# BEVis3D
这是一个基于web的3D可视化工具
## 1.环境配置
### Install environment
```python
pip install -r requirements.txt
```
## 2.数据准备
1. 准备需要可视化的数据集，将数据集放在目录 ./data 下
2. 数据集文件结构如下：
```
./data/dataset_dir/
<dataset_dir>:
|___param
|___imu_to_vehicle_extrinsics.yaml
|___vehicle_to_flu_extrinsics.yaml
|___pandar_AT128
|___*****.pcd
|___bbox
|___*****.txt
|___velocity
|___**_velocity_flu.txt
|___andes_final
|___andes_final_lidar
|___andes_hmi
|___onsemi_obstacle
|___spherical_left_forward
|___spherical_right_forward
|___spherical_left_backward
|___spherical_right_backward
|___spherical_backward
```
## 3.运行代码
1. 运行bevis3d
```bash
bash run_record.sh
```
参数介绍：
```
--bevis_dir 存储bevis3d的文件夹路径
--bevis_name 当前场景的命名，最终输出的文件路径是<path_to_save_bevis3d>/<file_name_bevis3d>
--data_dir 待可视化的数据集存储的路径
--lidar_dir 待可视化的数据集的点云数据的存储路径，默认None
--param_dir 待可视化的数据集的外参的存储路径，默认None
--bbox_list 待可视化的数据集的3D BBox的存储路径的file name，默认None
--vis_camera 是否要可视化相机bev图像，如果是则加入 --vis_camera
--vis_lidar 是否要可视化点云图像
--vis_bbox 是否要可视化3D目标检测框
--vis_andes 是否要可视化andes图像
```
bevis3d输出文件存放在```<path_to_save_bevis3d>/<file_name_bevis3d>```下
2. 运行web可视化
```bevis3d --vis_dir $path_to_vis_dir --host 0.0.0.0 --port 19090```
在本地设备上运行 http://localhost:19090 即可打开可视化界面
## Thanks
- This project references [Wis3D](https://github.com/zju3dv/Wis3D/tree/main/wis3d), and we are grateful for the outstanding work of the CAD team of Zhejiang University.
## Citation
```
@article{sun2022onepose,
title={{OnePose}: One-Shot Object Pose Estimation without {CAD} Models},
author = {Sun, Jiaming and Wang, Zihao and Zhang, Siyu and He, Xingyi and Zhao, Hongcheng and Zhang, Guofeng and Zhou, Xiaowei},
journal={CVPR},
year={2022},
}
```
Raw data
{
"_id": null,
"home_page": "",
"name": "bevis3d",
"maintainer": "",
"docs_url": null,
"requires_python": ">=3.6",
"maintainer_email": "",
"keywords": "",
"author": "Linghao Chen, Jingmeng Zhang, Hongcheng Zhao, Zijing Huang, Linghao Chen, Jiaming Sun",
"author_email": "",
"download_url": "",
"platform": null,
"description": "# BEVis3D\n\u8fd9\u662f\u4e00\u4e2a\u57fa\u4e8eweb\u76843D\u53ef\u89c6\u5316\u5de5\u5177\n\n## 1.\u73af\u5883\u914d\u7f6e\n### Install environment\n```python\npip install -r requirements.txt\n```\n## 2.\u6570\u636e\u51c6\u5907\n1. \u51c6\u5907\u9700\u8981\u53ef\u89c6\u5316\u7684\u6570\u636e\u96c6\uff0c\u5c06\u6570\u636e\u96c6\u653e\u5728\u76ee\u5f55 ./data \u4e0b\n2. \u6570\u636e\u96c6\u6587\u4ef6\u7ed3\u6784\u5982\u4e0b\uff1a\n```\n./data/dataset_dir/\n<dataset_dir>:\n |___param\n |___imu_to_vehicle_extrinsics.yaml\n |___vehicle_to_flu_extrinsics.yaml\n |___pandar_AT128\n |___*****.pcd\n |___bbox\n |___*****.txt\n |___velocity\n |___**_velocity_flu.txt\n |___andes_final\n |___andes_final_lidar\n |___andes_hmi\n |___onsemi_obstacle\n |___spherical_left_forward\n |___spherical_right_forward\n |___spherical_left_backward\n |___spherical_right_backward\n |___spherical_backward\n```\n\n## 3.