diff --git a/README.md b/README.md index 590d782..0c4bcb1 100644 --- a/README.md +++ b/README.md @@ -74,6 +74,46 @@ dsc-toolkit render_orthophoto \ --save_dir /tmp/output ``` +## OpenDRIVE Map Visualization + +To visualize an OpenDRIVE map in `plot_annotations_3d`, you need to first convert it to [OBJ format](https://en.wikipedia.org/wiki/Wavefront_.obj_file). Choose one of the following methods: + +### Method 1: Online Conversion + +1. Navigate to [odrviewer.io](https://odrviewer.io/) +2. In **"Parse Options"**, disable **"Center Map"** +3. Click **"Open .xodr"** and select your OpenDRIVE file +4. Click **"Export .obj"** to download the converted file + +### Method 2: Offline Conversion + +This method relies on [esmini](https://github.com/esmini/esmini) and [OpenSceneGraph](https://openscenegraph.github.io/openscenegraph.io/): + +#### Prerequisites +```bash +# Install OpenSceneGraph +sudo apt install openscenegraph + +# Download and set up esmini +wget https://github.com/esmini/esmini/releases/latest/download/esmini-demo_ubuntu-latest.zip +unzip esmini-demo_ubuntu-latest.zip +export PATH=$PATH:$(pwd)/esmini/bin +``` + +#### Conversion Steps + +1. **Generate OpenSceneGraph model** from your OpenDRIVE file: + ```bash + odrviewer --odr map.xodr --save_generated_model --headless --duration 0 --disable_log --disable_stdout + ``` + +2. **Convert to OBJ format**: + ```bash + osgconv generated_road.osgb map.obj --use-world-frame + ``` + +The resulting `map.obj` file can now be used with `plot_annotations_3d`. + ## License This project is licensed under the Apache License 2.0. See [LICENSE.txt](LICENSE.txt) for details. diff --git a/dsc_toolkit/__init__.py b/dsc_toolkit/__init__.py index c3b4c20..1cc32ca 100644 --- a/dsc_toolkit/__init__.py +++ b/dsc_toolkit/__init__.py @@ -1,3 +1,3 @@ """DeepScenario Toolkit for visualizing and working with DeepScenario datasets.""" -__version__ = '1.0.2' +__version__ = '1.0.3' diff --git a/dsc_toolkit/plot_annotations_3d.py b/dsc_toolkit/plot_annotations_3d.py index c907f99..d57c2d2 100644 --- a/dsc_toolkit/plot_annotations_3d.py +++ b/dsc_toolkit/plot_annotations_3d.py @@ -15,7 +15,6 @@ get_look_at_transform, ) from dsc_toolkit.utils.io import load_data_meta -from dsc_toolkit.utils.map import DiscretizedMap from dsc_toolkit.utils.visuals import get_ann_visuals, set_camera_transform @@ -67,6 +66,16 @@ def animate_fn(event: vedo.plotter.Event) -> None: return animate_fn +def load_obj(obj_path: str) -> list[vedo.Mesh]: + assert os.path.isfile(obj_path), f'File not found: {obj_path}' + assert (ext := os.path.splitext(obj_path)[1]) == '.obj', f'Invalid format for {obj_path}: expected .obj, got {ext}' + + visuals = vedo.load_obj(obj_path, texture_path=os.path.dirname(obj_path)) + for visual in visuals: + visual.lighting(style='ambient') + return visuals + + def set_initial_camera_pose(plotter: vedo.Plotter, anns_df: pd.DataFrame, relative_altitude: float) -> None: anns_center = anns_df[['translation_x', 'translation_y', 'translation_z']].mean().to_numpy() eye = anns_center + np.array([0, 0, relative_altitude]) @@ -112,15 +121,12 @@ def plot_annotations_3d( plotter.background(background_color) if mesh_path is not None: - textured_mesh_visuals = vedo.load_obj(mesh_path, texture_path=os.path.dirname(mesh_path)) - for mesh_visual in textured_mesh_visuals: - mesh_visual.lighting(style='ambient') - plotter.add(textured_mesh_visuals) + mesh_visuals = load_obj(mesh_path) + plotter.add(mesh_visuals) if map_path is not None: - road_map = DiscretizedMap.load_from_file(map_path) - lane_visuals = road_map.get_lane_visuals() - plotter.add(lane_visuals) + map_visuals = load_obj(map_path) + plotter.add(map_visuals) if save_dir is not None: print(f'Screenshots will be saved in {save_dir}') @@ -149,7 +155,7 @@ def parse_args(argv: list[str] | None = None) -> argparse.Namespace: parser.add_argument('--data_dir', help='Directory that contains the released data', type=str, required=True) parser.add_argument('--recording', help='Recording to plot', type=str, dest='recording_id', required=True) parser.add_argument('--save_dir', help='Directory where the rendered images are saved', type=str) - parser.add_argument('--map', help='Path