def open3dVis(self, depth, normal=None, color=None):
"""Visualize 3d map points from eigen depth
Args:
depth: depth map
normal: normal map
color: rgb image
"""
points = get3dpoints(depth, color)
points = np.asarray(points)
pcd = PointCloud()
pcd.points = Vector3dVector(points)
if color is not None:
color = np.reshape(color, [-1, 3])
pcd.colors = Vector3dVector(color / 255.)
if normal is not None:
normal = np.reshape(normal, [-1, 3])
else:
_, normal, _ = self.compute_local_planes(points[:, 0],
points[:, 1], points[:,
2])
normal = np.reshape(normal, [-1, 3])
pcd.normals = Vector3dVector(normal)
draw_geometries([pcd])
def open3dVis(self, data):
"""Visualize through open3d
Args:
data: dict containing, input, depth, normal
"""
pcd = PointCloud()
depth = data['depth'][0, 0]
xyz, _ = self.get_point_cloud(depth, data['image'][0])
if 'normal' in data.keys():
normals = np.transpose(data['normal'][0], (1, 2, 0))
normals = normals.reshape((-1, 3))
else:
_, normals, _ = self.__compute_local_planes(
xyz[:, 0], xyz[:, 1], xyz[:, 2])
normals = normals.reshape((-1, 3))
color = np.transpose(data['image'][0], [1, 2, 0]).reshape((-1, 3))
pcd.points = Vector3dVector(xyz)
pcd.colors = Vector3dVector(color / 255.)
pcd.normals = Vector3dVector(normals)
draw_geometries([pcd])
return current_r, current_t
# To get the now_pc and next_pc, there are two ways:
#(1) you can load from RGBD image by
from open3d import Image as IMG
from open3d import create_point_cloud_from_rgbd_image, create_rgbd_image_from_color_and_depth, read_pinhole_camera_intrinsic
color_image = np.array(Image.open("{0}/rgb/{1}".format(data_root, rgb_name)))
depth_im = np.array(Image.open("{0}/depth/{1}".format(data_root,
dep_name))) / 1000.0
color_raw = IMG(color_image)
depth_raw = IMG(depth_im.astype(np.float32))
rgbd_image = create_rgbd_image_from_color_and_depth(
color_raw, depth_raw, depth_scale=1.0, convert_rgb_to_intensity=False)
pinhole_camera_intrinsic = read_pinhole_camera_intrinsic("camera_redwood.json")
new_pc = create_point_cloud_from_rgbd_image(rgbd_image,
pinhole_camera_intrinsic)
# you can get the next_pc in the same way
#(2) direct change from .xyz
from open3d import PointCloud
new_pc = PointCloud()
new_pc.points = Vector3dVector(verts)
new_pc.normals = Vector3dVector(norms)
new_pc.colors = Vector3dVector(colors / 255.)
# you can get the next_pc in the same way