def o3dp3dTovtkPCD(p3d):
xyz = numpy.asarray(p3d.points)
minH = xyz[:, 2].min()
maxH = xyz[:, 2].max()
#print("minh,maxh:",minH,maxH)
count = len(xyz)
#print(len(xyz.shape))
pcd = VtkPointCloud(minH, maxH, count)
pcd.clearPoints()
counter = numpy.size(xyz, 0)
#print(counter)
#test np to vtk array
nCoords = xyz.shape[0]
nElem = xyz.shape[1]
#print("c,e",nCoords,nElem)
#print("xyz",xyz)
depth = xyz[:, 2]
#print("depth",depth)
#colors = numpy_support.numpy_to_vtk(rgb)
vtkDepth = numpy_support.numpy_to_vtk(depth)
cells_npy = numpy.vstack([
numpy.ones(nCoords, dtype=numpy.int64),
numpy.arange(nCoords, dtype=numpy.int64)
]).T.flatten()
#print("cells_npy",cells_npy)
cells = vtk.vtkCellArray()
cells.SetCells(nCoords, numpy_support.numpy_to_vtkIdTypeArray(cells_npy))
#print("cells",cells)
vtkArray = numpy_support.numpy_to_vtk(xyz)
verts = vtk.vtkPoints()
verts.SetData(vtkArray)
#print(vtkArray)
pcd.setPoints(vtkArray, nCoords,
numpy_support.numpy_to_vtkIdTypeArray(cells_npy), vtkDepth)
return pcd
def getVtkPointCloud(path, downsampling=0):
print(time.time())
isNotOk = True
while isNotOk:
try:
f = open(path)
isNotOk = False
except:
isNotOk = True
pd_xyzrgb = pd.read_csv(f,
header=None,
delim_whitespace=True,
dtype=float,
usecols=[0, 1, 2])
print(time.time())
#rgb = pd.read_csv(path,header=None,delim_whitespace=True,dtype=float,usecols=[3,4,5])
pd_xyzrgb = pd_xyzrgb.values
xyz = pd_xyzrgb[:, [0, 1, 2]]
#rgb = pd_xyzrgb[:,[3,4,5]]
#print(xyz)
#Create open3d pcd format========================
p3d = o3d.geometry.PointCloud()
p3d.points = o3d.utility.Vector3dVector(xyz)
#================================================
'''
downsample by open3d
'''
if downsampling == 1:
print("donwsample by open3d")
p3d = o3d.geometry.PointCloud()
p3d.points = o3d.utility.Vector3dVector(xyz)
print("np to open3d")
downpcd = p3d.voxel_down_sample(voxel_size=0.5)
print("voxel down sample")
cl, ind = downpcd.remove_statistical_outlier(nb_neighbors=50,
std_ratio=3.0)
#print(cl,ind)
#downpcd = downpcd.select_by_index(ind)
xyz = numpy.asarray(cl.points)
print("numpy array")
#================================================
print(time.time())
'''
print(xyz)
theta1=numpy.radians(35)
theta2=numpy.radians(5)
c1,c2,s1,s2=numpy.cos(theta1),numpy.cos(theta2),numpy.sin(theta1),numpy.sin(theta2)
rx=numpy.array(((1,0,0),(0,c1,-s1),(0,s1,c1)))
ry=numpy.array(((c2,0,s2),(0,1,0),(-s2,0,c2)))
xyz=xyz.dot(rx)
print(xyz)
xyz=xyz.dot(ry)
'''
#rgb = rgb.values
#print(xyz,rgb)
#xyz = loadtxt(self.fileName,dtype=float,usecols=[0,1,2])
minH = xyz[:, 2].min()
maxH = xyz[:, 2].max()
#print("minh,maxh:",minH,maxH)
count = len(xyz)
#print(len(xyz.shape))
pcd = VtkPointCloud(minH, maxH, count)
pcd.clearPoints()
counter = numpy.size(xyz, 0)
#print(counter)
#test np to vtk array
nCoords = xyz.shape[0]
nElem = xyz.shape[1]
#print("c,e",nCoords,nElem)
#print("xyz",xyz)
depth = xyz[:, 2]
#print("depth",depth)
#colors = numpy_support.numpy_to_vtk(rgb)
vtkDepth = numpy_support.numpy_to_vtk(depth)
cells_npy = numpy.vstack([
numpy.ones(nCoords, dtype=numpy.int64),
numpy.arange(nCoords, dtype=numpy.int64)
]).T.flatten()
#print("cells_npy",cells_npy)
cells = vtk.vtkCellArray()
cells.SetCells(nCoords, numpy_support.numpy_to_vtkIdTypeArray(cells_npy))
#print("cells",cells)
vtkArray = numpy_support.numpy_to_vtk(xyz)
verts = vtk.vtkPoints()
verts.SetData(vtkArray)
#print(vtkArray)
pcd.setPoints(vtkArray, nCoords,
numpy_support.numpy_to_vtkIdTypeArray(cells_npy), vtkDepth)
'''
for k in range(size(xyz,0)):
self.signalNow.emit(k)
point = xyz[k]
pcd.addPoint(point)
'''
print(time.time())
data = [pcd, p3d]
return data