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[Fix] fix bbox_color in Det3DLocalVisualizer #2729

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[Fix] fix bbox_color in Det3DLocalVisualizer #2729

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b05805f
fix bbox_color
maciejmajek Sep 12, 2023
0701337
Revert "fix bbox_color"
maciejmajek Sep 12, 2023
9d88173
fix bounding box coloring
maciejmajek Sep 12, 2023
11ff4cf
chore: update docstring
maciejmajek Oct 2, 2023
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20 changes: 16 additions & 4 deletions mmdet3d/visualization/local_visualizer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -261,7 +261,8 @@ def set_points(self,
# for better detection performance comparison
def draw_bboxes_3d(self,
bboxes_3d: BaseInstance3DBoxes,
bbox_color: Tuple[float] = (0, 1, 0),
bbox_colors: Union[Tuple[float],
List[Tuple[float]]] = (0, 1, 0),
points_in_box_color: Tuple[float] = (1, 0, 0),
rot_axis: int = 2,
center_mode: str = 'lidar_bottom',
Expand All @@ -272,7 +273,8 @@ def draw_bboxes_3d(self,
Args:
bboxes_3d (:obj:`BaseInstance3DBoxes`): 3D bbox
(x, y, z, x_size, y_size, z_size, yaw) to visualize.
bbox_color (Tuple[float]): The color of 3D bboxes.
bbox_colors (Tuple[float] | List[Tuple[float]]):
The color of 3D bboxes.
Defaults to (0, 1, 0).
points_in_box_color (Tuple[float]): The color of points inside 3D
bboxes. Defaults to (1, 0, 0).
Expand All @@ -294,8 +296,16 @@ def draw_bboxes_3d(self,
bboxes_3d = tensor2ndarray(bboxes_3d.tensor)

# in_box_color = np.array(points_in_box_color)
if isinstance(bbox_colors, list):
assert len(bbox_colors) == len(
bboxes_3d), 'specify color for every bounding box'

for i in range(len(bboxes_3d)):
if isinstance(bbox_colors, tuple):
bbox_color = bbox_colors
else:
bbox_color = bbox_colors[i]

center = bboxes_3d[i, 0:3]
dim = bboxes_3d[i, 3:6]
yaw = np.zeros(3)
Expand All @@ -312,15 +322,17 @@ def draw_bboxes_3d(self,

line_set = geometry.LineSet.create_from_oriented_bounding_box(
box3d)
line_set.paint_uniform_color(np.array(bbox_color[i]) / 255.)
line_set.paint_uniform_color(
np.array(bbox_color, dtype=np.float64))
# draw bboxes on visualizer
self.o3d_vis.add_geometry(line_set)

# change the color of points which are in box
if self.pcd is not None and mode == 'xyz':
indices = box3d.get_point_indices_within_bounding_box(
self.pcd.points)
self.points_colors[indices] = np.array(bbox_color[i]) / 255.
self.points_colors[indices] = np.array(
bbox_color, dtype=np.float64)

# update points colors
if self.pcd is not None:
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