Visualization

PCD Viewer

#!/usr/bin/env python3
import sys
import open3d as o3d

if __name__ == "__main__":
    pcd = o3d.io.read_point_cloud(sys.argv[1])
    o3d.visualization.draw_geometries([pcd])

Keypoint Viewer

#!/usr/bin/env python3
import os
import open3d as o3d

def keypoints_to_spheres(keypoints):
    spheres = o3d.geometry.TriangleMesh()
    for keypoint in keypoints.points:
        sphere = o3d.geometry.TriangleMesh.create_sphere(radius=0.01)
        sphere.translate(keypoint)
        spheres += sphere
    spheres.paint_uniform_color([1.0, 0.0, 0.0])
    return spheres

if __name__ == "__main__":
    os.system('../build/test_keypoint ../config/params.yaml')
    cloud = o3d.io.read_point_cloud("../data/cloud.pcd")
    keypoints = o3d.io.read_point_cloud("../data/keypoint.pcd")
    o3d.visualization.draw_geometries([cloud, keypoints_to_spheres(keypoints)])

Crop Polygon

#!/usr/bin/env python3
import sys
import open3d as o3d

if __name__ == "__main__":
    print("Demo for manual geometry cropping")
    print("1) Press 'Y' twice to align geometry with negative direction of y-axis")
    print("2) Press 'K' to lock screen and to switch to selection mode")
    print("3) Drag for rectangle selection,")
    print("   or use ctrl + left click for polygon selection")
    print("4) Press 'C' to get a selected geometry and to save it")
    print("5) Press 'F' to switch to freeview mode")
    pcd = o3d.io.read_point_cloud(sys.argv[1])
    o3d.visualization.draw_geometries_with_editing([pcd])

Crop Selected Sphere

#!/usr/bin/env python3
import os
import numpy as np
import open3d as o3d


def pick_points(cloud):
    print("Press [shift + left click] to pick a point")
    print("Press [shift + right click] to undo point picking")
    print("Press 'Q' to close the window after picking points")
    vis = o3d.visualization.VisualizerWithEditing()
    vis.create_window()
    vis.add_geometry(cloud)
    vis.run()  # user picks points
    vis.destroy_window()
    return vis.get_picked_points() # a list of indices of picked points


if __name__ == "__main__":
    if 'SVGA_VGPU10' in os.environ:
        del os.environ['SVGA_VGPU10']
    cloud = o3d.io.read_point_cloud("../data/cloud.pcd")
    save_to_file = "../data/cropped.pcd"
    search_radius = 0.05
    
    # pick a point in interactive visualization
    point_indices = pick_points(cloud)
    picked_point = cloud.points[point_indices[0]] # take the first point
    print("picked point = " + str(picked_point))

    # find all neighbor points around the picked point
    cloud_tree = o3d.geometry.KDTreeFlann(cloud)
    [k, idx, _] = cloud_tree.search_radius_vector_3d(picked_point, search_radius)

    # crop the spherical region and save to a new file
    cropped = o3d.geometry.PointCloud()
    cropped.points = o3d.utility.Vector3dVector(np.asarray(cloud.points)[idx])
    cropped.colors = o3d.utility.Vector3dVector(np.asarray(cloud.colors)[idx])
    o3d.io.write_point_cloud(save_to_file, cropped)
    print("save the cropped point cloud to " + save_to_file)

    # color the spherical region to green to confirm
    np.asarray(cloud.colors)[idx[1:], :] = [0, 1, 0]
    o3d.visualization.draw_geometries([cloud])

    # show the cropped sphere
    sphere = o3d.io.read_point_cloud("../data/cropped.pcd")
    o3d.visualization.draw_geometries([sphere])

