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
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