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import open3d as o3d
CLASS_LABELS = ('wall', 'floor', 'cabinet', 'bed', 'chair', 'sofa', 'table', 'door', 'window', 'bookshelf', 'picture', 'counter', 'desk', 'curtain', 'refrigerator', 'shower curtain', 'toilet', 'sink', 'bathtub', 'otherfurniture')
VALID_CLASS_IDS = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 16, 24, 28, 33, 34, 36, 39]
SCANNET_COLOR_MAP = { 0: (0., 0., 0.), 1: (174., 199., 232.), 2: (152., 223., 138.), 3: (31., 119., 180.), 4: (255., 187., 120.), 5: (188., 189., 34.), 6: (140., 86., 75.), 7: (255., 152., 150.), 8: (214., 39., 40.), 9: (197., 176., 213.), 10: (148., 103., 189.), 11: (196., 156., 148.), 12: (23., 190., 207.), 14: (247., 182., 210.), 15: (66., 188., 102.), 16: (219., 219., 141.), 17: (140., 57., 197.), 18: (202., 185., 52.), 19: (51., 176., 203.), 20: (200., 54., 131.), 21: (92., 193., 61.), 22: (78., 71., 183.), 23: (172., 114., 82.), 24: (255., 127., 14.), 25: (91., 163., 138.), 26: (153., 98., 156.), 27: (140., 153., 101.), 28: (158., 218., 229.), 29: (100., 125., 154.), 30: (178., 127., 135.), 32: (146., 111., 194.), 33: (44., 160., 44.), 34: (112., 128., 144.), 35: (96., 207., 209.), 36: (227., 119., 194.), 37: (213., 92., 176.), 38: (94., 106., 211.), 39: (82., 84., 163.), 40: (100., 85., 144.), }
soutput = model(sinput)
_, pred = soutput.F.max(1) coordinates = soutput.C.numpy()[:, :3]
colors = np.array([SCANNET_COLOR_MAP[VALID_CLASS_IDS[l]] for l in pred])
pred_pcd = o3d.PointCloud() pred_pcd.points = o3d.Vector3dVector(coordinates * 0.02) pred_pcd.colors = o3d.Vector3dVector(colors / 255)
pcd = pcds[0] pcd.points = o3d.Vector3dVector(np.array(pcd.points) + np.array([0, 5, 0]))
o3d.draw_geometries([pcd, pred_pcd])
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