Keypoint Animation

#!/usr/bin/env python3
import os
import time
import open3d as o3d


def viewer(cloud, keypoints):
    flag  = False
    idx = -1
    max_idx = len(keypoints)
    vis = o3d.visualization.VisualizerWithKeyCallback()
    vis.create_window()
    vis.add_geometry(cloud)

    def next_one(vis):
        nonlocal idx
        if idx >= 0 and idx < max_idx - 1:
            idx = idx + 1
            vis.remove_geometry(keypoints[idx - 1], False)
            vis.add_geometry(keypoints[idx], False) # False: keep current viewpoint
            print("current keypoint = " + str(keypoints[idx].get_center()))
        elif idx == -1:
            idx = idx + 1
            vis.add_geometry(keypoints[idx], False)
            print("current keypoint = " + str(keypoints[idx].get_center()))
        elif idx == max_idx - 1:
            idx = idx + 1
            vis.remove_geometry(keypoints[idx - 1], False)
            print("current keypoint = no keypoint selected")

    def previous_one(vis):
        nonlocal idx
        if idx > 0 and idx < max_idx:
            idx = idx - 1
            vis.remove_geometry(keypoints[idx + 1], False)
            vis.add_geometry(keypoints[idx], False) # False: keep current viewpoint
            print("current keypoint = " + str(keypoints[idx].get_center()))
        elif idx == max_idx:
            idx = idx - 1
            vis.add_geometry(keypoints[idx], False)
            print("current keypoint = " + str(keypoints[idx].get_center()))
        elif idx == 0:
            idx = idx - 1
            vis.remove_geometry(keypoints[idx + 1], False)
            print("current keypoint = no keypoint selected")

    def forward_animation(vis):
        nonlocal flag
        if flag:
            next_one(vis)
            time.sleep(0.5)
 
    def pause_or_resume(vis):
        nonlocal flag
        if flag == False:
            flag = True
        else:
            flag = False

    # ord(X) turns X into unicode; need to use capital letter here
    vis.register_key_callback(ord("."), next_one)
    vis.register_key_callback(ord(","), previous_one)
    vis.register_key_callback(ord(" "), pause_or_resume)
    # animation callback will get run repeatability
    vis.register_animation_callback(forward_animation)
    vis.run()
    vis.destroy_window()


def keypoints_to_spheres(keypoints, r):
    spheres = []
    for keypoint in keypoints.points:
        sphere = o3d.geometry.TriangleMesh.create_sphere(radius=r)
        sphere.translate(keypoint)
        sphere.paint_uniform_color([1.0, 0.0, 0.0])
        spheres.append(sphere)
    return spheres


if __name__ == "__main__":
    if 'SVGA_VGPU10' in os.environ:
        del os.environ['SVGA_VGPU10']
    print("Demo for visualizing keypoints")
    print("Press '.' to view the next keypoint")
    print("Press ',' to view the previous keypoint")
    print("Press space key to start the animation")
    print("Press space key again to pause/resume")
    cloud = o3d.io.read_point_cloud("../data/cloud.pcd")
    keypoints = o3d.io.read_point_cloud("../data/keypoint.pcd")
    viewer(cloud, keypoints_to_spheres(keypoints, 0.04))

References

PreviousRegistration NextTools

Last updated 3 years ago

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#!/usr/bin/env python3 import os import open3d as o3d def keypoints_to_spheres(keypoints): spheres = o3d.geometry.TriangleMesh() for keypoint in keypoints.points: sphere = o3d.geometry.TriangleMesh.create_sphere(radius=0.01) sphere.translate(keypoint) spheres += sphere spheres.paint_uniform_color([1.0, 0.0, 0.0]) return spheres if __name__ == "__main__": os.system('../build/test_keypoint ../config/params.yaml') cloud = o3d.io.read_point_cloud("../data/cloud.pcd") keypoints = o3d.io.read_point_cloud("../data/keypoint.pcd") o3d.visualization.draw_geometries([cloud, keypoints_to_spheres(keypoints)])

#!/usr/bin/env python3 import sys import open3d as o3d if __name__ == "__main__": print("Demo for manual geometry cropping") print("1) Press 'Y' twice to align geometry with negative direction of y-axis") print("2) Press 'K' to lock screen and to switch to selection mode") print("3) Drag for rectangle selection,") print(" or use ctrl + left click for polygon selection") print("4) Press 'C' to get a selected geometry and to save it") print("5) Press 'F' to switch to freeview mode") pcd = o3d.io.read_point_cloud(sys.argv[1]) o3d.visualization.draw_geometries_with_editing([pcd])

