OpenPCDet

OpenPCDet"/>

OpenPCDet

提取点云的代码实现思路来自Shawn_1223大佬的博客：基于OpenPCDet的三维目标检测点云学习--取出标注框内的点云

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OpenPCDet使用如下命令对点云(.bin文件)进行可视化：（使用的是open3d）

python demo.py --cfg_file ./cfgs/kitti_models/pv_rcnn.yaml --ckpt /home/dell/project/OpenPCDet/checkpoints/pv_rcnn_8369.pth --data_path /home/dell/project/OpenPCDet/data/kitti/testing/velodyne/000009.bin

如何在检测可视化时将检测框中的点云染成红色？

答：将如下代码替换掉OpenPCDet/tools/visual_utils/open3d_vis_utils.py中的代码即可

"""
Open3d visualization tool box
Written by Jihan YANG
All rights preserved from 2021 - present.
"""
import open3d
import torch
import matplotlib
import numpy as npimport scipy
from scipy.spatial import Delaunaybox_colormap = [[1, 1, 1],[0, 1, 0],[0, 1, 1],[1, 1, 0],
]'''
一行代表点的颜色
二行代表汽车的颜色
三四行代表行人和自行车的颜色
'''box_colormap = [[1, 1, 1],[0, 1, 0],[0, 1, 1],[1, 1, 0],
]def check_numpy_to_torch(x):if isinstance(x, np.ndarray):return torch.from_numpy(x).float(), Truereturn x, Falsedef rotate_points_along_z(points, angle):"""Args:points: (B, N, 3 + C)angle: (B), angle along z-axis, angle increases x ==> yReturns:"""points, is_numpy = check_numpy_to_torch(points)angle, _ = check_numpy_to_torch(angle)cosa = torch.cos(angle)sina = torch.sin(angle)zeros = angle.new_zeros(points.shape[0])ones = angle.new_ones(points.shape[0])rot_matrix = torch.stack((cosa,  sina, zeros,-sina, cosa, zeros,zeros, zeros, ones), dim=1).view(-1, 3, 3).float()points_rot = torch.matmul(points[:, :, 0:3], rot_matrix)points_rot = torch.cat((points_rot, points[:, :, 3:]), dim=-1)return points_rot.numpy() if is_numpy else points_rot# 可视化框boxes 转corner角（如下图  和pcdet/utils/box_utils.py中boxes_to_corners_3d函数一样
def boxes_to_corners_3d(boxes3d):"""7 -------- 4/|         /|6 -------- 5 .| |        | |. 3 -------- 0|/         |/2 -------- 1Args:boxes3d:  (N, 7) [x, y, z, dx, dy, dz, heading], (x, y, z) is the box centerReturns:"""boxes3d, is_numpy = check_numpy_to_torch(boxes3d)template = boxes3d.new_tensor(([1, 1, -1], [1, -1, -1], [-1, -1, -1], [-1, 1, -1],[1, 1, 1], [1, -1, 1], [-1, -1, 1], [-1, 1, 1],)) / 2corners3d = boxes3d[:, None, 3:6].repeat(1, 8, 1) * template[None, :, :]corners3d = rotate_points_along_z(corners3d.view(-1, 8, 3), boxes3d[:, 6]).view(-1, 8, 3)corners3d += boxes3d[:, None, 0:3]return corners3d.numpy() if is_numpy else corners3ddef draw_point_in_box3d(vis, points, boxes3d):corner3ds = boxes_to_corners_3d(boxes3d)#[N,8,3]pc_in_boxes_sum = np.zeros((1,4))for i in range(corner3ds.shape[0]):flag = in_hull(points[:,0:3], corner3ds[i])pc_in_boxes = points[flag]pc_in_boxes_sum = np.vstack((pc_in_boxes_sum,pc_in_boxes))points_in_boxes = pc_in_boxes_sumpts = open3d.geometry.PointCloud()pts.points = open3d.utility.Vector3dVector(points_in_boxes[:,:3])vis.add_geometry(pts)colors = [[1.,0., 1.] for _ in range(points_in_boxes.shape[0])]pts.colors = open3d.utility.Vector3dVector(np.asarray(colors))return visdef in_hull(p, hull):try:if not isinstance(hull, Delaunay):hull = Delaunay(hull)flag = hull.find_simplex(p) >= 0except scipy.spatial.qhull.QhullError:print('Warning: not a hull %s' % str(hull))flag = np.zeros(p.shape[0], dtype=np.bool)return flagdef