Refactor: Don't use mayavi lib

src/utils/visualization_utils.py

@@ -14,7 +14,6 @@
 
 import numpy as np
 import cv2
-import mayavi.mlab as mlab
 
 sys.path.append('../')
 
@@ -117,108 +116,10 @@ def draw_box_3d(image, corners, color=(0, 0, 255)):
     return image
 
 
-def draw_lidar(lidar, is_grid=False, is_axis=True, is_top_region=True, fig=None):
-    pxs = lidar[:, 0]
-    pys = lidar[:, 1]
-    pzs = lidar[:, 2]
-    prs = lidar[:, 3]
-
-    if fig is None:
-        fig = mlab.figure(figure=None, bgcolor=(0, 0, 0), fgcolor=None, engine=None, size=(1000, 500))
-
-    mlab.points3d(
-        pxs, pys, pzs, prs,
-        mode='point',  # 'point'  'sphere'
-        colormap='gnuplot',  # 'bone',  #'spectral',  #'copper',
-        scale_factor=1,
-        figure=fig)
-
-    # draw grid
-    if is_grid:
-        mlab.points3d(0, 0, 0, color=(1, 1, 1), mode='sphere', scale_factor=0.2)
-
-        for y in np.arange(-50, 50, 1):
-            x1, y1, z1 = -50, y, 0
-            x2, y2, z2 = 50, y, 0
-            mlab.plot3d([x1, x2], [y1, y2], [z1, z2], color=(0.5, 0.5, 0.5), tube_radius=None, line_width=1, figure=fig)
-
-        for x in np.arange(-50, 50, 1):
-            x1, y1, z1 = x, -50, 0
-            x2, y2, z2 = x, 50, 0
-            mlab.plot3d([x1, x2], [y1, y2], [z1, z2], color=(0.5, 0.5, 0.5), tube_radius=None, line_width=1, figure=fig)
-
-    # draw axis
-    if is_grid:
-        mlab.points3d(0, 0, 0, color=(1, 1, 1), mode='sphere', scale_factor=0.2)
-
-        axes = np.array([
-            [2., 0., 0., 0.],
-            [0., 2., 0., 0.],
-            [0., 0., 2., 0.],
-        ], dtype=np.float64)
-        fov = np.array([  ##<todo> : now is 45 deg. use actual setting later ...
-            [20., 20., 0., 0.],
-            [20., -20., 0., 0.],
-        ], dtype=np.float64)
-
-        mlab.plot3d([0, axes[0, 0]], [0, axes[0, 1]], [0, axes[0, 2]], color=(1, 0, 0), tube_radius=None, figure=fig)
-        mlab.plot3d([0, axes[1, 0]], [0, axes[1, 1]], [0, axes[1, 2]], color=(0, 1, 0), tube_radius=None, figure=fig)
-        mlab.plot3d([0, axes[2, 0]], [0, axes[2, 1]], [0, axes[2, 2]], color=(0, 0, 1), tube_radius=None, figure=fig)
-        mlab.plot3d([0, fov[0, 0]], [0, fov[0, 1]], [0, fov[0, 2]], color=(1, 1, 1), tube_radius=None, line_width=1,
-                    figure=fig)
-        mlab.plot3d([0, fov[1, 0]], [0, fov[1, 1]], [0, fov[1, 2]], color=(1, 1, 1), tube_radius=None, line_width=1,
-                    figure=fig)
-
-    # draw top_image feature area
-    if is_top_region:
-        x1 = cnf.boundary['minX']
-        x2 = cnf.boundary['maxX']
-        y1 = cnf.boundary['minY']
-        y2 = cnf.boundary['maxY']
-        mlab.plot3d([x1, x1], [y1, y2], [0, 0], color=(0.5, 0.5, 0.5), tube_radius=None, line_width=1, figure=fig)
-        mlab.plot3d([x2, x2], [y1, y2], [0, 0], color=(0.5, 0.5, 0.5), tube_radius=None, line_width=1, figure=fig)
-        mlab.plot3d([x1, x2], [y1, y1], [0, 0], color=(0.5, 0.5, 0.5), tube_radius=None, line_width=1, figure=fig)
-        mlab.plot3d([x1, x2], [y2, y2], [0, 0], color=(0.5, 0.5, 0.5), tube_radius=None, line_width=1, figure=fig)
-
-    mlab.orientation_axes()
-    mlab.view(azimuth=180, elevation=None, distance=50,
-              focalpoint=[12.0909996, -1.04700089, -2.03249991])  # 2.0909996 , -1.04700089, -2.03249991
-
-    return fig
-
-
-def draw_gt_boxes3d(gt_boxes3d, fig, cls_ids, line_width=2):
-    num = len(gt_boxes3d)
-    for n in range(num):
-        cls_id = int(cls_ids[n])
-        if cls_id < 0:
-            continue
-        color = cnf.colors[cls_id]
-        color = (color[0] / 255., color[1] / 255., color[2] / 255.)
-
-        b = gt_boxes3d[n]
-
-        for k in range(0, 4):
-            i, j = k, (k + 1) % 4
-            mlab.plot3d([b[i, 0], b[j, 0]], [b[i, 1], b[j, 1]], [b[i, 2], b[j, 2]], color=color, tube_radius=None,
-                        line_width=line_width, figure=fig)
-
-            i, j = k + 4, (k + 3) % 4 + 4
-            mlab.plot3d([b[i, 0], b[j, 0]], [b[i, 1], b[j, 1]], [b[i, 2], b[j, 2]], color=color, tube_radius=None,
-                        line_width=line_width, figure=fig)
-
-            i, j = k, k + 4
-            mlab.plot3d([b[i, 0], b[j, 0]], [b[i, 1], b[j, 1]], [b[i, 2], b[j, 2]], color=color, tube_radius=None,
-                        line_width=line_width, figure=fig)
-
-    mlab.view(azimuth=180, elevation=None, distance=50,
-              focalpoint=[12.0909996, -1.04700089, -2.03249991])  # 2.0909996 , -1.04700089, -2.03249991
-
-
 def show_rgb_image_with_boxes(img, labels, calib):
     for box_idx, label in enumerate(labels):
         cls_id, location, dim, ry = label[0], label[1:4], label[4:7], label[7]
-        if location[2] < 2.0: # The object is too close to the camera, ignore it during visualization
+        if location[2] < 2.0:  # The object is too close to the camera, ignore it during visualization
             continue
         if cls_id < 0:
             continue