#!/usr/bin/env python3 import os import numpy as np import open3d as o3d def pick_points(cloud): print("Press [shift + left click] to pick a point") print("Press [shift + right click] to undo point picking") print("Press 'Q' to close the window after picking points") vis = o3d.visualization.VisualizerWithEditing() vis.create_window() vis.add_geometry(cloud) vis.run() # user picks points vis.destroy_window() return vis.get_picked_points() # a list of indices of picked points if __name__ == "__main__": if 'SVGA_VGPU10' in os.environ: del os.environ['SVGA_VGPU10'] cloud = o3d.io.read_point_cloud("../data/cloud.pcd") save_to_file = "../data/cropped.pcd" search_radius = 0.05 # pick a point in interactive visualization point_indices = pick_points(cloud) picked_point = cloud.points[point_indices[0]] # take the first point print("picked point = " + str(picked_point)) # find all neighbor points around the picked point cloud_tree = o3d.geometry.KDTreeFlann(cloud) [k, idx, _] = cloud_tree.search_radius_vector_3d(picked_point, search_radius) # crop the spherical region and save to a new file cropped = o3d.geometry.PointCloud() cropped.points = o3d.utility.Vector3dVector(np.asarray(cloud.points)[idx]) cropped.colors = o3d.utility.Vector3dVector(np.asarray(cloud.colors)[idx]) o3d.io.write_point_cloud(save_to_file, cropped) print("save the cropped point cloud to " + save_to_file) # color the spherical region to green to confirm np.asarray(cloud.colors)[idx[1:], :] = [0, 1, 0] o3d.visualization.draw_geometries([cloud]) # show the cropped sphere sphere = o3d.io.read_point_cloud("../data/cropped.pcd") o3d.visualization.draw_geometries([sphere])

#!/usr/bin/env python3 import os import time import open3d as o3d def viewer(cloud, keypoints): flag = False idx = -1 max_idx = len(keypoints) vis = o3d.visualization.VisualizerWithKeyCallback() vis.create_window() vis.add_geometry(cloud) def next_one(vis): nonlocal idx if idx >= 0 and idx < max_idx - 1: idx = idx + 1 vis.remove_geometry(keypoints[idx - 1], False) vis.add_geometry(keypoints[idx], False) # False: keep current viewpoint print("current keypoint = " + str(keypoints[idx].get_center())) elif idx == -1: idx = idx + 1 vis.add_geometry(keypoints[idx], False) print("current keypoint = " + str(keypoints[idx].get_center())) elif idx == max_idx - 1: idx = idx + 1 vis.remove_geometry(keypoints[idx - 1], False) print("current keypoint = no keypoint selected") def previous_one(vis): nonlocal idx if idx > 0 and idx < max_idx: idx = idx - 1 vis.remove_geometry(keypoints[idx + 1], False) vis.add_geometry(keypoints[idx], False) # False: keep current viewpoint print("current keypoint = " + str(keypoints[idx].get_center())) elif idx == max_idx: idx = idx - 1 vis.add_geometry(keypoints[idx], False) print("current keypoint = " + str(keypoints[idx].get_center())) elif idx == 0: idx = idx - 1 vis.remove_geometry(keypoints[idx + 1], False) print("current keypoint = no keypoint selected") def forward_animation(vis): nonlocal flag if flag: next_one(vis) time.sleep(0.5) def pause_or_resume(vis): nonlocal flag if flag == False: flag = True else: flag = False # ord(X) turns X into unicode; need to use capital letter here vis.register_key_callback(ord("."), next_one) vis.register_key_callback(ord(","), previous_one) vis.register_key_callback(ord(" "), pause_or_resume) # animation callback will get run repeatability vis.register_animation_callback(forward_animation) vis.run() vis.destroy_window() def keypoints_to_spheres(keypoints, r): spheres = [] for keypoint in keypoints.points: sphere = o3d.geometry.TriangleMesh.create_sphere(radius=r) sphere.translate(keypoint) sphere.paint_uniform_color([1.0, 0.0, 0.0]) spheres.append(sphere) return spheres if __name__ == "__main__": if 'SVGA_VGPU10' in os.environ: del os.environ['SVGA_VGPU10'] print("Demo for visualizing keypoints") print("Press '.' to view the next keypoint") print("Press ',' to view the previous keypoint") print("Press space key to start the animation") print("Press space key again to pause/resume") cloud = o3d.io.read_point_cloud("../data/cloud.pcd") keypoints = o3d.io.read_point_cloud("../data/keypoint.pcd") viewer(cloud, keypoints_to_spheres(keypoints, 0.04))