)
em = w.theme.font_size
self._settings_panel = gui.ScrollableVert()
pcd_loaders = gui.CollapsableVert(
"PCD Loaders", 0.25 * em, gui.Margins(em, 0, 0, 0)
)
self._settings_panel.add_child(pcd_loaders)
obj_scene_button = gui.Button("Object Scene")
obj_scene_button.set_on_clicked(self._on_open_object_scene)
bg_scene_button = gui.Button("Background Scene")
bg_scene_button.set_on_clicked(self._on_open_background_scene)
rot_bg_scene = gui.Checkbox("360° Background Scene")
rot_bg_scene.set_on_checked(self._on_rot_bg_scene)
obj_x_range_label = gui.Label("Object x Range (m)")
obj_x_range = gui.TextEdit()
obj_x_range.set_on_value_changed(self._on_obj_x_range_changed)
obj_x_range.text_value = str(self.obj_x_range)
obj_y_range_label = gui.Label("Object y Range (m)")
obj_y_range = gui.TextEdit()
obj_y_range.set_on_value_changed(self._on_obj_y_range_changed)
obj_y_range.text_value = str(self.obj_y_range)
bg_x_range_label = gui.Label("Background x Range (m)")
bg_x_range = gui.TextEdit()
bg_x_range.set_on_value_changed(self._on_bg_x_range_changed)
bg_x_range.text_value = str(self.bg_x_range)
bg_y_range_label = gui.Label("Background y Range (m)")
bg_y_range = gui.TextEdit()
bg_y_range.set_on_value_changed(self._on_bg_y_range_changed)
bg_y_range.text_value = str(self.bg_y_range)
v = gui.Vert(0.25 * em)
v.add_child(obj_scene_button)
v.add_child(bg_scene_button)
v.add_child(rot_bg_scene)
v.add_child(obj_x_range_label)
v.add_child(obj_x_range)
v.add_child(obj_y_range_label)
v.add_child(obj_y_range)
v.add_child(bg_x_range_label)
v.add_child(bg_x_range)
v.add_child(bg_y_range_label)
v.add_child(bg_y_range)
pcd_loaders.add_child(v)
final_scene = gui.CollapsableVert(
"Final Scene", 0.25 * em, gui.Margins(em, 0, 0, 0)
)
self._settings_panel.add_child(final_scene)
obj_x_label = gui.Label("Object x-coordinate (m)")
obj_x = gui.TextEdit()
obj_x.set_on_value_changed(self._on_obj_x_changed)
obj_x.text_value = str(self.in_obj_xy[0])
obj_y_label = gui.Label("Object y-coordinate (m)")
obj_y = gui.TextEdit()
obj_y.set_on_value_changed(self._on_obj_y_changed)
obj_y.text_value = str(self.in_obj_xy[1])
level_obj = gui.Checkbox("Level Object")
level_obj.set_on_checked(self._on_level_object)
level_obj.checked = self.show_level_pcds["obj"]
level_bg = gui.Checkbox("Level Background")
level_bg.set_on_checked(self._on_level_background)
level_bg.checked = self.show_level_pcds["bg"]
level_loc = gui.Checkbox("Level at Object Location")
level_loc.set_on_checked(self._on_level_location)
level_loc.checked = self.level_at_location
occlude = gui.Checkbox("Occlude")
occlude.set_on_checked(self._on_occlude)
occlude.checked = self.occlude
sim_lidar = gui.Checkbox("Simulate LiDAR")
sim_lidar.set_on_checked(self._on_sim_lidar)
sim_lidar.checked = self.sim_lidar
show_new_obj_loc = gui.Checkbox("New Object Location")
show_new_obj_loc.set_on_checked(self._on_show_new_obj_loc)
show_new_obj_loc.checked = self.show_new_obj_loc
show_sector = gui.Checkbox("Sector")
show_sector.set_on_checked(self._on_show_sector)
v = gui.Vert(0.25 * em)
v.add_child(obj_x_label)
v.add_child(obj_x)
v.add_child(obj_y_label)
v.add_child(obj_y)
v.add_child(level_obj)
v.add_child(level_bg)
v.add_child(level_loc)
v.add_child(occlude)
v.add_child(sim_lidar)
v.add_child(show_new_obj_loc)
