def estimateAverageTransform(self):
targets = glob.glob(self.file_path + "*left.ply")
sources = glob.glob(self.file_path + "*right.ply")
assert len(sources) == len(targets)
transform_list = []
for i in range(len(sources)):
tran = (self.estimateTransform(sources[i], targets[i]))
transform_list.append(tran)
if np.linalg.norm(self.base_transform - tran) < 0.1:
self.base_transform = tran
# estimate good average transform
# avg_transformation = self.base_transform
avg_transformation = np.mean(transform_list, axis=0)
print(avg_transformation)
# print(transform_list)
# display final result
for i in range(len(transform_list) - 1):
source = od.read_point_cloud(sources[i])
target = od.read_point_cloud(targets[i])
self.draw_registration_result_original_color(
source, target, avg_transformation)
np.save(self.file_path + "transform", avg_transformation)
print(avg_transformation)
def estimateTransform(self, source, target):
source = od.read_point_cloud(source)
target = od.read_point_cloud(target)
current_transformation = self.base_transform
for scale in range(len(self.voxel_radius)):
iterations = self.max_iter[scale]
radius = self.voxel_radius[scale]
source_down = od.voxel_down_sample(source, radius)
target_down = od.voxel_down_sample(target, radius)
od.estimate_normals(
source_down,
od.KDTreeSearchParamHybrid(radius=2 * radius,
max_nn=self.max_nn))
od.estimate_normals(
target_down,
od.KDTreeSearchParamHybrid(radius=2 * radius,
max_nn=self.max_nn))
result_icp = od.registration_colored_icp(
source_down, target_down, radius, current_transformation,
od.ICPConvergenceCriteria(
relative_fitness=self.relative_fitness,
relative_rmse=self.relative_rmse,
max_iteration=iterations))
current_transformation = result_icp.transformation
# self.draw_registration_result_original_color(
# source_down, target_down, current_transformation)
return current_transformation
def NonFirstCloud(self, cloud_index):
self.cloud1 = o3d.read_point_cloud(
r"C:\Users\newsmart\Desktop\NSTAlgo\3D\PCL\stitch\2\2-{}_Extract.ply".format(cloud_index - 1))
self.cloud2 = o3d.read_point_cloud(
r"C:\Users\newsmart\Desktop\NSTAlgo\3D\PCL\stitch\2\2-{}_Extract.ply".format(cloud_index))
# get local transformation between two lastest clouds
self.posLocalTrans = self.registerLocalCloud(self.cloud1, self.cloud2)
# if result is not good, drop it
if self.goodResultFlag:
# test for loop detection info
self.detectTransLoop = np.dot(self.posLocalTrans, self.detectTransLoop)
# print ("==== loop detect trans ====")
# print(self.detectTransLoop)
# print ("==== ==== ==== ==== ==== ====")
self.posWorldTrans = np.dot(self.posWorldTrans, self.posLocalTrans)
# update latest cloud
self.cloud1 = copy.deepcopy(self.cloud2)
self.cloud2.transform(self.posWorldTrans)
o3d.write_point_cloud(r"C:\Users\newsmart\Desktop\NSTAlgo\3D\PCL\stitch\2\test.ply",
self.cloud2, write_ascii=False)
self.cloud_base = self.cloud_base + self.cloud2
# Down Sampling
self.cloud_base = o3d.voxel_down_sample(self.cloud_base, 0.001)
self.registrationCount += 1
# save PCD file to local
o3d.write_point_cloud(r"C:\Users\newsmart\Desktop\NSTAlgo\3D\PCL\stitch\2\registerResult.ply",
self.cloud_base, write_ascii=False)
def main():
argvs = sys.argv
