utils.py

import plotly.graph_objects as go
import open3d as o3d
import numpy as np
import textwrap
import torch
import random
import os
import subprocess

def install_cuda_toolkit():
    CUDA_TOOLKIT_URL = "https://developer.download.nvidia.com/compute/cuda/11.8.0/local_installers/cuda_11.8.0_520.61.05_linux.run"
    #CUDA_TOOLKIT_URL = "https://developer.download.nvidia.com/compute/cuda/12.2.0/local_installers/cuda_12.2.0_535.54.03_linux.run"
    CUDA_TOOLKIT_FILE = "/tmp/%s" % os.path.basename(CUDA_TOOLKIT_URL)
    subprocess.call(["wget", "-q", CUDA_TOOLKIT_URL, "-O", CUDA_TOOLKIT_FILE])
    subprocess.call(["chmod", "+x", CUDA_TOOLKIT_FILE])
    subprocess.call([CUDA_TOOLKIT_FILE, "--silent", "--toolkit"])

    os.environ["CUDA_HOME"] = "/usr/local/cuda"
    os.environ["PATH"] = "%s/bin:%s" % (os.environ["CUDA_HOME"], os.environ["PATH"])
    os.environ["LD_LIBRARY_PATH"] = "%s/lib:%s" % (
        os.environ["CUDA_HOME"],
        "" if "LD_LIBRARY_PATH" not in os.environ else os.environ["LD_LIBRARY_PATH"],
    )
    # Fix: arch_list[-1] += '+PTX'; IndexError: list index out of range
    os.environ["TORCH_CUDA_ARCH_LIST"] = "8.0;8.6"

def set_seed():
    seed = 123
    torch.manual_seed(seed)
    torch.cuda.manual_seed(seed)
    torch.cuda.manual_seed_all(seed)
    np.random.seed(seed)
    random.seed(seed)


def read_pcd(pcd_path):
    pcd = o3d.io.read_point_cloud(pcd_path)
    xyz = np.asarray(pcd.points)
    rgb = np.asarray(pcd.colors)
    if not pcd.has_normals():
        pcd.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1, max_nn=100))
    normal = np.asarray(pcd.normals)
    return xyz, rgb, normal

def render_pcd_file(pcd_path):
    pcd = o3d.io.read_point_cloud(pcd_path)
    xyz = np.asarray(pcd.points)
    rgb = np.asarray(pcd.colors)
    return render_point_cloud(xyz, rgb)

def render_point_cloud(xyz, rgb, legend=None):
    x = xyz[:, 0]
    y = xyz[:, 1]
    z = xyz[:, 2]
    rgb = rgb * 255
    hex_colors = [f'#{int(r):02x}{int(g):02x}{int(b):02x}' for r, g, b in rgb]

    fig = go.Figure(data=[go.Scatter3d(x=x, y=y, z=z, mode='markers',
                                    marker=dict(size=2, color=hex_colors, colorscale='Viridis', opacity=0.8))])
    
    if legend:
        fig.add_annotation(x=0.5, y=1.25, text="<br>".join(textwrap.wrap(legend, width=30)), showarrow=False, xref="paper", yref="paper")

    # Customize layout
    fig.update_layout(
        scene=dict(
            xaxis=dict(title='x', showgrid=False, zeroline=False, visible=False),
            yaxis=dict(title='y', showgrid=False, zeroline=False, visible=False),
            zaxis=dict(title='z', showgrid=False, zeroline=False, visible=False),
            aspectmode='manual'),
        scene_camera=dict(
            up=dict(x=0, y=1, z=0),  # Adjust these values for your point cloud
            eye=dict(x=0, y=-0.9, z=2),  # Increase the values to move further away
            center = dict(x=0,y=0,z=0)
        )
    )
    # fig.update_layout(
    #     height=450,
    #     autosize=True,
    #     hovermode=False,
    #     margin=go.layout.Margin(l=0, r=0, b=0, t=0),
    #     showlegend=False,
    #     legend=dict(
    #         yanchor='bottom',
    #         y=0.01,
    #         xanchor='right',
    #         x=0.99,
    #     ),
    #     scene=dict(
    #         aspectmode='manual',
    #         aspectratio=dict(x=1, y=1, z=1.0),
    #         camera=dict(
    #             eye=dict(x=base_radius - 1.6, y=0.0, z=0.6),
    #             center=dict(x=0.0, y=0.0, z=0.0),
    #             up=dict(x=0.0, y=0.0, z=1.0)),
    #         xaxis_title='',
    #         yaxis_title='',
    #         zaxis_title='',
    #         xaxis=dict(
    #             range=[-scene_bounds, scene_bounds],
    #             showticklabels=False,
    #             showgrid=True,
    #             zeroline=False,
    #             showbackground=True,
    #             showspikes=False,
    #             showline=False,
    #             ticks=''),
    #         yaxis=dict(
    #             range=[-scene_bounds, scene_bounds],
    #             showticklabels=False,
    #             showgrid=True,
    #             zeroline=False,
    #             showbackground=True,
    #             showspikes=False,
    #             showline=False,
    #             ticks=''),
    #         zaxis=dict(
    #             range=[-scene_bounds, scene_bounds],
    #             showticklabels=False,
    #             showgrid=True,
    #             zeroline=False,
    #             showbackground=True,
    #             showspikes=False,
    #             showline=False,
    #             ticks='')))

    return fig