v.add_child(show_sector)
final_scene.add_child(v)
leveling = gui.CollapsableVert("Leveling", 0.25 * em, gui.Margins(em, 0, 0, 0))
self._settings_panel.add_child(leveling)
grid_points_label = gui.Label("Grid Points")
grid_points = gui.TextEdit()
grid_points.set_on_value_changed(self._on_grid_points_changed)
grid_points.text_value = str(self.grid_points)
obj_grid_length_label = gui.Label("Object Grid Length (m)")
obj_grid_length = gui.TextEdit()
obj_grid_length.set_on_value_changed(self._on_obj_grid_length_changed)
obj_grid_length.text_value = str(self.grids_info["obj"]["length"])
obj_grid_width_label = gui.Label("Object Grid Width (m)")
obj_grid_width = gui.TextEdit()
obj_grid_width.set_on_value_changed(self._on_obj_grid_width_changed)
obj_grid_width.text_value = str(self.grids_info["obj"]["width"])
bg_grid_length_label = gui.Label("Background Grid Length (m)")
bg_grid_length = gui.TextEdit()
bg_grid_length.set_on_value_changed(self._on_bg_grid_length_changed)
bg_grid_length.text_value = str(self.grids_info["bg"]["length"])
bg_grid_width_label = gui.Label("Background Grid Width (m)")
bg_grid_width = gui.TextEdit()
bg_grid_width.set_on_value_changed(self._on_bg_grid_width_changed)
bg_grid_width.text_value = str(self.grids_info["bg"]["width"])
obj_grid_points_check = gui.Checkbox("Object Grid")
obj_grid_points_check.set_on_checked(self._on_show_obj_grid_points)
bg_grid_points_check = gui.Checkbox("Background Grid")
bg_grid_points_check.set_on_checked(self._on_show_bg_grid_points)
obj_ground_plane_check = gui.Checkbox("Object Ground Plane")
obj_ground_plane_check.set_on_checked(self._on_show_obj_ground_plane)
bg_ground_plane_check = gui.Checkbox("Background Ground Plane")
bg_ground_plane_check.set_on_checked(self._on_show_bg_ground_plane)
obj_ground_points = gui.Checkbox("Object Ground Points")
obj_ground_points.set_on_checked(self._on_show_obj_ground_points)
bg_ground_points = gui.Checkbox("Background Ground Points")
bg_ground_points.set_on_checked(self._on_show_bg_ground_points)
v = gui.Vert(0.25 * em)
v.add_child(grid_points_label)
v.add_child(grid_points)
v.add_child(obj_grid_length_label)
v.add_child(obj_grid_length)
v.add_child(obj_grid_width_label)
v.add_child(obj_grid_width)
v.add_child(bg_grid_length_label)
v.add_child(bg_grid_length)
v.add_child(bg_grid_width_label)
v.add_child(bg_grid_width)
v.add_child(obj_grid_points_check)
v.add_child(obj_ground_plane_check)
v.add_child(obj_ground_points)
v.add_child(bg_grid_points_check)
v.add_child(bg_ground_plane_check)
v.add_child(bg_ground_points)
leveling.add_child(v)
sensor_settings = gui.CollapsableVert(
"Sensor Settings", 0.25 * em, gui.Margins(em, 0, 0, 0)
)
self._settings_panel.add_child(sensor_settings)
hit_label = gui.Label("Hit Threshold (m)")
hit_thresh = gui.TextEdit()
hit_thresh.set_on_value_changed(self._on_hit_thresh_changed)
hit_thresh.text_value = str(self.hit_thresh)
occlude_obj_label = gui.Label("Occlude Object Threshold (m)")
occlude_obj_thresh = gui.TextEdit()
occlude_obj_thresh.set_on_value_changed(self._on_occlude_obj_thresh_changed)
occlude_obj_thresh.text_value = str(self.occlude_obj_thresh)
occlude_bg_label = gui.Label("Occlude Background Threshold (m)")
occlude_bg_thresh = gui.TextEdit()