model_num = str(argvs[1])
scene_num = str(argvs[2])
cloud_dir = "/mnt/container-data/remove_plane/"
model_path = cloud_dir + model_num + ".ply"
model_cloud = o3.read_point_cloud(model_path)
scene_path = cloud_dir + scene_num + ".ply"
scene_cloud = o3.read_point_cloud(scene_path)
rot_in = read_rotation(model_num)
model_cloud.transform(rot_in)
model_cloud = o3.voxel_down_sample(model_cloud, voxel_size=0.020)
scene_cloud = o3.voxel_down_sample(scene_cloud, voxel_size=0.020)
# 基準とするpointcloud, 回転させたいpointcloud の順番
cbs = [callbacks.Open3dVisualizerCallback(model_cloud, scene_cloud)]
objective_type = 'pt2pt'
# 基準とするpointcloud, 回転させたいpointcloud の順番
tf_param, _, _ = filterreg.registration_filterreg(
model_cloud,
scene_cloud,
scene_cloud.normals,
objective_type=objective_type,
sigma2=sig,
callbacks=cbs,
maxiter=ter,
tol=ol)
write_rotation(tf_param, scene_num)
def rabbit_dataset():
A1 = o3d.read_point_cloud("./bunny/data/bun000.ply")
A2 = o3d.read_point_cloud("./bunny/data/bun045.ply")
A3 = o3d.read_point_cloud("./bunny/data/bun090.ply")
A4 = o3d.read_point_cloud("./bunny/data/bun180.ply")
A5 = o3d.read_point_cloud("./bunny/data/bun270.ply")
A6 = o3d.read_point_cloud("./bunny/data/bun315.ply")
A7 = o3d.read_point_cloud("./bunny/data/chin.ply")
A8 = o3d.read_point_cloud("./bunny/data/ear_back.ply")
A9 = o3d.read_point_cloud("./bunny/data/top2.ply")
A10 = o3d.read_point_cloud("./bunny/data/top3.ply")
return [A1, A2, A3, A4, A5, A6, A7, A8, A9]
def point_cloud_txt_to_pcd(raw_dir, file_prefix):
# File names
txt_file = os.path.join(raw_dir, file_prefix + ".txt")
pts_file = os.path.join(raw_dir, file_prefix + ".pts")
pcd_file = os.path.join(raw_dir, file_prefix + ".pcd")
# Skip if already done
if os.path.isfile(pcd_file):
print("pcd {} exists, skipped".format(pcd_file))
return
# .txt to .pts
# We could just prepend the line count, however, there are some intensity value
# which are non-integers.
print("[txt->pts]")
print("txt: {}".format(txt_file))
print("pts: {}".format(pts_file))
with open(txt_file, "r") as txt_f, open(pts_file, "w") as pts_f:
for line in txt_f:
# x, y, z, i, r, g, b
tokens = line.split()
tokens[3] = str(int(float(tokens[3])))
line = " ".join(tokens)
pts_f.write(line + "\n")
prepend_line(pts_file, str(wc(txt_file)))
# .pts -> .pcd
print("[pts->pcd]")
print("pts: {}".format(pts_file))
print("pcd: {}".format(pcd_file))
point_cloud = open3d.read_point_cloud(pts_file)
open3d.write_point_cloud(pcd_file, point_cloud)
def _calculate_num_points_in_gt(data_path,
infos,
remove_outside=True,
num_features=4):
for info in infos:
pc_info = info["point_cloud"]
v_path = pc_info["velodyne_path"]
if True:
pcd = open3d.read_point_cloud(v_path)
points_v = np.asarray(pcd.points).astype(np.float32)
#points_v = np.fromfile(
# v_path, dtype=np.float32, count=-1).reshape([-1, num_features])
# points_v = points_v[points_v[:, 0] > 0]
annos = info['annos']
num_obj = len(
annos['name']) #len([n for n in annos['name'] if n != 'DontCare'])
# annos = kitti.filter_kitti_anno(annos, ['DontCare'])
gt_boxes = np.array(annos['boxes'], dtype=np.float32)
#gt_boxes_camera = np.concatenate([loc, dims, rots[..., np.newaxis]],
# axis=1)
#gt_boxes_lidar = box_np_ops.box_camera_to_lidar(
