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Fix Open3D Visualizer #63

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jaredstrader wants to merge 3 commits into from
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Fix Open3D Visualizer #63

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669ca59
use name_to_layer_id
jaredstrader Aug 25, 2025
30aa46b
add all partitions for places
jaredstrader Aug 25, 2025
50f7a9e
offset based on partition not layer
jaredstrader Sep 26, 2025
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49 changes: 36 additions & 13 deletions python/spark_dsg/open3d_visualization.py
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Original file line number Diff line number Diff line change
Expand Up @@ -144,12 +144,14 @@ def _update_geometries(self, G):
if self._use_mesh:
self._update_mesh_geometry(G)

N = G.num_nodes(False) if self._include_dynamic else G.num_static_nodes()
N = G.num_nodes(True)

self._points = np.zeros((N, 3))
self._colors = np.zeros((N, 3))
self._id_map = {}

places_lid = DsgLayers.name_to_layer_id(DsgLayers.PLACES).layer

offset = 0
for layer in G.layers:
if layer.id not in LAYER_IDS:
Expand All @@ -159,19 +161,31 @@ def _update_geometries(self, G):
continue

self._update_layer_geometries(layer, offset)
if layer.id == DsgLayers.OBJECTS:
if layer.id == DsgLayers.name_to_layer_id(DsgLayers.OBJECTS).layer:
self._update_bounding_boxes(layer)

offset += layer.num_nodes()

for part in G.layer_partitions:
if part.id not in LAYER_IDS:
continue

if self._layers_to_skip and part.id in self._layers_to_skip:
continue

if part.id == places_lid:
self._update_layer_geometries(part, offset)
offset += layer.num_nodes()

# prune points and colors to just the nodes we've added
self._points = self._points[:offset, :]
self._colors = self._colors[:offset, :]
self._update_interlayer_edges(G)

if self._include_dynamic:
if G.has_layer(DsgLayers.AGENTS, "a"):
self._update_dynamic_layer(G.get_layer(DsgLayers.AGENTS, "a"))
layer_id = DsgLayers.name_to_layer_id(DsgLayers.AGENTS).layer
if G.has_layer(layer_id, "a"):
self._update_dynamic_layer(G.get_layer(layer_id, "a"))

def _update_mesh_geometry(self, G):
if not G.has_mesh():
Expand Down Expand Up @@ -215,7 +229,10 @@ def _update_interlayer_edges(self, G):
continue

layers = _get_edge_layers(edge)
should_skip = DsgLayers.PLACES in layers and DsgLayers.ROOMS in layers
should_skip = (
DsgLayers.name_to_layer_id(DsgLayers.PLACES).layer in layers
and DsgLayers.name_to_layer_id(DsgLayers.ROOMS).layer in layers
)
if should_skip and num_place_edges % self._num_place_edges_to_skip != 0:
num_place_edges += 1
continue
Expand Down Expand Up @@ -294,28 +311,34 @@ def _get_palette_color(self, node_id):
return self._palette[node_id.category_id % self._num_colors]

def _get_node_color(self, node):
if node.layer == DsgLayers.PLACES:
if node.layer == DsgLayers.name_to_layer_id(DsgLayers.PLACES).layer:
if not node.has_parent():
return np.zeros(3)

return self._get_palette_color(NodeSymbol(node.get_parent()))
elif node.layer == DsgLayers.ROOMS:
elif node.layer == DsgLayers.name_to_layer_id(DsgLayers.ROOMS).layer:
return self._get_palette_color(node.id)
else:
return node.attributes.color.astype(np.float64) / 255.0

def _get_edge_color(self, G, edge):
layers = _get_edge_layers(edge)
if DsgLayers.PLACES in layers and DsgLayers.ROOMS in layers:
if layers[0] == DsgLayers.ROOMS:
if (
DsgLayers.name_to_layer_id(DsgLayers.PLACES).layer in layers
and DsgLayers.name_to_layer_id(DsgLayers.ROOMS).layer in layers
):
if layers[0] == DsgLayers.name_to_layer_id(DsgLayers.ROOMS).layer:
return self._get_palette_color(NodeSymbol(edge.source))
if layers[1] == DsgLayers.ROOMS:
if layers[1] == DsgLayers.name_to_layer_id(DsgLayers.ROOMS).layer:
return self._get_palette_color(NodeSymbol(edge.target))

if DsgLayers.PLACES in layers and DsgLayers.OBJECTS in layers:
if layers[0] == DsgLayers.OBJECTS:
if (
DsgLayers.name_to_layer_id(DsgLayers.PLACES).layer in layers
and DsgLayers.name_to_layer_id(DsgLayers.OBJECTS).layer in layers
):
if layers[0] == DsgLayers.name_to_layer_id(DsgLayers.OBJECTS).layer:
return G.get_node(edge.source).attributes.color / 255.0
if layers[1] == DsgLayers.OBJECTS:
if layers[1] == DsgLayers.name_to_layer_id(DsgLayers.OBJECTS).layer:
return G.get_node(edge.target).attributes.color / 255.0

return np.zeros(3)
Expand Down