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# usage: bin/directorPython -m director.mainwindowapp --script test_nuscenes.py /path/to/dataset | |
import os | |
import numpy as np | |
from utils.nuscenes import NuScenes | |
from utils.data_classes import PointCloud | |
from director import transformUtils | |
from director import vtkNumpy as vnp | |
from director import visualization as vis | |
from director import objectmodel as om | |
from director import ioUtils | |
from director import vtkAll as vtk | |
from director.debugVis import DebugData | |
def load_scene(nusc, scene): | |
pointclouds = [] | |
ego_poses = [] | |
lidar_to_ego = [] | |
timestamps = [] | |
sample_token = scene['first_sample_token'] | |
while sample_token: | |
sample = nusc.get('sample', sample_token) | |
sample_data = sample['data'] | |
lidar_data = nusc.get('sample_data', sample_data['LIDAR_TOP']) | |
ego_pose = nusc.get('ego_pose', lidar_data['ego_pose_token']) | |
cs_record = nusc.get('calibrated_sensor', lidar_data['calibrated_sensor_token']) | |
timestamps.append(sample['timestamp']) | |
pointclouds.append(PointCloud.from_file(os.path.join(nusc.dataroot, lidar_data['filename']))) | |
ego_poses.append(transformUtils.transformFromPose(ego_pose['translation'], ego_pose['rotation'])) | |
lidar_to_ego.append(transformUtils.transformFromPose(cs_record['translation'], cs_record['rotation'])) | |
sample_token = sample['next'] | |
scenes_folder = om.getOrCreateContainer('scenes', parentObj=om.getOrCreateContainer('nuscenes')) | |
ego_poses_folder = om.getOrCreateContainer('ego_poses', parentObj=scenes_folder) | |
scene_folder = om.getOrCreateContainer(scene['name'], parentObj=scenes_folder) | |
for i in range(len(pointclouds)): | |
pointcloud_data = pointclouds[i].points.transpose() | |
points = pointcloud_data[:,:3] | |
intensity = pointcloud_data[:,3] | |
point_data = { | |
'range': np.linalg.norm(points[:,:2], axis=1), | |
'height': points[:, 2], | |
'intensity': intensity, | |
'log_intensity': np.log1p(intensity) / np.log(256)} | |
pd = vnp.numpyToPolyData(points, point_data) | |
obj = vis.showPolyData(pd, 'pointcloud {}'.format(timestamps[i]), parent=scene_folder, alpha=0.2, colorByName='log_intensity', colorByRange=[0.2, 0.7]) | |
frame = vis.addChildFrame(obj) | |
frame.setProperty('Visible', True) | |
frame.copyFrame(transformUtils.concatenateTransforms([lidar_to_ego[i], ego_poses[i]])) | |
vis.showFrame(ego_poses[i], 'ego_pose {}'.format(timestamps[i]), parent=ego_poses_folder, visible=False) | |
def load_map(nusc, map_token): | |
map = nusc.get('map', map_token) | |
mask = map['mask'] | |
img = ioUtils.readImage(mask.img_file) | |
d = DebugData() | |
d.addPlane((img.GetDimensions()[0]*mask.precision*0.5, img.GetDimensions()[1]*mask.precision*0.5,0), (0,0,1), img.GetDimensions()[0]*mask.precision, img.GetDimensions()[1]*mask.precision) | |
map_folder = om.getOrCreateContainer('maps', parentObj=om.getOrCreateContainer('nuscenes')) | |
obj = vis.showPolyData(d.getPolyData(), 'map {}'.format(map_token), parent=map_folder, visible=False) | |
tex = vtk.vtkTexture() | |
tex.SetInputData(img) | |
obj.actor.SetTexture(tex) | |
def load_nuscenes(dataroot): | |
nusc = NuScenes(version='v0.1', dataroot=dataroot, verbose=True) | |
maps = set() | |
for scene in nusc.scene: | |
log = nusc.get('log', scene['log_token']) | |
location = log['location'] | |
if location == 'boston-seaport': | |
load_scene(nusc, scene) | |
maps.add(log['map_token']) | |
for map_token in maps: | |
load_map(nusc, map_token) | |
if __name__ == '__main__': | |
load_nuscenes(_argv[1]) | |
_fields.view.resetCamera() |
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