# gt_boxes_camera, rect, Trv2c)
indices = box_np_ops.points_in_rbbox(points_v, gt_boxes)
num_points_in_gt = indices.sum(0)
#num_ignored = len(annos['dimensions']) - num_obj
#num_points_in_gt = np.concatenate(
# [num_points_in_gt, -np.ones([num_ignored])])
annos["num_points_in_gt"] = num_points_in_gt.astype(np.int32)
pass
def run_static_pointcloud_visualization():
import open3d, os
vis_path = os.path.dirname(__file__)
cloud_path = os.path.join(vis_path, 'data/bunny.pcd')
pcd = open3d.read_point_cloud(cloud_path)
pcd_np = np.asarray(pcd.points)
MeshCatVisualizer.draw_pointcloud(pcd_np)
def down_sample(dense_pcd_path, dense_label_path, sparse_pcd_path,
sparse_label_path, voxel_size):
# Skip if done
if os.path.isfile(sparse_pcd_path) and (
not os.path.isfile(dense_label_path)
or os.path.isfile(sparse_label_path)):
print("Skipped:", file_prefix)
return
else:
print("Processing:", file_prefix)
# Inputs
dense_pcd = open3d.read_point_cloud(dense_pcd_path)
try:
dense_labels = load_labels(dense_label_path)
except:
dense_labels = None
# Skip label 0, we use explicit frees to reduce memory usage
print("Num points:", np.asarray(dense_pcd.points).shape[0])
if dense_labels is not None:
non_zero_indexes = dense_labels != 0
dense_points = np.asarray(dense_pcd.points)[non_zero_indexes]
dense_pcd.points = open3d.Vector3dVector()
dense_pcd.points = open3d.Vector3dVector(dense_points)
del dense_points
dense_colors = np.asarray(dense_pcd.colors)[non_zero_indexes]
dense_pcd.colors = open3d.Vector3dVector()
dense_pcd.colors = open3d.Vector3dVector(dense_colors)
del dense_colors
dense_labels = dense_labels[non_zero_indexes]
print("Num points after 0-skip:",
np.asarray(dense_pcd.points).shape[0])
# Downsample points
min_bound = dense_pcd.get_min_bound() - voxel_size * 0.5
max_bound = dense_pcd.get_max_bound() + voxel_size * 0.5
sparse_pcd, cubics_ids = open3d.voxel_down_sample_and_trace(
dense_pcd, voxel_size, min_bound, max_bound, False)
print("Num points after down sampling:",
np.asarray(sparse_pcd.points).shape[0])
open3d.write_point_cloud(sparse_pcd_path, sparse_pcd)
print("Point cloud written to:", sparse_pcd_path)
# Downsample labels
if dense_labels is not None:
sparse_labels = []
for cubic_ids in cubics_ids:
cubic_ids = cubic_ids[cubic_ids != -1]
cubic_labels = dense_labels[cubic_ids]
sparse_labels.append(np.bincount(cubic_labels).argmax())
sparse_labels = np.array(sparse_labels)
write_labels(sparse_label_path, sparse_labels)
print("Labels written to:", sparse_label_path)
def load_ply(self, data_dir, ind, downsample, aligned=True):
pcd = open3d.read_point_cloud(join(data_dir, f'{ind}.ply'))
pcd = open3d.voxel_down_sample(pcd, voxel_size=downsample)
if aligned is True:
matrix = np.load(join(data_dir, f'{ind}.pose.npy'))
pcd.transform(matrix)
return pcd
def read_point_cloud():
"""
Read Open3d point clouds and covnert to Houdini geometry
Based on http://www.open3d.org/docs/tutorial/Basic/working_with_numpy.html
"""
node = hou.pwd()
node_geo = node.geometry()
path = node.parm("path").eval()
pcd_load = open3d.read_point_cloud(path)
if not pcd_load.has_points():
raise hou.NodeWarning("Geometry does not contain any points.")
