Update

Author: yikun-li

model_viewer.py

@@ -0,0 +1,58 @@
+import glob
+import os
+
+import matplotlib.pyplot as plt
+import numpy as np
+
+
+def view_point_cloud_model_and_affordance(number_of_object_per_category=5):
+    """
+    View model and grasp affordance
+
+    :return:
+    """
+    list_pc_paths = [f for f in glob.glob('./dataset/*.npy', recursive=True)]
+    set_objects = set([os.path.basename(pc_path).split('_')[0] for pc_path in list_pc_paths])
+
+    for obj in set_objects:
+        try:
+            # load point cloud models
+            pc_models = np.load('./dataset/{}_point_cloud_models.npy'.format(obj))[
+                        :number_of_object_per_category]
+            # load point cloud grasp affordance
+            pc_affordance = np.load('./dataset/{}_point_cloud_grasp_affordance.npy'.format(obj))[
+                            :number_of_object_per_category]
+
+            # visualization
+            for i, m in enumerate(pc_models):
+                fig = plt.figure()
+                ax = fig.add_subplot(projection='3d')
+                list_model_x, list_model_y, list_model_z = [], [], []
+                list_affordance_x, list_affordance_y, list_affordance_z = [], [], []
+
+                for x in range(32):
+                    for y in range(32):
+                        for z in range(32):
+                            if pc_affordance[i, x, y, z] == 1:
+                                list_affordance_x.append(x)
+                                list_affordance_y.append(y)
+                                list_affordance_z.append(z)
+                            elif m[x, y, z] == 1:
+                                list_model_x.append(x)
+                                list_model_y.append(y)
+                                list_model_z.append(z)
+
+                ax.scatter(list_model_x, list_model_y, list_model_z, c='#0c457d')
+                ax.scatter(list_affordance_x, list_affordance_y, list_affordance_z, c='#e8702a', alpha=0.35)
+                ax.set_xlim(0, 32)
+                ax.set_ylim(0, 32)
+                ax.set_zlim(0, 32)
+                plt.show()
+
+        except FileNotFoundError:
+            print('Some point cloud npy files are not found.')
+            continue
+
+
+if __name__ == '__main__':
+    view_point_cloud_model_and_affordance(number_of_object_per_category=5)