occlude_bg_thresh.set_on_value_changed(self._on_occlude_bg_thresh_changed)
occlude_bg_thresh.text_value = str(self.occlude_bg_thresh)
max_sector_label = gui.Label("Maximum Sector (°)")
max_sector = gui.TextEdit()
max_sector.set_on_value_changed(self._on_max_sector_changed)
max_sector.text_value = str(self.max_sector_angle)
neighbors_label = gui.Label("Neighbors")
neighbors = gui.TextEdit()
neighbors.set_on_value_changed(self._on_neighbors_changed)
neighbors.text_value = str(self.neighbors)
elev_range_label = gui.Label("Elevation Range (°)")
elev_range = gui.TextEdit()
elev_range.set_on_value_changed(self._on_elev_range_changed)
elev_range.text_value = str(self.elev_range)
elev_res_label = gui.Label("Elevation Resolution")
elev_res = gui.TextEdit()
elev_res.set_on_value_changed(self._on_elev_res_changed)
elev_res.text_value = str(self.elev_res)
azim_res_label = gui.Label("Azimuth Resolution")
azim_res = gui.TextEdit()
azim_res.set_on_value_changed(self._on_azim_res_changed)
azim_res.text_value = str(self.azim_res)
sensor2lidar_label = gui.Label("Sensor to LiDAR (m)")
sensor2lidar = gui.TextEdit()
sensor2lidar.set_on_value_changed(self._on_sensor2lidar_changed)
sensor2lidar.text_value = str(self.sensor2lidar)
v = gui.Vert(0.25 * em)
v.add_child(hit_label)
v.add_child(hit_thresh)
v.add_child(occlude_obj_label)
v.add_child(occlude_obj_thresh)
v.add_child(occlude_bg_label)
v.add_child(occlude_bg_thresh)
v.add_child(max_sector_label)
v.add_child(max_sector)
v.add_child(neighbors_label)
v.add_child(neighbors)
v.add_child(elev_range_label)
v.add_child(elev_range)
v.add_child(elev_res_label)
v.add_child(elev_res)
v.add_child(azim_res_label)
v.add_child(azim_res)
v.add_child(sensor2lidar_label)
v.add_child(sensor2lidar)
sensor_settings.add_child(v)
w.add_child(self._settings_panel)
w.set_on_layout(self._on_layout)
self._on_load_object_dialog_done("./parking_lot.pcd")
self._on_load_background_dialog_done("./orchard.pcd")
app.run()
def _on_layout(self, layout_context):
r = self.w.content_rect
settings_width = 17 * layout_context.theme.font_size
display_width = r.width - settings_width
self.obj_window.frame = gui.Rect(r.x, r.y, display_width / 3, r.height)
self.bg_window.frame = gui.Rect(
r.x + display_width / 3 + 1, r.y, display_width / 3, r.height
)
self.comb_window.frame = gui.Rect(
r.x + 2 * (display_width / 3 + 1), r.y, display_width / 3, r.height
)
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() - settings_width, r.y, settings_width, height
)
def _on_open_object_scene(self):
dlg = gui.FileDialog(gui.FileDialog.OPEN, "Choose object scene.", self.theme)
dlg.set_on_cancel(self._on_file_dialog_cancel)
dlg.set_on_done(self._on_load_object_dialog_done)
self.w.show_dialog(dlg)
def _on_open_background_scene(self):
dlg = gui.FileDialog(
gui.FileDialog.OPEN, "Choose background scene.", self.theme
)
dlg.set_on_cancel(self._on_file_dialog_cancel)
dlg.set_on_done(self._on_load_background_dialog_done)
self.w.show_dialog(dlg)
def _on_file_dialog_cancel(self):
self.w.close_dialog()
def render_obj_scene(self):
self.obj_window.scene.clear_geometry()
if self.show_ground_pcds["obj"]:
if self.show_level_pcds["obj"]:
pcd = self.level_ground_pcds["obj"]
else:
pcd = self.ground_pcds["obj"]
else:
if self.show_level_pcds["obj"]:
pcd = self.level_pcds["obj"]
bbox = self.level_obj_bbox
else:
pcd = self.pcds["obj"]
bbox = self.obj_bbox
self.obj_window.scene.add_geometry("Bounding Box", bbox, self.bbox_mat)
self.obj_window.scene.add_geometry("Points", pcd, self.mat)
if self.show_grid_pcds["obj"]:
self.obj_window.scene.add_geometry(
"Grid Points", self.grid_pcds["obj"], self.mat
)
if self.show_ground_planes["obj"]:
self.obj_window.scene.add_geometry(
"Ground Plane", self.ground_planes["obj"], self.mat
)
def _on_load_object_dialog_done(self, pcd_f):
self.obj_path = pcd_f
self.w.close_dialog()
obj_pcd = o3d.io.read_point_cloud(pcd_f)
points = np.array(obj_pcd.points)
in_x = (self.obj_x_range[0] < points[:, 0]) & (
points[:, 0] < self.obj_x_range[1]
)
in_y = (self.obj_y_range[0] < points[:, 1]) & (
points[:, 1] < self.obj_y_range[1]
)
obj_pcd = obj_pcd.select_by_index(np.where(in_x & in_y)[0])
self.pcds["obj"] = obj_pcd
color_by_dist(obj_pcd)
self.obj_window.scene.clear_geometry()
self.obj_window.scene.add_geometry("Points", obj_pcd, self.mat)
bbox = self.obj_window.scene.bounding_box
self.obj_window.setup_camera(60.0, bbox, bbox.get_center())
path = os.path.dirname(pcd_f)
name = os.path.basename(pcd_f).split(".pcd")[0]
with open(f"{path}/{name}.json") as f:
bbox = json.load(f)
# Convert the Segmemts.ai annotation into an Open3D bounding box.
center = []
extent = []
for xyz in ["x", "y", "z"]:
center.append(bbox["position"][xyz])
extent.append(bbox["dimensions"][xyz])
center = np.array(center)
extent = np.array(extent)
bbox_R = Rotation.from_euler("Z", bbox["yaw"]).as_matrix()
self.obj_bbox = o3d.geometry.OrientedBoundingBox(center, bbox_R, extent)
self.obj_bbox.color = BBOX_COLOR
self.create_grid_points("obj")
self.create_ground_plane("obj")
self.level_scene("obj")
self.render_obj_scene()
self.new_scene = True
self.simulate_scene()
def render_bg_scene(self):
self.bg_window.scene.clear_geometry()
if self.show_level_pcds["bg"]:
if self.show_ground_pcds["bg"]:
pcd = self.level_ground_pcds["bg"]
else:
pcd = self.level_pcds["bg"]
else:
if self.show_ground_pcds["bg"]:
pcd = self.ground_pcds["bg"]
else:
pcd = self.pcds["bg"]
self.bg_window.scene.add_geometry("Points", pcd, self.mat)
if self.show_grid_pcds["bg"]:
self.bg_window.scene.add_geometry(
"Grid Points", self.grid_pcds["bg"], self.mat
)
if self.show_ground_planes["bg"]:
self.bg_window.scene.add_geometry(
"Ground Plane", self.ground_planes["bg"], self.mat
)
if self.show_new_obj_loc:
cyl = o3d.geometry.TriangleMesh.create_cylinder(CYL_RADIUS)
if self.show_level_pcds["bg"]:
z = self.level_obj_bbox.center[2]
else:
z = self.obj_bbox.center[2]
center = np.array([self.new_obj_xy[0], self.new_obj_xy[1], z])
cyl.translate(center, relative=False)
cyl.paint_uniform_color(BBOX_COLOR)
self.bg_window.scene.add_geometry("New Object Location", cyl, self.mat)
def _on_load_background_dialog_done(self, pcd_f):
self.bg_path = pcd_f
self.w.close_dialog()
bg_pcd = o3d.io.read_point_cloud(pcd_f)
points = np.array(bg_pcd.points)
in_x = (self.bg_x_range[0] < points[:, 0]) & (points[:, 0] < self.bg_x_range[1])
in_y = (self.bg_y_range[0] < points[:, 1]) & (points[:, 1] < self.bg_y_range[1])
bg_pcd = bg_pcd.select_by_index(np.where(in_x & in_y)[0])
if self.rot_bg_scene:
x = self.in_obj_xy[0]
y = self.in_obj_xy[1]