get_coor_colors(obj_labels):"""Args:obj_labels: 1 is ground, labels > 1 indicates different instance clusterReturns:rgb: [N, 3]. color for each point."""colors = matplotlib.colors.XKCD_COLORS.values()max_color_num = obj_labels.max()color_list = list(colors)[:max_color_num+1]colors_rgba = [matplotlib.colors.to_rgba_array(color) for color in color_list]label_rgba = np.array(colors_rgba)[obj_labels]label_rgba = label_rgba.squeeze()[:, :3]return label_rgbadef draw_scenes(points, gt_boxes=None, ref_boxes=None, ref_labels=None, ref_scores=None, point_colors=None, draw_origin=True):# *************# print('points: ',points)# *************if isinstance(points, torch.Tensor):points = points.cpu().numpy()if isinstance(gt_boxes, torch.Tensor):gt_boxes = gt_boxes.cpu().numpy()if isinstance(ref_boxes, torch.Tensor):ref_boxes = ref_boxes.cpu().numpy()vis = open3d.visualization.Visualizer()vis.create_window()vis.get_render_option().point_size = 1.0vis.get_render_option().background_color = np.zeros(3) # RGB(0,0,0)表黑色# draw originif draw_origin:axis_pcd = open3d.geometry.TriangleMesh.create_coordinate_frame(size=1.0, origin=[0, 0, 0])# print('axis_pcd: ',axis_pcd) # axis_pcd:  TriangleMesh with 1134 points and 2240 triangles.vis.add_geometry(axis_pcd)pts = open3d.geometry.PointCloud()pts.points = open3d.utility.Vector3dVector(points[:, :3])vis.add_geometry(pts)if point_colors is None:pts.colors = open3d.utility.Vector3dVector(np.ones((points.shape[0], 3)))else:pts.colors = open3d.utility.Vector3dVector(point_colors)# *************print('pts.colors: ',pts.colors)print('point_colors: ',point_colors)# *************if gt_boxes is not None:vis = draw_box(vis, gt_boxes, (0, 0, 1))# *****将检测框中的点云染成红色*****vis = draw_point_in_box3d(vis, points, gt_boxes)# *****将检测框中的点云染成红色*****# (0,1,0) greenif ref_boxes is not None:vis = draw_box(vis, ref_boxes, (0, 1, 0), ref_labels, ref_scores)# *****将检测框中的点云染成红色*****vis = draw_point_in_box3d(vis, points, ref_boxes)# *****将检测框中的点云染成红色*****vis.run()vis.destroy_window()def translate_boxes_to_open3d_instance(gt_boxes):"""4-------- 6/|         /|5 -------- 3 .| |        | |. 7 -------- 1|/         |/2 -------- 0"""center = gt_boxes[0:3]lwh = gt_boxes[3:6]axis_angles = np.array([0, 0, gt_boxes[6] + 1e-10])rot = open3d.geometry.get_rotation_matrix_from_axis_angle(axis_angles)box3d = open3d.geometry.OrientedBoundingBox(center, rot, lwh)line_set = open3d.geometry.LineSet.create_from_oriented_bounding_box(box3d)# import ipdb; ipdb.set_trace(context=20)lines = np.asarray(line_set.lines)lines = np.concatenate([lines, np.array([[1, 4], [7, 6]])], axis=0)line_set.lines = open3d.utility.Vector2iVector(lines)return line_set, box3ddef draw_box(vis, gt_boxes, color=(0, 1, 0), ref_labels=None, score=None):for i in range(gt_boxes.shape[0]):line_set, box3d = translate_boxes_to_open3d_instance(gt_boxes[i])if ref_labels is None:line_set.paint_uniform_color(color)else:line_set.paint_uniform_color(box_colormap[ref_labels[i]])vis.add_geometry(line_set)# if score is not None:#     corners = box3d.get_box_points()#     vis.add_3d_label(corners[5], '%.2f' % score[i])return vis

效果图如下所示：

提取点云的代码实现思路参考博客原址：基于OpenPCDet的三维目标检测点云学习--取出标注框内的点云