# create numpy arrays
np_pos = np.asarray(pcd_load.points)
np_n = np.asarray(pcd_load.normals)
np_cd = np.asarray(pcd_load.colors)
# position
node_geo.createPoints(np_pos)
# normals
if pcd_load.has_normals():
node_geo.addAttrib(hou.attribType.Point, "N", default_value=(0.0, 0.0, 0.0), transform_as_normal=True, create_local_variable=False)
node_geo.setPointFloatAttribValuesFromString("N", np_n, float_type=hou.numericData.Float64)
# colors
if pcd_load.has_colors():
node_geo.addAttrib(hou.attribType.Point, "Cd", default_value=(0.0, 0.0, 0.0), transform_as_normal=False, create_local_variable=False)
node_geo.setPointFloatAttribValuesFromString("Cd", np_cd, float_type=hou.numericData.Float64)
def __init__(self, root, intance_num, trans_by_pose=None):
# trans_by_pose: <Bx3> pose
self.root = os.path.expanduser(root)
self._trans_by_pose = trans_by_pose
file_list = glob.glob(os.path.join(self.root, '*pcd'))
self.file_list = sorted(file_list) #[:intance_num]
self.pcds = [] # a list of open3d pcd objects
point_clouds = [] #a list of tensor <Lx2>
for file in self.file_list:
pcd = read_point_cloud(file)
self.pcds.append(pcd)
current_point_cloud = np.asarray(pcd.points, dtype=np.float32)[:,
0:2]
point_clouds.append(current_point_cloud)
point_clouds = np.asarray(point_clouds)
self.point_clouds = torch.from_numpy(point_clouds) # <NxLx2>
self.valid_points = find_valid_points(self.point_clouds) # <NxL>
# number of points in each point cloud
self.n_obs = 256
self.indeces = range(256)
def create_object_masks(self,
object_name,
session_name,
dilate_size=15,
show=False):
logger = logging.getLogger(__name__)
# DEPRECATED: use generate_object_masks.py instead
# TODO: Bug: no mask for excluded views, because their segmented object
# is not saved
base_dir = osp.join(self.data_dir, session_name, object_name)
pc_dir = osp.join(base_dir, 'pointclouds')
# thermal camera info
thermal_dir = osp.join(base_dir, 'thermal_images')
thermal_im_size, thermal_K = self._load_thermal_cinfo(thermal_dir)
_, _, pc_filenames = os.walk(pc_dir).next()
done = True
for pc_filename in pc_filenames:
if 'segmented_object' not in pc_filename:
continue
view_id = pc_filename.split('_')[0]
pc_filename = osp.join(pc_dir, pc_filename)
xyz_kinect = open3d.read_point_cloud(pc_filename)
xyz_kinect = np.asarray(xyz_kinect.points).T
xyz_thermal = np.dot(
np.linalg.inv(self.T_rgb_t),
np.vstack((xyz_kinect, np.ones(xyz_kinect.shape[1]))))
uv_thermal = np.dot(thermal_K, xyz_thermal[:3])
uv_thermal = uv_thermal[:2] / uv_thermal[2]
uv_thermal = np.round(uv_thermal).astype(np.int)
idx = np.logical_and(
uv_thermal >= 0, uv_thermal < np.asarray(
[thermal_im_size[0], thermal_im_size[1]])[:, np.newaxis])
idx = np.logical_and(*idx)
uv_thermal = uv_thermal[:, idx]
mask = np.zeros((thermal_im_size[1], thermal_im_size[0]))
mask[uv_thermal[1], uv_thermal[0]] = 1
if show:
plt.figure()
plt.imshow(mask)
plt.show()
mask_filename = '{:s}_mask.png'.format(view_id)
mask_filename = osp.join(thermal_dir, mask_filename)
mask = (mask * 255).astype(np.uint8)
kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE,
(dilate_size, dilate_size))
mask = cv2.dilate(mask, kernel)
done = done and cv2.imwrite(mask_filename, mask)
if not done:
logger.error(
'### WARN: Could not write {:s}'.format(mask_filename))
return done
def __init__(self, file_path_without_ext, has_label, use_color, box_size_x,
box_size_y):
"""
Loads file data
"""
self.file_path_without_ext = file_path_without_ext
self.box_size_x = box_size_x
self.box_size_y = box_size_y
# Load points
pcd = open3d.read_point_cloud(file_path_without_ext + ".pcd")
self.points = np.asarray(pcd.points)