# Rotate the background scene so that the object will be placed in the middle.
self.scene_R = Rotation.from_euler("z", -np.arctan2(y, x)).as_matrix()
background_points = (self.scene_R @ np.array(bg_pcd.points).T).T
bg_pcd = o3d.geometry.PointCloud(
o3d.utility.Vector3dVector(background_points)
)
self.new_obj_xy = self.scene_R[:2, :2] @ np.array([x, y])
self.pcds["bg"] = bg_pcd
color_by_dist(bg_pcd)
self.bg_window.scene.clear_geometry()
self.bg_window.scene.add_geometry("Points", bg_pcd, self.mat)
bbox = self.bg_window.scene.bounding_box
self.bg_window.setup_camera(60.0, bbox, bbox.get_center())
self.create_grid_points("bg")
self.create_ground_plane("bg")
self.level_scene("bg")
self.render_bg_scene()
self.new_scene = True
self.simulate_scene()
def _on_rot_bg_scene(self, rot_bg_scene):
self.rot_bg_scene = rot_bg_scene
def _on_dialog_ok(self):
self.w.close_dialog()
def _create_dialog(self, title, message):
dlg = gui.Dialog(title)
em = self.theme.font_size
dlg_layout = gui.Vert(em, gui.Margins(em, em, em, em))
dlg_layout.add_child(gui.Label(message))
ok_button = gui.Button("OK")
ok_button.set_on_clicked(self._on_dialog_ok)
dlg_layout.add_child(ok_button)
dlg.add_child(dlg_layout)
self.w.show_dialog(dlg)
def _on_obj_x_range_changed(self, obj_x_range):
try:
self.obj_x_range = eval(obj_x_range)
except:
self._create_dialog(
"Input Error", "Object x-range must be a tuple of floats."
)
return
def _on_obj_y_range_changed(self, obj_y_range):
try:
self.obj_y_range = eval(obj_y_range)
except:
self._create_dialog(
"Input Error", "Object y-range must be a tuple of floats."
)
return
def _on_bg_x_range_changed(self, bg_x_range):
try:
self.bg_x_range = eval(bg_x_range)
except:
self._create_dialog(
"Input Error", "Background x-range must be a tuple of floats."
)
return
def _on_bg_y_range_changed(self, bg_y_range):
try:
self.bg_y_range = eval(bg_y_range)
except:
self._create_dialog(
"Input Error", "Background y-range must be a tuple of floats."
)
return
def _on_obj_x_changed(self, obj_x):
try:
self.in_obj_xy[0] = float(obj_x)
except ValueError:
self._create_dialog("Input Error", "Object x-coordinate must be a float.")
return
self.new_obj_xy = self.scene_R[:2, :2] @ self.in_obj_xy
self.create_ground_plane("bg")
self.create_grid_points("bg")
self.level_scene("bg")
self.render_bg_scene()
self.simulate_scene()
def _on_obj_y_changed(self, obj_y):
try:
self.in_obj_xy[1] = float(obj_y)
except ValueError:
self._create_dialog("Input Error", "Object y-coordinate must be a float.")
