Method render_scene

embodiedscan/explorer.py:233–286

Render a given scene with open3d. Args: scene_name (str): Scene name. render_box (bool): Whether to render the box in the scene. Defaults to False.

(self, scene_name, render_box=False)

        return None

    def render_scene(self, scene_name, render_box=False):
        """Render a given scene with open3d.

        Args:
            scene_name (str): Scene name.
            render_box (bool): Whether to render the box in the scene.
                Defaults to False.
        """
        s = scene_name.split('/')
        if len(s) == 2:
            dataset, region = s
        else:
            dataset, building, region = s
        select = None
        for scene in self.data:
            if scene['sample_idx'] == scene_name:
                select = scene
                break
        axis_align_matrix = select['axis_align_matrix']
        if dataset == 'scannet':
            filepath = os.path.join(self.data_root['scannet'], 'scans', region,
                                    f'{region}_vh_clean.ply')
        elif dataset == '3rscan':
            filepath = os.path.join(self.data_root['3rscan'], region,
                                    'mesh.refined.v2.obj')
        elif dataset == 'matterport3d':
            filepath = os.path.join(self.data_root['matterport3d'], building,
                                    'region_segmentations', f'{region}.ply')
        elif dataset == 'arkitscenes':
            filepath = os.path.join(self.data_root['arkitscenes'], building,
                                    region, f'{region}_3dod_mesh.ply')
        else:
            raise NotImplementedError

        if self.verbose:
            print('Loading mesh')
        mesh = o3d.io.read_triangle_mesh(filepath, True)
        mesh.transform(axis_align_matrix)
        frame = o3d.geometry.TriangleMesh.create_coordinate_frame()
        if self.verbose:
            print('Loading complete')
        boxes = []
        if render_box:
            if self.verbose:
                print('Rendering box')
            for instance in select['instances']:
                box = _9dof_to_box(
                    instance['bbox_3d'],
                    self.classes[self.id_to_index[instance['bbox_label_3d']]],
                    self.color_selector)
                boxes += _box_add_thickness(box, self.thickness)
            if self.verbose:
                print('Rendering complete')
        o3d.visualization.draw_geometries([mesh, frame] + boxes)

    def render_continuous_scene(self,
                                scene_name,