# Load label. In pure test set, fill with zeros.
if has_label:
self.labels = load_labels(file_path_without_ext + ".labels")
else:
self.labels = np.zeros(len(self.points)).astype(bool)
# Load colors. If not use_color, fill with zeros.
if use_color:
self.colors = np.asarray(pcd.colors)
else:
self.colors = np.zeros_like(self.points)
# Sort according to x to speed up computation of boxes and z-boxes
sort_idx = np.argsort(self.points[:, 0])
self.points = self.points[sort_idx]
self.labels = self.labels[sort_idx]
self.colors = self.colors[sort_idx]
def visualize_scene_keypoint(annotation_dict, keypoint_name_list: List[str]):
# Get all the keypoint
keypoint_3d_position: List[List[float]] = []
annotation_keypoints_dict = annotation_dict['keypoints']
for keypoint_name in keypoint_name_list:
assert keypoint_name in annotation_keypoints_dict
keypoint_pos = annotation_keypoints_dict[keypoint_name]['position']
keypoint_3d_position.append([
float(keypoint_pos[0]),
float(keypoint_pos[1]),
float(keypoint_pos[2])
])
# Get the scene root and ply file
assert 'scene_name' in annotation_dict
scene_name: str = annotation_dict['scene_name']
scene_root_path = os.path.join(args.log_root_path, scene_name)
scene_processed_path = os.path.join(scene_root_path, 'processed')
fusion_mesh_path: str = os.path.join(scene_processed_path,
'fusion_mesh.ply')
assert os.path.exists(fusion_mesh_path)
# Get the open3d point cloud and draw it
point_cloud = open3d.read_point_cloud(fusion_mesh_path)
n_keypoint: int = len(keypoint_3d_position)
if args.one_by_one:
for i in range(n_keypoint):
draw_single_keypoint(point_cloud, keypoint_3d_position[i])
else:
keypoint_np = np.zeros(shape=[3, n_keypoint])
for i in range(n_keypoint):
keypoint_np[0, i] = keypoint_3d_position[i][0]
keypoint_np[1, i] = keypoint_3d_position[i][1]
keypoint_np[2, i] = keypoint_3d_position[i][2]
draw_all_keypoints(point_cloud, keypoint_np)
def cb_load(msg):
global Model,tfReg
#load point cloud
for n,l in enumerate(Config["scenes"]):
pcd=o3d.read_point_cloud(Config["path"]+"/"+l+".ply")
Model[n]=np.reshape(np.asarray(pcd.points),(-1,3))
rospy.Timer(rospy.Duration(Config["tf_delay"]),cb_master,oneshot=True)
tfReg=[]
#load TF such as master/camera...