return
self.new_obj_xy = self.scene_R[:2, :2] @ self.in_obj_xy
self.create_ground_plane("bg")
self.create_grid_points("bg")
self.level_scene("bg")
self.render_bg_scene()
self.simulate_scene()
def get_grid_xy(self, which):
if which == "obj":
grid_x = self.obj_bbox.center[0]
grid_y = self.obj_bbox.center[1]
else:
if self.level_at_location:
grid_x = self.new_obj_xy[0]
grid_y = self.new_obj_xy[1]
else:
grid_x = self.grids_info[which]["length"] / 2
grid_y = 0
return (grid_x, grid_y)
def level_scene(self, which):
points = np.array(self.pcds[which].points)
grid_x, grid_y = self.get_grid_xy(which)
x_start = grid_x - self.grids_info[which]["length"] / 2
x_end = x_start + self.grids_info[which]["length"]
y_start = grid_y - self.grids_info[which]["width"] / 2
y_end = y_start + self.grids_info[which]["width"]
in_x = (x_start < points[:, 0]) & (points[:, 0] < x_end)
in_y = (y_start < points[:, 1]) & (points[:, 1] < y_end)
region_points = points[in_x & in_y]
# For each grid point, find nearest neighbor in scene point cloud. These are our
# "ground" points.
nbrs = NearestNeighbors(n_neighbors=1).fit(region_points)
(_, pcd_idxs) = nbrs.kneighbors(np.array(self.grid_pcds[which].points))
pcd_idxs = np.unique(pcd_idxs)
ground_points = region_points[pcd_idxs]
ground_pcd = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(ground_points))
self.ground_pcds[which] = ground_pcd
color_by_dist(ground_pcd)
# Estimate the plane for the ground points.
X = np.hstack([ground_points[:, :2], np.ones(len(ground_points))[:, None]])
y = ground_points[:, 2]
coefs = np.linalg.lstsq(X, y, rcond=None)[0]
# Calculate the coordinate rotation matrix for the ground plane.
# See: https://math.stackexchange.com/a/476311/614328.
z_axis = -np.array([coefs[0], coefs[1], -1])
a = z_axis / np.linalg.norm(z_axis)
b = np.array([0, 0, 1])
v = np.cross(a, b)
skew = np.array([[0, -v[2], v[1]], [v[2], 0, -v[0]], [-v[1], v[0], 0]])
R = np.eye(3) + skew + skew @ skew * 1 / (1 + a[2])
# Transform the scene.
t = np.array([0, 0, -coefs[2]])
level_points = (R @ points.T).T + t
level_pcd = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(level_points))
level_pcd.colors = self.pcds[which].colors
self.level_pcds[which] = level_pcd
# Transform the ground points.
level_ground_points = (R @ ground_points.T).T + t
level_ground_pcd = o3d.geometry.PointCloud(
o3d.utility.Vector3dVector(level_ground_points)
)
level_ground_pcd.colors = ground_pcd.colors
self.level_ground_pcds[which] = level_ground_pcd
if which == "obj":
center = R @ self.obj_bbox.center + t
bbox_R = R @ self.obj_bbox.R
self.level_obj_bbox = o3d.geometry.OrientedBoundingBox(
center, bbox_R, self.obj_bbox.extent
)
self.level_obj_bbox.color = BBOX_COLOR
else:
self.bg_t = -t
self.bg_R = R
def _on_level_object(self, level_obj):
self.show_level_pcds["obj"] = level_obj
self.render_obj_scene()
self.simulate_scene()
def _on_level_background(self, level_bg):
self.show_level_pcds["bg"] = level_bg
self.render_bg_scene()
self.simulate_scene()
def _on_level_location(self, level_loc):
self.level_at_location = level_loc
self.create_ground_plane("bg")
self.create_grid_points("bg")
self.level_scene("bg")
self.render_bg_scene()
self.simulate_scene()
def _on_occlude(self, occlude):
self.occlude = occlude
self.simulate_scene()
def _on_sim_lidar(self, sim_lidar):
self.sim_lidar = sim_lidar
self.simulate_scene()
def _on_show_new_obj_loc(self, show_new_obj_loc):
self.show_new_obj_loc = show_new_obj_loc
self.render_bg_scene()
self.simulate_scene()
def _on_show_sector(self, show_sector):
self.show_sector = show_sector
self.simulate_scene()
def create_grid_points(self, which):
points = np.array(self.pcds[which].points)
(grid_x, grid_y) = self.get_grid_xy(which)
x_start = grid_x - self.grids_info[which]["length"] / 2
x_end = x_start + self.grids_info[which]["length"]
in_x = (x_start < points[:, 0]) & (points[:, 0] < x_end)
y_start = grid_y - self.grids_info[which]["width"] / 2
y_end = y_start + self.grids_info[which]["width"]
in_y = (y_start < points[:, 1]) & (points[:, 1] < y_end)
region_points = points[in_x & in_y]
