From e0bf3eba86c3d38bdaf33728cbf5aa05d567f0f5 Mon Sep 17 00:00:00 2001
From: Manas Nand Mohan <manasnandmohan@gmail.com>
Date: Fri, 30 May 2025 16:01:56 +0530
Subject: [PATCH] Added sequential visualization of all .bin files in directory

---
 tools/demo.py                          | 46 ++++++++++++++++----------
 tools/visual_utils/open3d_vis_utils.py | 19 +++++------
 2 files changed, 37 insertions(+), 28 deletions(-)

diff --git a/tools/demo.py b/tools/demo.py
index 259d469f3..6a48a6c5b 100644
--- a/tools/demo.py
+++ b/tools/demo.py
@@ -1,16 +1,10 @@
 import argparse
 import glob
 from pathlib import Path
-
-try:
-    import open3d
-    from visual_utils import open3d_vis_utils as V
-    OPEN3D_FLAG = True
-except:
-    import mayavi.mlab as mlab
-    from visual_utils import visualize_utils as V
-    OPEN3D_FLAG = False
-
+import time 
+import open3d
+ 
+OPEN3D_FLAG = True
 import numpy as np
 import torch
 
@@ -18,6 +12,7 @@
 from pcdet.datasets import DatasetTemplate
 from pcdet.models import build_network, load_data_to_gpu
 from pcdet.utils import common_utils
+from visual_utils.open3d_vis_utils import draw_scenes
 
 
 class DemoDataset(DatasetTemplate):
@@ -90,23 +85,38 @@ def main():
     model.load_params_from_file(filename=args.ckpt, logger=logger, to_cpu=True)
     model.cuda()
     model.eval()
+
+    # Initialize visualizer once and reuse it
+    vis = open3d.visualization.Visualizer()
+    vis.create_window()
+    vis.get_render_option().point_size = 1.0
+    vis.get_render_option().background_color = np.zeros(3)
+
     with torch.no_grad():
         for idx, data_dict in enumerate(demo_dataset):
-            logger.info(f'Visualized sample index: \t{idx + 1}')
+            logger.info(f'Visualizing sample index: \t{idx + 1}')
             data_dict = demo_dataset.collate_batch([data_dict])
             load_data_to_gpu(data_dict)
             pred_dicts, _ = model.forward(data_dict)
 
-            V.draw_scenes(
-                points=data_dict['points'][:, 1:], ref_boxes=pred_dicts[0]['pred_boxes'],
-                ref_scores=pred_dicts[0]['pred_scores'], ref_labels=pred_dicts[0]['pred_labels']
+            # Update visualization
+            vis = draw_scenes(
+                vis=vis,
+                points=data_dict['points'][:, 1:], 
+                ref_boxes=pred_dicts[0]['pred_boxes'],
+                ref_scores=pred_dicts[0]['pred_scores'], 
+                ref_labels=pred_dicts[0]['pred_labels']
             )
 
-            if not OPEN3D_FLAG:
-                mlab.show(stop=True)
+            # Add small delay (e.g., 50ms) between frames
+            time.sleep(0.91)
 
-    logger.info('Demo done.')
+            # Check if window is closed
+            if not vis.poll_events():
+                break
 
+    vis.destroy_window()
+    logger.info('Demo done.')
 
 if __name__ == '__main__':
-    main()
+    main()
\ No newline at end of file
diff --git a/tools/visual_utils/open3d_vis_utils.py b/tools/visual_utils/open3d_vis_utils.py
index 706d037bd..a9db620e9 100644
--- a/tools/visual_utils/open3d_vis_utils.py
+++ b/tools/visual_utils/open3d_vis_utils.py
@@ -35,7 +35,7 @@ def get_coor_colors(obj_labels):
     return label_rgba
 
 
-def draw_scenes(points, gt_boxes=None, ref_boxes=None, ref_labels=None, ref_scores=None, point_colors=None, draw_origin=True):
+def draw_scenes(vis, points, gt_boxes=None, ref_boxes=None, ref_labels=None, ref_scores=None, point_colors=None, draw_origin=True):
     if isinstance(points, torch.Tensor):
         points = points.cpu().numpy()
     if isinstance(gt_boxes, torch.Tensor):
@@ -43,11 +43,8 @@ def draw_scenes(points, gt_boxes=None, ref_boxes=None, ref_labels=None, ref_scor
     if isinstance(ref_boxes, torch.Tensor):
         ref_boxes = ref_boxes.cpu().numpy()
 
-    vis = open3d.visualization.Visualizer()
-    vis.create_window()
-
-    vis.get_render_option().point_size = 1.0
-    vis.get_render_option().background_color = np.zeros(3)
+    # Clear all geometries
+    vis.clear_geometries()
 
     # draw origin
     if draw_origin:
@@ -69,9 +66,11 @@ def draw_scenes(points, gt_boxes=None, ref_boxes=None, ref_labels=None, ref_scor
     if ref_boxes is not None:
         vis = draw_box(vis, ref_boxes, (0, 1, 0), ref_labels, ref_scores)
 
-    vis.run()
-    vis.destroy_window()
-
+    # Update the renderer
+    vis.update_renderer()
+    vis.poll_events()
+    
+    return vis
 
 def translate_boxes_to_open3d_instance(gt_boxes):
     """
@@ -113,4 +112,4 @@ def draw_box(vis, gt_boxes, color=(0, 1, 0), ref_labels=None, score=None):
         # if score is not None:
         #     corners = box3d.get_box_points()
         #     vis.add_3d_label(corners[5], '%.2f' % score[i])
-    return vis
+    return vis
\ No newline at end of file