for n,m in enumerate(Config["master_frame_id"]):
path=Config["path"]+"/"+m.replace('/','_')+".yaml"
try:
f=open(path, "r+")
except Exception:
pub_msg.publish("searcher::file error "+path)
else:
yd=yaml.load(f)
f.close()
trf=tflib.dict2tf(yd)
tf=TransformStamped()
tf.header.stamp=rospy.Time.now()
tf.header.frame_id="world"
tf.child_frame_id=m
tf.transform=trf
print "world->",m
print trf
tfReg.append(tf)
broadcaster.sendTransform(tfReg)
Param.update(rospy.get_param("~param"))
solver.learn(Model,Param)
pub_msg.publish("searcher::model learning completed")
def load_full_scan(self, file_path, cfg):
print('file_path', file_path)
self.pc = open3d.read_point_cloud(
os.path.join(file_path, "sampled_points.ply"))
file_names = dict()
file_names['output_tetrahedron_adj'] = (os.path.join(
file_path, "output_tetrahedron_adj"))
file_names['output_cell_vertex_idx'] = (os.path.join(
file_path, "output_cell_vertex_idx.txt"))
file_names['ref_label'] = (os.path.join(file_path,
"ref_point_label.txt"))
l = dict()
l['ref_label'] = np.fromfile(file_names['ref_label'],
dtype=np.int32,
sep=' ').reshape(-1, 7)
l['adj_mat'] = np.fromfile(file_names['output_tetrahedron_adj'],
dtype=np.int32,
sep=' ').reshape(-1, 4)
l['cell_vertex_idx'] = np.fromfile(
file_names['output_cell_vertex_idx'], dtype=np.int32,
sep=' ').reshape(-1, 4)
self.cell_vertex_idx = (l['cell_vertex_idx'])
self.adj = l['adj_mat']
self.ref_label = l['ref_label'][:, 0:cfg["ref_num"]]
print("loaded " + file_path.split('/')[-2])
def testing():
f = r'/home/clh/git/compile/Open3D/src/Test/TestData/fragment.ply'
print("Load a ply point cloud, print it, and render it")
pcd = open3d.read_point_cloud(f)
print(pcd)
print(np.asarray(pcd.colors).shape)
def main():
keypoint_path: str = args.keypoint_yaml_path
keypoint_datamap = None
with open(keypoint_path, 'r') as file:
try:
keypoint_datamap = yaml.load(file)
except yaml.YAMLError as exc:
print(exc)
exit(-1)
# Process the map
assert keypoint_datamap is not None
mesh_path: str = keypoint_datamap['mesh_path']
keypoint_index: List[int] = keypoint_datamap['keypoint_index']
keypoint_3d_position: List[
List[float]] = keypoint_datamap['keypoint_world_position']
pcd = open3d.read_point_cloud(mesh_path)
# Depends on visualization type
if args.one_by_one:
for i in range(len(keypoint_index)):
draw_single_keypoint(pcd, keypoint_3d_position[i])
else:
n_keypoint = len(keypoint_3d_position)
keypoint_np = np.zeros(shape=[3, n_keypoint])
for i in range(n_keypoint):
keypoint_np[0, i] = keypoint_3d_position[i][0]
keypoint_np[1, i] = keypoint_3d_position[i][1]
keypoint_np[2, i] = keypoint_3d_position[i][2]
draw_all_keypoints(pcd, keypoint_np)
def prepare_source_and_target_rigid_3d(source_filename,
noise_amp=0.001,
n_random=500,
orientation=np.deg2rad([0.0, 0.0,
30.0]),
normals=False):
source = o3.read_point_cloud(source_filename)
source = o3.voxel_down_sample(source, voxel_size=0.005)
print(source)
target = copy.deepcopy(source)
tp = np.asarray(target.points)
rg = 1.5 * (tp.max(axis=0) - tp.min(axis=0))
rands = (np.random.rand(n_random, 3) - 0.5) * rg + tp.mean(axis=0)
target.points = o3.Vector3dVector(
np.r_[tp + noise_amp * np.random.randn(*tp.shape), rands])
ans = trans.euler_matrix(*orientation)
target.transform(ans)
if normals:
o3.estimate_normals(source,
search_param=o3.geometry.KDTreeSearchParamHybrid(
radius=0.1, max_nn=50))
o3.orient_normals_to_align_with_direction(source)
