feat(visualization): mask for unused voxels (#18)

* feat(visualization): mask for unused voxels * fix(ci): fix black issue * fix(visualization): fix unused voxels representation
prime-slam · Nov 21, 2023 · 2b34824 · 2b34824
1 parent ba08840
commit 2b34824
Show file tree

Hide file tree

Showing 2 changed files with 21 additions and 6 deletions.
diff --git a/octreelib/grid/grid.py b/octreelib/grid/grid.py
@@ -161,24 +161,37 @@ def visualize(self, config: VisualizationConfig = VisualizationConfig()) -> None
         plot = k3d.Plot()
         random.seed(config.seed)
         poses_numbers = self.__pose_voxel_coordinates.keys()
+        unused_voxel_color = 0x000000  # Black
 
         if config.type is GridVisualizationType.POSE:
             for pose_number in poses_numbers:
                 color = random.randrange(0, 0xFFFFFF)
-                points = self.get_points(pose_number=pose_number)
+                leaves = self.get_leaf_points(pose_number=pose_number)
+                for leaf in leaves:
+                    if leaf.id in config.unused_voxels:
+                        plot += k3d.points(
+                            positions=leaf.get_points(),
+                            point_size=config.point_size,
+                            color=unused_voxel_color,
+                        )
 
-                plot += k3d.points(
-                    positions=points,
-                    point_size=config.point_size,
-                    color=color,
-                )
+                        continue
+
+                    plot += k3d.points(
+                        positions=leaf.get_points(),
+                        point_size=config.point_size,
+                        color=color,
+                    )
         elif config.type is GridVisualizationType.VOXEL:
             voxels_colors = {}
             for pose_number in poses_numbers:
                 leaves = self.get_leaf_points(pose_number=pose_number)
                 for leaf in leaves:
                     if leaf.id not in voxels_colors.keys():
                         color = random.randrange(0, 0xFFFFFF)
+                        if leaf.id in config.unused_voxels:
+                            color = unused_voxel_color
+
                         voxels_colors[leaf.id] = color
 
                     plot += k3d.points(

diff --git a/octreelib/grid/grid_base.py b/octreelib/grid/grid_base.py
@@ -36,6 +36,7 @@ class VisualizationConfig:
     line_color: Represents color of voxels lines in Grid
     visualization_filepath: Path to produced `.html` file
     visualization_seed: Represents random seed for generating colors
+    unused_voxels: Represents list of voxels which were unused on optimisation stage
     """
 
     type: GridVisualizationType = GridVisualizationType.VOXEL
@@ -44,6 +45,7 @@ class VisualizationConfig:
     line_color: int = 0xFF0000
     filepath: str = "visualization.html"
     seed: int = 0
+    unused_voxels: List[int] = field(default_factory=list)
 
 
 @dataclass