Function render_arkitscenes

pointersect/inference/main.py:1848–1898

Render the lidar scans in ARKitScenes dataset. Args: ply_filenames: list of ply filenames containing the point cloud

(
        ply_filenames: T.List[str],
        arkitscenes_indiv_voxel_downsampling: bool = True,
        **kwargs,
)

def render_arkitscenes(
        ply_filenames: T.List[str],
        arkitscenes_indiv_voxel_downsampling: bool = True,
        **kwargs,
):
    """
    Render the lidar scans in ARKitScenes dataset.

    Args:
        ply_filenames:
            list of ply filenames containing the point cloud

    """

    # load the point clouds
    voxel_downsample_cell_width = kwargs.get('voxel_downsample_cell_width', -1)
    voxel_downsample_sigma = kwargs.get('voxel_downsample_sigma', 0.5)

    all_point_clouds = []
    for i in range(len(ply_filenames)):
        ply_filename = ply_filenames[i]
        o3d_pcd: o3d.geometry.PointCloud = o3d.io.read_point_cloud(ply_filename)

        point_cloud = PointCloud.from_o3d_pcd(o3d_pcd=o3d_pcd)
        max_xyz = point_cloud.xyz_w.max(dim=1)[0][0]  # (3,)
        min_xyz = point_cloud.xyz_w.min(dim=1)[0][0]  # (3,)
        size_xyz = max_xyz - min_xyz  # (3,)
        print(f'max_xyz: = {max_xyz}')
        print(f'min_xyz: = {min_xyz}')
        print(f'num_cells = {size_xyz / voxel_downsample_cell_width}')

        if arkitscenes_indiv_voxel_downsampling:
            point_cloud = point_cloud.voxel_downsampling(
                cell_width=voxel_downsample_cell_width,
                sigma=voxel_downsample_sigma,
            )
        all_point_clouds.append(point_cloud)

    input_point_cloud = PointCloud.cat(point_clouds=all_point_clouds, dim=1)  # (b=1, n)

    # shift point cloud to center
    delta_xyz_w = input_point_cloud.xyz_w[0].mean(dim=0)  # (3,)
    input_point_cloud.xyz_w = input_point_cloud.xyz_w - delta_xyz_w.reshape(1, 1, 3)

    if 'input_point_cloud' in kwargs:
        del kwargs['input_point_cloud']

    render_point_cloud(
        input_point_cloud=input_point_cloud,
        **kwargs,
    )


def render_point_cloud(