o3.estimate_normals(target,
search_param=o3.geometry.KDTreeSearchParamHybrid(
radius=0.1, max_nn=50))
o3.orient_normals_to_align_with_direction(target)
return source, target
def setUp(self):
pcd = o3.read_point_cloud('data/horse.ply')
pcd = o3.voxel_down_sample(pcd, voxel_size=0.01)
self._source = np.asarray(pcd.points)
rot = trans.euler_matrix(*np.random.uniform(0.0, np.pi / 4, 3))
self._tf = tf.RigidTransformation(rot[:3, :3], np.zeros(3))
self._target = self._tf.transform(self._source)
def ViewPLY(path):
# 読み込み
pointcloud = open3d.read_point_cloud(path)
# ダウンサンプリング
# 法線推定できなくなるので不採用
pointcloud = open3d.voxel_down_sample(pointcloud, 10)
# 法線推定
open3d.estimate_normals(pointcloud,
search_param=open3d.KDTreeSearchParamHybrid(
radius=20, max_nn=30))
# 法線の方向を視点ベースでそろえる
open3d.orient_normals_towards_camera_location(pointcloud,
camera_location=np.array(
[0., 10., 10.],
dtype="float64"))
# 可視化
open3d.draw_geometries([pointcloud])
# numpyに変換
points = np.asarray(pointcloud.points)
normals = np.asarray(pointcloud.normals)
print("points:{}".format(points.shape[0]))
X, Y, Z = Disassemble(points)
# OBB生成
_, _, length = buildOBB(points)
print("OBB_length: {}".format(length))
return points, X, Y, Z, normals, length
def test_ball_query():
pc = torch.from_numpy(
np.asarray(opend.read_point_cloud("test_pc.ply").points)).unsqueeze(
0).float().cuda()
centroids = torch.from_numpy(np.load('centroids.npy')).cuda()
new_xyz = index_points(pc, centroids)
ball_query(0.1, 32, pc, new_xyz)
def load_cloud(cloud_loc: os.path):
if os.path.isfile(cloud_loc):
point_cloud = open3d.read_point_cloud(cloud_loc)
points = np.asarray(point_cloud.points)
points = np.reshape(points, (240, 320, 3)).astype(np.float32)
return points
else:
return np.zeros((240, 320, 3), dtype=np.float32)
def compare_with_room(self):
pc_room = o3.read_point_cloud('static_data/room_A.ply')
pcd = self.get_pcd()
P = np.loadtxt('static_data/T.csv', delimiter=',')
pcd.transform(P)
o3.draw_geometries([pc_room, pcd])
def cb_step1(ev): global sceneDat print "Step1/take a scene" sceneDat=solver.toNumpy(o3d.read_point_cloud(Args["scene"])) P=copy.deepcopy(sceneDat) pub_scene.publish(np2F(P)) pub_model.publish(np2F(P0())) rospy.Timer(rospy.Duration(5), cb_step2, oneshot=True)
def cb_load_ply(msg):
global outPn
pcd = o3d.read_point_cloud(Args["wd"] + "/sample.ply")
outPn = np.reshape(np.asarray(pcd.points), (-1, 3))
pub.publish(np2F(outPn))
f = Bool()
f.data = True
pub_ld.publish(f)
def readFiles(args):
pc = open3d.read_point_cloud(args.pcfile1)
v1 = np.asarray(pc.points)
pc = open3d.read_point_cloud(args.pcfile2)
v2 = np.asarray(pc.points)
vertices = [v1, v2]
if args.labelfile1 != "" and args.labelfile2 != "":
l1 = np.loadtxt(args.labelfile1, dtype=int)
l2 = np.loadtxt(args.labelfile2, dtype=int)
else:
l1 = np.zeros(v1.shape[0])
l2 = np.zeros(v2.shape[0])
# shift labels:
l1 -= l1.min()
l2 -= l2.min()
labels = [l1, l2]
return vertices, labels
def load_ply_as_pc(file_path: Union[str, Path]) -> op3.PointCloud:
"""
Load a point cloud from a .ply file
:param file_path: a string, path to the .ply file
:return: a point cloud object of Open3D
"""
point_cloud = op3.read_point_cloud(filename=path2str(file_path))
return point_cloud
def parse_pcd_open3d(filename):
"""
Parses a pcd file using Open3D
:param filename: the file to be parsed
:return: an open3d PointCloud class
"""
pcd = open3d.read_point_cloud(filename)
return pcd