\u8fd0\u884c\u4ee3\u7801\n\n1. \u8fd0\u884cbevis3d\n\n```bash\nbash run_record.sh\n```\n\n\u53c2\u6570\u4ecb\u7ecd\uff1a\n```\n--bevis_dir \u5b58\u50a8bevis3d\u7684\u6587\u4ef6\u5939\u8def\u5f84\n--bevis_name \u5f53\u524d\u573a\u666f\u7684\u547d\u540d\uff0c\u6700\u7ec8\u8f93\u51fa\u7684\u6587\u4ef6\u8def\u5f84\u662f<path_to_save_bevis3d>/<file_name_bevis3d>\n--data_dir \u5f85\u53ef\u89c6\u5316\u7684\u6570\u636e\u96c6\u5b58\u50a8\u7684\u8def\u5f84\n--lidar_dir \u5f85\u53ef\u89c6\u5316\u7684\u6570\u636e\u96c6\u7684\u70b9\u4e91\u6570\u636e\u7684\u5b58\u50a8\u8def\u5f84\uff0c\u9ed8\u8ba4None\n--param_dir \u5f85\u53ef\u89c6\u5316\u7684\u6570\u636e\u96c6\u7684\u5916\u53c2\u7684\u5b58\u50a8\u8def\u5f84\uff0c\u9ed8\u8ba4None\n--bbox_list \u5f85\u53ef\u89c6\u5316\u7684\u6570\u636e\u96c6\u76843D BBox\u7684\u5b58\u50a8\u8def\u5f84\u7684file name\uff0c\u9ed8\u8ba4None\n--vis_camera \u662f\u5426\u8981\u53ef\u89c6\u5316\u76f8\u673abev\u56fe\u50cf\uff0c\u5982\u679c\u662f\u5219\u52a0\u5165 --vis_camera\n--vis_lidar \u662f\u5426\u8981\u53ef\u89c6\u5316\u70b9\u4e91\u56fe\u50cf\n--vis_bbox \u662f\u5426\u8981\u53ef\u89c6\u53163D\u76ee\u6807\u68c0\u6d4b\u6846\n--vis_andes \u662f\u5426\u8981\u53ef\u89c6\u5316andes\u56fe\u50cf\n```\n\nbevis3d\u8f93\u51fa\u6587\u4ef6\u5b58\u653e\u5728```<path_to_save_bevis3d>/<file_name_bevis3d>```\u4e0b\n\n2. \u8fd0\u884cweb\u53ef\u89c6\u5316 \n\n```bevis3d --vis_dir $path_to_vis_dir --host 0.0.0.0 --port 19090```\n\n\u5728\u672c\u5730\u8bbe\u5907\u4e0a\u8fd0\u884c http://localhost:19090 \u5373\u53ef\u6253\u5f00\u53ef\u89c6\u5316\u754c\u9762\n\n## Thanks\n - This project references [Wis3D](https://github.com/zju3dv/Wis3D/tree/main/wis3d), and we are grateful for the outstanding work of the CAD team of Zhejiang University.\n\n\n## Citation\n```\n@article{sun2022onepose,\n title={{OnePose}: One-Shot Object Pose Estimation without {CAD} Models},\n author = {Sun, Jiaming and Wang, Zihao and Zhang, Siyu and He, Xingyi and Zhao, Hongcheng and Zhang, Guofeng and Zhou, Xiaowei},\n journal={CVPR},\n year={2022},\n}\n```\n\n",
"bugtrack_url": null,
"license": "Apache License 2.0",
"summary": "A web-based 3D visualization tool for 3D computer vision.",
"version": "3.0.2",
"project_urls": {
"Homepage": "https://wis3d.readthedocs.io/en/latest/",
"Source Code": "https://github.com/zju3dv/wis3d.git"
},
"split_keywords": [],
"urls": [
{
"comment_text": "",
"digests": {
"blake2b_256": "2666307f1d8bd1e0cf5e39be32904b4e5a1bf30a745187b5e4046cd3046f2d43",
"md5": "97b535f3bf442251db6a373a9cc1e59c",
"sha256": "f53c2cad71a4c66f0a734244e4d986e6db278006ad2c1e7f8fd4572ed4242293"
},
"downloads": -1,
"filename": "bevis3d-3.0.2-py3-none-any.whl",
"has_sig": false,
"md5_digest": "97b535f3bf442251db6a373a9cc1e59c",
"packagetype": "bdist_wheel",
"python_version": "py3",
"requires_python": ">=3.6",
"size": 608508,
"upload_time": "2023-10-26T13:41:53",
"upload_time_iso_8601": "2023-10-26T13:41:53.327288Z",
"url": "https://files.pythonhosted.org/packages/26/66/307f1d8bd1e0cf5e39be32904b4e5a1bf30a745187b5e4046cd3046f2d43/bevis3d-3.0.2-py3-none-any.whl",
"yanked": false,
"yanked_reason": null
}
],
"upload_time": "2023-10-26 13:41:53",
"github": true,
"gitlab": false,
"bitbucket": false,
"codeberg": false,
"github_user": "zju3dv",
"github_project": "wis3d",
"travis_ci": false,
"coveralls": false,
"github_actions": false,
"requirements": [
{
"name": "numpy",
"specs": []
},
{
"name": "trimesh",
"specs": [
[
">=",
"3.9.0"
]
]
},
{
"name": "cherrypy",
"specs": []
},
{
"name": "pillow",
"specs": []
},
{
"name": "scipy",
"specs": []
},
{
"name": "transforms3d",
"specs": []
},
{
"name": "torch",
"specs": []
},
{
"name": "termcolor",
"specs": []
}
],
"lcname": "bevis3d"
}
JSON