to the OpenDRIVE map', dest='map_path', type=str) + parser.add_argument('--map', help='Path to the OpenDRIVE map in .obj format', dest='map_path', type=str) parser.add_argument('--mesh', help='Path to the textured mesh', dest='mesh_path', type=str) parser.add_argument('--relative_altitude', help='Relative altitude of camera [m]', type=float, default=100) parser.add_argument('--headless', help='Do not show the visualizer', action='store_true') diff --git a/dsc_toolkit/utils/map.py b/dsc_toolkit/utils/map.py deleted file mode 100644 index 496c7a8..0000000 --- a/dsc_toolkit/utils/map.py +++ /dev/null @@ -1,116 +0,0 @@ -import numpy as np -import vedo -from lxml import etree -from opendrive2lanelet.converter import OpenDriveConverter -from opendrive2lanelet.opendriveparser import elements, parser -from opendrive2lanelet.plane_elements.plane_group import ParametricLaneGroup -from opendrive2lanelet.utils import decode_road_section_lane_width_id - -ElevationRecords = list[elements.roadElevationProfile.ElevationRecord] - - -def load_map(map_file: str) -> elements.opendrive.OpenDrive: - with open(map_file, 'r') as file: - return parser.parse_opendrive(etree.parse(file).getroot()) - - -def get_discretization_number(length: float, discretization: float) -> int: - return int(max(3, np.ceil(length / discretization))) - - -def is_forward(lane_id: int) -> bool: - return lane_id < 0 - - -def discretize_lane(parametric_lane_group: ParametricLaneGroup, s_values: np.ndarray) -> tuple[np.ndarray, np.ndarray]: - """Compute left and right vertices at specified s_values""" - left_vertices = np.asarray([parametric_lane_group.calc_border('inner', s_value)[0] for s_value in s_values]) - right_vertices = np.asarray([parametric_lane_group.calc_border('outer', s_value)[0] for s_value in s_values]) - - # opendrive2lanelet gives vertices of left lanes in reverse order - _, _, lane_id, _ = decode_road_section_lane_width_id(parametric_lane_group.id_) - if not is_forward(lane_id): - left_vertices = np.flipud(left_vertices) - right_vertices = np.flipud(right_vertices) - - return left_vertices, right_vertices - - -def discretize_elevations(elevation_records: ElevationRecords, s_values: np.ndarray) -> np.ndarray: - """Compute elevation at specified s_values""" - return np.array([compute_elevation(elevation_records, s_value) for s_value in s_values]) - - -def compute_elevation(elevation_records: ElevationRecords, s_value: float) -> float: - for elevation_record in reversed(elevation_records): - if elevation_record.start_pos <= s_value: - curr_elevation_record = elevation_record - break - ds = s_value - curr_elevation_record.start_pos - a, b, c, d = curr_elevation_record.polynomial_coefficients - elevation = a + b * ds + c * ds**2 + d * ds**3 - return elevation - - -class DiscretizedRoad: - def __init__(self, road: elements.road.Road) -> None: - for superelevation in road.lateralProfile.superelevations: - assert np.allclose(superelevation.polynomial_coefficients, 0), 'Superelevation is not implemented' - for shape in road.lateralProfile.shapes: - assert np.allclose(shape.polynomial_coefficients, 0), 'Shape is not implemented' - - self.id = road.id - self.lane_sections: list[DiscretizedLaneSection] = [] - self.elevation_records = [elevation_tuple[0] for elevation_tuple in road.elevationProfile.elevations] - - -class DiscretizedLaneSection: - def __init__(self, lane_section: elements.roadLanes.LaneSection) -> None: - self.id = lane_section.idx - self.lanes: list[DiscretizedLane] = [] - - -class DiscretizedLane: - def __init__(self, elevation_records: ElevationRecords, lane_section: elements.roadLanes.LaneSection, - parametric_lane_group: ParametricLaneGroup, discretization: float) -> None: - _, _, self.id, _ = decode_road_section_lane_width_id(parametric_lane_group.id_) - - lane_length = parametric_lane_group.length - s_values = np.linspace(0, lane_length, num=get_discretization_number(lane_length, discretization)) - left_vertices_xy, right_vertices_xy = discretize_lane(parametric_lane_group, s_values) - elevations = discretize_elevations(elevation_records, s_values + lane_section.sPos) - left_vertices = np.column_stack((left_vertices_xy, elevations)) - right_vertices = np.column_stack((right_vertices_xy, elevations)) - self.polygon = np.vstack((left_vertices, right_vertices[::-1])) - - -class DiscretizedMap: - def __init__(self) -> None: - self.roads: list[DiscretizedRoad] = [] - - @classmethod - def load_from_file(cls, map_file: str, discretization: float = 1.0) -> 'DiscretizedMap': - map = load_map(map_file) - map_discretized = cls() - for road in map.roads: - road_discretized = DiscretizedRoad(road) - ref_border = OpenDriveConverter.create_reference_border(road.planView, road.lanes.laneOffsets) - for lane_section in road.lanes.lane_sections: - lane_section_discretized = DiscretizedLaneSection(lane_section) - parametric_lane_groups = OpenDriveConverter.lane_section_to_parametric_lanes(lane_section, ref_border) - for parametric_lane_group in parametric_lane_groups: - lane_discretized = DiscretizedLane(road_discretized.elevation_records, lane_section, - parametric_lane_group, discretization) - lane_section_discretized.lanes.append(lane_discretized) - road_discretized.lane_sections.append(lane_section_discretized) - map_discretized.roads.append(road_discretized) - return map_discretized - - def get_lane_visuals(self, color: tuple = (0, 0, 0), lw: float = 2) -> list[vedo.Lines]: - lane_visuals = [] - for road in self.roads: - for lane_section in road.lane_sections: - for lane in lane_section.lanes: - lane_visual = vedo.Lines(start_pts=lane.polygon[:-1], end_pts=lane.polygon[1:], c=color, lw=lw) - lane_visuals.append(lane_visual) - return lane_visuals diff --git a/pyproject.toml b/pyproject.toml index 75b2337..0f412ab 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -38,7 +38,6 @@ dependencies = [ "pyproj (>=3.6,<4.0)", "open3d (>=0.19,<1.0)", "scipy (>=1.14,<2.0)", - "opendrive2lanelet (>=1.2,<2.0)", ] [project.urls] diff --git a/tests/assets/data/map/map.obj b/tests/assets/data/map/map.obj new file mode 100644 index 0000000..6770773 --- /dev/null +++ b/tests/assets/data/map/map.obj @@ -0,0 +1,6346 @@ +# file written by OpenSceneGraph + +mtllib generated_road.mtl + + +g Group_0 + +g Group_MatrixTransform_0 + +g Group_MatrixTransform_Group_0 + +g 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1806/1806/1806 1807/1807/1807 +f 1806/1806/1806 1808/1808/1808 1807/1807/1807 diff --git a/tests/conftest.py b/tests/conftest.py index 829f413..50f1ce4 100644 --- a/tests/conftest.py +++ b/tests/conftest.py @@ -39,10 +39,15 @@ def mesh_path(data_dir: str) -> str: @pytest.fixture -def map_path(data_dir: str) -> str: +def map_path_xodr(data_dir: str) -> str: return os.path.join(data_dir, 'map', 'map.xodr') +@pytest.fixture +def map_path_obj(data_dir: str) -> str: + return os.path.join(data_dir, 'map', 'map.obj') + + @pytest.fixture def anns_df(data_dir: str, recording_id: str) -> dict: anns_path = os.path.join(data_dir, 'annotations', recording_id, 'annotations.parquet') diff --git a/tests/test_plot_annotations_3d.py b/tests/test_plot_annotations_3d.py index 4be75b3..61b5e31 100644 --- a/tests/test_plot_annotations_3d.py +++ b/tests/test_plot_annotations_3d.py @@ -7,7 +7,7 @@ from dsc_toolkit.utils.generic import filter_by_frame_range -def test_main_function(data_dir: str, recording_id: str, mesh_path: str, map_path: str, tmp_path: Path, +def test_main_function(data_dir: str, recording_id: str, mesh_path: str, map_path_obj: str, tmp_path: Path, frames_df: pd.DataFrame, show: bool) -> None: frame_range = (10, 20) headless = '--headless' if not show else '' @@ -15,7 +15,7 @@ def test_main_function(data_dir: str, recording_id: str, mesh_path: str, map_pat --data_dir {data_dir} --recording {recording_id} --mesh {mesh_path} - --map {map_path} + --map {map_path_obj} --save_dir {str(tmp_path)} --frame_range {frame_range[0]} {frame_range[1]} {headless} diff --git a/uv.lock b/uv.lock index 713667b..4d70b1b 100644 --- a/uv.lock +++ b/uv.lock @@ -2,8 +2,7 @@ version = 1 revision = 2 requires-python = ">=3.10, <4.0" resolution-markers = [ - "python_full_version >= '3.13'", - "python_full_version == '3.12.*'", + "python_full_version >= '3.12'", "python_full_version == '3.11.*'", "python_full_version < '3.11'", ] @@ -26,12 +25,6 @@ wheels = [ { url = 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