# Create a grid of points.
xs = np.linspace(x_start, x_end, self.grid_points)
ys = np.linspace(y_start, y_end, self.grid_points)
grid = np.stack(np.meshgrid(xs, ys)).transpose(1, 2, 0)
grid_points = grid.reshape(-1, 2)
grid_points = np.hstack([grid_points, np.zeros(len(grid_points))[:, None]])
grid_points += np.array([0, 0, region_points[:, 2].min()])
grid_pcd = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(grid_points))
grid_pcd.paint_uniform_color(GRID_COLOR)
self.grid_pcds[which] = grid_pcd
def create_ground_plane(self, which):
grid_width = self.grids_info[which]["width"]
grid_length = self.grids_info[which]["length"]
ground_plane = o3d.geometry.TriangleMesh.create_box(
width=grid_length, height=grid_width, depth=0.01
)
(grid_x, grid_y) = self.get_grid_xy(which)
center = np.array([grid_x, grid_y, 0])
ground_plane.translate(center, relative=False)
self.ground_planes[which] = ground_plane
def _on_grid_points_changed(self, grid_points):
try:
self.grid_points = int(grid_points)
except ValueError:
self._create_dialog("Input Error", "Grid Points must be an integer.")
return
for which in ["obj", "bg"]:
self.create_grid_points(which)
self.level_scene(which)
self.render_obj_scene()
self.render_bg_scene()
self.simulate_scene()
def _on_obj_grid_length_changed(self, grid_length):
try:
self.grids_info["obj"]["length"] = float(grid_length)
except ValueError:
self._create_dialog("Input Error", "Object Grid Length must be a float.")
return
self.create_grid_points("obj")
self.create_ground_plane("obj")
self.level_scene("obj")
self.render_obj_scene()
self.simulate_scene()
def _on_obj_grid_width_changed(self, grid_width):
try:
self.grids_info["obj"]["width"] = float(grid_width)
except ValueError:
self._create_dialog("Input Error", "Object Grid Width must be a float.")
return
self.create_grid_points("obj")
self.create_ground_plane("obj")
self.level_scene("obj")
self.render_obj_scene()
self.simulate_scene()
def _on_bg_grid_length_changed(self, grid_length):
try:
self.grids_info["bg"]["length"] = float(grid_length)
except ValueError:
self._create_dialog(
"Input Error", "Background Grid Length must be a float."
)
return
self.create_grid_points("bg")
self.create_ground_plane("bg")
self.level_scene("bg")
self.render_bg_scene()
self.simulate_scene()
def _on_bg_grid_width_changed(self, grid_length):
try:
self.grids_info["bg"]["width"] = float(grid_length)
except ValueError:
self._create_dialog("Input Error", "Background Grid Width must be a float.")
