mirror of
https://github.com/SikongJueluo/Mini-Nav.git
synced 2026-07-13 04:25:32 +08:00
SikongJueluo
e5b764520c
- Add save_scene_graph() and load_scene_graph() for persisting scene graphs to JSON - Implement object node overlay (colored by label) in render_topdown_scene_map - Implement edge arrows (room → object) in render_topdown_scene_map - Add TopDownRenderStyle fields for object/edge visual configuration - Add scene graph caching to verification notebook to skip rebuilds - Add render_scene_graph_birdseye cell for full scene graph visualization - Add display_objects_by_room and display_room_summary cells
125 lines
3.6 KiB
Python
125 lines
3.6 KiB
Python
"""JSON serialization for SimpleSceneGraph.
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Provides save_scene_graph() and load_scene_graph() for persisting
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scene graphs to/from JSON files. Handles numpy arrays, bytes (hashes),
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and optional fields.
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"""
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from __future__ import annotations
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import json
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from pathlib import Path
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from typing import Any
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import numpy as np
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from .objectnode import ObjectNode
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from .roomnode import RoomNode
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from .scenegraph import SimpleSceneGraph
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def _ndarray_to_list(arr: np.ndarray) -> list[float]:
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return arr.tolist()
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def _bytes_to_hex(b: bytes) -> str:
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return b.hex()
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def _room_node_to_dict(node: RoomNode) -> dict[str, Any]:
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return {
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"room_id": node.room_id,
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"center": _ndarray_to_list(node.center),
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"bbox_extent": _ndarray_to_list(node.bbox_extent),
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}
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def _object_node_to_dict(node: ObjectNode) -> dict[str, Any]:
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return {
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"obj_id": node.obj_id,
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"room_id": node.room_id,
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"position": _ndarray_to_list(node.position),
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"visual_hash": _bytes_to_hex(node.visual_hash),
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"semantic_hash": _bytes_to_hex(node.semantic_hash),
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"hit_count": node.hit_count,
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"last_seen_frame": node.last_seen_frame,
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"label": node.label,
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"confidence": node.confidence,
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"bbox_xyxy": list(node.bbox_xyxy) if node.bbox_xyxy is not None else None,
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"source_view_id": node.source_view_id,
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"position_confidence": node.position_confidence,
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}
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def _room_node_from_dict(d: dict[str, Any]) -> RoomNode:
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return RoomNode(
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room_id=d["room_id"],
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center=np.asarray(d["center"], dtype=np.float32),
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bbox_extent=np.asarray(d["bbox_extent"], dtype=np.float32),
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)
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def _object_node_from_dict(d: dict[str, Any]) -> ObjectNode:
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bbox = d.get("bbox_xyxy")
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return ObjectNode(
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obj_id=d["obj_id"],
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room_id=d["room_id"],
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position=np.asarray(d["position"], dtype=np.float32),
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visual_hash=bytes.fromhex(d["visual_hash"]),
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semantic_hash=bytes.fromhex(d["semantic_hash"]),
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hit_count=d["hit_count"],
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last_seen_frame=d["last_seen_frame"],
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label=d.get("label"),
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confidence=d.get("confidence"),
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bbox_xyxy=tuple(bbox) if bbox is not None else None,
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source_view_id=d.get("source_view_id"),
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position_confidence=d.get("position_confidence"),
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)
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def save_scene_graph(path: str | Path, graph: SimpleSceneGraph) -> None:
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"""Save a SimpleSceneGraph to a JSON file.
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Args:
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path: Output file path.
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graph: The scene graph to serialize.
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"""
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data = {
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"version": 1,
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"rooms": {
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room_id: _room_node_to_dict(node)
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for room_id, node in graph.rooms.items()
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},
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"objects": {
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obj_id: _object_node_to_dict(node)
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for obj_id, node in graph.objects.items()
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},
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}
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path = Path(path)
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path.parent.mkdir(parents=True, exist_ok=True)
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with open(path, "w", encoding="utf-8") as f:
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json.dump(data, f, indent=2, ensure_ascii=False)
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def load_scene_graph(path: str | Path) -> SimpleSceneGraph:
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"""Load a SimpleSceneGraph from a JSON file.
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Args:
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path: Input file path.
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Returns:
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Deserialized SimpleSceneGraph.
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"""
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with open(path, "r", encoding="utf-8") as f:
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data = json.load(f)
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rooms = {
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room_id: _room_node_from_dict(node_dict)
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for room_id, node_dict in data["rooms"].items()
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}
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objects = {
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obj_id: _object_node_from_dict(node_dict)
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for obj_id, node_dict in data["objects"].items()
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}
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return SimpleSceneGraph(rooms=rooms, objects=objects)
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