/ssu_map3d_visualization

Semantic scene understanding 3D map visualization utils.

Primary LanguagePython

ssu_map3d_visualization

This repository contains implementation of the visualisation tools mentioned in the scope of Issue #35 of the BenchBot Software Stack.

Tools allow to visualise scene semantic map and overlay two semantic maps (e.g. ground-truth vs predicted) as illustrated in the pictures below:

Ground-truth semantic map Ground-truth semantic map vs semantic map built using VoteNet
Ground-truth semantic map visualisation for miniroom:1 scene. Ground-truth semantic map visualisation vs semantic map predicted by VoteNet for miniroom:1 scene.

Repository structure:

ssu_map3d_visualization/
   - data/
   |   - miniroom_1.json          # ground-truth objects bounding boxes 
   |   - my_semantic_slam_0.json  # objects bounding boxes pridicted by VoteNet  
   - img/                         # example semantic map visualisations
   |   - miniroom1_ground_truth.png
   |   - miniroom1_ground_truth_vs_predicted.png
   - vis_tools/                   # python package with visualisation tools
   |   - __init__.py
   |   - tools.py
   - gt_map_vis.py                # example how to visualise one semantic map
   - gt_vs_pr_map_vis.py          # example how to overlay two semantic maps