return
self.create_grid_points("bg")
self.create_ground_plane("bg")
self.level_scene("bg")
self.render_bg_scene()
self.simulate_scene()
def _on_show_obj_grid_points(self, show_obj_ground_points):
self.show_grid_pcds["obj"] = show_obj_ground_points
self.render_obj_scene()
def _on_show_obj_ground_plane(self, show_obj_ground_plane):
self.show_ground_planes["obj"] = show_obj_ground_plane
self.render_obj_scene()
def _on_show_obj_ground_points(self, show_obj_ground_points):
self.show_ground_pcds["obj"] = show_obj_ground_points
self.render_obj_scene()
def _on_show_bg_grid_points(self, show_bg_ground_points):
self.show_grid_pcds["bg"] = show_bg_ground_points
self.render_bg_scene()
def _on_show_bg_ground_plane(self, show_bg_ground_plane):
self.show_ground_planes["bg"] = show_bg_ground_plane
self.render_bg_scene()
def _on_show_bg_ground_points(self, show_bg_ground_points):
self.show_ground_pcds["bg"] = show_bg_ground_points
self.render_bg_scene()
def _on_hit_thresh_changed(self, hit_thresh):
try:
self.hit_thresh = float(hit_thresh)
except ValueError:
self._create_dialog("Input Error", "Hit Threshold must be a float.")
return
self.simulate_scene()
def _on_occlude_obj_thresh_changed(self, occlude_obj_thresh):
try:
self.occlude_obj_thresh = float(occlude_obj_thresh)
except ValueError:
self._create_dialog(
"Input Error", "Occlude Object Threshold must be a float."
)
return
self.simulate_scene()
def _on_occlude_bg_thresh_changed(self, occlude_bg_thresh):
try:
self.occlude_bg_thresh = float(occlude_bg_thresh)
except ValueError:
self._create_dialog(
"Input Error", "Occlude Background Threshold must be a float."
)
return
self.simulate_scene()
def _on_max_sector_changed(self, max_sector_angle):
try:
self.max_sector_angle = float(max_sector_angle)
except ValueError:
self._create_dialog("Input Error", "Maximum Sector must be a float.")
return
self.simulate_scene()
def _on_neighbors_changed(self, neighbors):
try:
self.neighbors = int(neighbors)
except ValueError:
self._create_dialog("Input Error", "Neighbors must be an integer.")
return
self.simulate_scene()
def _on_elev_range_changed(self, elev_range):
try:
self.elev_range = eval(elev_range)
except:
self._create_dialog(
"Input Error", "Elevation Range must be a tuple of floats."
)
return
self.simulate_scene()
def _on_elev_res_changed(self, elev_res):
try:
self.elev_res = int(elev_res)
except ValueError:
self._create_dialog(
"Input Error", "Elevation Resolution must be an integer."
)
return
self.simulate_scene()
def _on_azim_res_changed(self, azim_res):
try:
self.azim_res = int(azim_res)
except ValueError:
self._create_dialog("Input Error", "Azimuth Resolution must be an integer.")
return
self.simulate_scene()
def _on_sensor2lidar_changed(self, sensor2lidar):
try:
self.sensor2lidar = float(sensor2lidar)
except ValueError:
self._create_dialog("Input Error", "Sensor to LiDAR must be a float.")
return
self.simulate_scene()
def block(self, blockee, blocker, azim_pm, occlude_thresh):
drop_mask = np.zeros(len(blockee), dtype=bool)
if (len(blockee) == 0) or (len(blocker) == 0):
return drop_mask
# Occlude blockee points with blocker points. See:
# https://math.stackexchange.com/a/2599689/614328.
blockee_angles = np.arctan2(blockee[:, 1], blockee[:, 0])
blockee_min_angle = blockee_angles.min()
blockee_max_angle = blockee_angles.max()
blocker_angles = np.arctan2(blocker[:, 1], blocker[:, 0])
blocker_min_angle = blocker_angles.min()
blocker_max_angle = blocker_angles.max()
min_angle = max(blockee_min_angle, blocker_min_angle)
max_angle = min(blockee_max_angle, blocker_max_angle)
# No overlap between the two point clouds.
if max_angle <= min_angle: