forked from minghuam/point-visualizer
/
point_visualizer.py
executable file
·280 lines (235 loc) · 9.69 KB
/
point_visualizer.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
import numpy as np
from vispy import gloo
from vispy.gloo import gl
from vispy import app
from vispy.util.transforms import perspective, translate, rotate
import transformations as tr
import sys
import random
import math
# vertex shader
vert = """
#version 120
uniform mat4 u_model;
uniform mat4 u_view;
uniform mat4 u_projection;
attribute vec4 a_color;
attribute vec3 a_position;
varying vec4 v_color;
void main (void) {
gl_Position = u_projection * u_view * u_model * vec4(a_position,1.0);
v_color = a_color;
gl_PointSize = 1.0;
}
"""
# fragment shader
frag = """
#version 120
varying vec4 v_color;
void main()
{
gl_FragColor = v_color;
}
"""
class Canvas(app.Canvas):
def __init__(self, data_file):
app.Canvas.__init__(self, keys='interactive')
self.size = 800, 600
self.title = 'Point Visualizer';
if self.load_data(data_file) == False:
print('Failed to load {0}'.format(data_file))
sys.exit();
# Model, View, Projection matrix
self.view = np.eye(4, dtype=np.float32)
self.model = np.eye(4, dtype=np.float32)
self.projection = np.eye(4, dtype=np.float32)
#self.translate = 5
self.translate = self.max_data_z*1.5
translate(self.view, 0, 0, -self.translate)
# Shader program for point data
self.program_data = gloo.Program(vert, frag)
self.program_data.bind(gloo.VertexBuffer(self.point_data))
self.program_data['u_model'] = self.model
self.program_data['u_view'] = self.view
# Shader program for bbox or axis
self.program_axis = gloo.Program(vert, frag)
self.program_axis.bind(gloo.VertexBuffer(self.axis_data))
self.program_axis['u_model'] = self.model
self.program_axis['u_view'] = self.view
# Shader program for plane
self.program_plane = gloo.Program(vert, frag)
self.program_plane.bind(gloo.VertexBuffer(self.plane_data))
self.program_plane['u_model'] = self.model
self.program_plane['u_view'] = self.view
self.rot = [0,0,0,1]
self.timer = app.Timer('auto', connect=self.on_timer, start=True)
def load_data(self, data_file):
""" Load data from file and calculate bounding box
Data format:
x1 y1 z1
x2 y2 z2
...
"""
try:
fr = open(data_file)
except:
return False
point_list = []
bbox = np.array([float('Inf'),-float('Inf'),float('Inf'),-float('Inf'),float('Inf'),-float('Inf')])
for line in fr.readlines():
xyz = [float(w) for w in line.split(' ')]
point_list.append(xyz)
fr.close();
points = np.array(point_list)
for xyz in points:
bbox[0] = min(bbox[0], xyz[0]) # min x
bbox[1] = max(bbox[1], xyz[0]) # max y
bbox[2] = min(bbox[2], xyz[1]) # min x
bbox[3] = max(bbox[3], xyz[1]) # max y
bbox[4] = min(bbox[4], xyz[2]) # min z
bbox[5] = max(bbox[5], xyz[2]) # max z
bbox_corners = np.array([
[bbox[0],bbox[2], bbox[4]],
[bbox[0],bbox[2], bbox[5]],
[bbox[0],bbox[3], bbox[5]],
[bbox[0],bbox[3], bbox[4]],
[bbox[1],bbox[3], bbox[4]],
[bbox[1],bbox[2], bbox[4]],
[bbox[1],bbox[2], bbox[5]],
[bbox[1],bbox[3], bbox[5]]]);
bbox_center = np.array([(bbox[0]+bbox[1])/2, (bbox[2]+bbox[3])/2, (bbox[4]+bbox[5])/2]);
# RANSAC implementation
# http://www.cse.yorku.ca/~kosta/CompVis_Notes/ransac.pdf
# tolerance for distance, e.g. 0.0027m for kinect
TOLERANCE = 0.0027
# ratio of inliers
THRESHOLD = 0.50
N_ITERATIONS = 100
iterations = 0
solved = 0
while iterations < N_ITERATIONS and solved == 0:
iterations += 1
max_error = -float('inf')
max_index = -1
# randomly pick three non-colinear points
CP = np.array([0,0,0]);
while CP[0] == 0 and CP[1] == 0 and CP[2] == 0:
[A,B,C] = points[random.sample(xrange(len(points)), 3)];
# make sure they are non-collinear
CP = np.cross(A-B, B-C);
# calculate plane coefficients
abc = np.dot(np.linalg.inv(np.array([A,B,C])), np.ones([3,1]))
# get distances from the plane
d = math.sqrt(abc[0]*abc[0]+abc[1]*abc[1]+abc[2]*abc[2])
dist = abs((np.dot(points, abc) - 1)/d)
#print max(dist),min(dist)
ind = np.where(dist < TOLERANCE)[0];
ratio = float(len(ind))/len(points)
if ratio > THRESHOLD:
# satisfied, now fit model with the inliers
# least squares reference plane: ax+by+cz=1
inliers = np.take(points, ind, 0)
print('\niterations: {0}, ratio: {1}, {2}/{3}'.format(iterations, ratio,len(points),len(inliers)))
[a,b,c] = np.dot(np.linalg.pinv(inliers), np.ones([len(inliers), 1]))
plane_pts = np.array([
[bbox[0], bbox[2], (1-a*bbox[0]-b*bbox[2])/c],
[bbox[0], bbox[3], (1-a*bbox[0]-b*bbox[3])/c],
[bbox[1], bbox[3], (1-a*bbox[1]-b*bbox[3])/c],
[bbox[1], bbox[2], (1-a*bbox[1]-b*bbox[2])/c]]);
print('Least squares solution coeffiecients for ax+by+cz=1')
print a,b,c;
solved = 1
if solved == 0:
print('Can not find a good solution. Better luck next time...\n');
sys.exit(0)
self.point_data = np.zeros(len(points), [('a_position', np.float32, 3),('a_color', np.float32, 4)])
self.point_data['a_position'] = points - bbox_center;
self.point_data['a_color'] = [0,0,1,1]
self.axis_data = np.zeros(8, [("a_position", np.float32, 3), ("a_color", np.float32, 4)])
self.axis_data['a_position'] = bbox_corners - bbox_center;
self.axis_indies = gloo.IndexBuffer([0,1, 1,2, 2,3, 3,0, 4,7, 7,6, 6,5, 5,4, 0,5, 1,6, 2,7, 3,4 ])
self.axis_data['a_color'] = [0,1,0,1]
self.plane_data = np.zeros(4, [("a_position", np.float32, 3), ("a_color", np.float32, 4)])
self.plane_data['a_position'] = plane_pts - bbox_center;
self.plane_indies = gloo.IndexBuffer([0,1,3, 1,2,3])
self.plane_data['a_color'] = [0.5,0.8,1,0.75]
self.max_data_z = bbox[5];
return True
def on_initialize(self, event):
gloo.set_state('translucent', clear_color='white')
def on_key_press(self, event):
if event.text == ' ':
if self.timer.running:
self.timer.stop()
else:
self.timer.start()
if event.text == 'f' or event.text == 'F':
self.fullscreen = not self.fullscreen
def on_timer(self, event):
# auto rotating
qy = tr.quaternion_about_axis(0.005, [0,0,1])
qx = tr.quaternion_about_axis(0.005, [0,1,0])
q = tr.quaternion_multiply(qx,qy)
self.rot = tr.quaternion_multiply(self.rot, q)
self.model = tr.quaternion_matrix(self.rot)
self.program_data['u_model'] = self.model
self.program_axis['u_model'] = self.model
self.program_plane['u_model'] = self.model
self.update()
def on_resize(self, event):
width, height = event.size
gloo.set_viewport(0, 0, width, height)
self.projection = perspective(45.0, width / float(height), 1.0, 1000.0)
self.program_data['u_projection'] = self.projection
self.program_axis['u_projection'] = self.projection
self.program_plane['u_projection'] = self.projection
self.update()
def on_mouse_wheel(self, event):
# zoom in/out
self.translate += event.delta[1]
self.translate = max(2, self.translate)
self.view = np.eye(4, dtype=np.float32)
translate(self.view, 0, 0, -self.translate)
self.program_data['u_view'] = self.view
self.program_axis['u_view'] = self.view
self.program_plane['u_view'] = self.view
self.update()
def on_mouse_press(self, event):
self.last_drag_pos = event.pos;
def on_mouse_move(self, event):
# drag to rotate
if event.is_dragging:# and not self.timer.running:
# drag delta
dx = event.pos[0]-self.last_drag_pos[0]
dy = event.pos[1]-self.last_drag_pos[1]
dampen = 0.05
# quaternion rotation
qy = tr.quaternion_about_axis(dx*dampen, [0,-1,0])
qx = tr.quaternion_about_axis(dy*dampen, [-1,0,0])
q = tr.quaternion_multiply(qx,qy)
self.rot = tr.quaternion_multiply(self.rot, q)
# rotate model
self.model = tr.quaternion_matrix(self.rot)
# update model
self.program_data['u_model'] = self.model
self.program_axis['u_model'] = self.model
self.program_plane['u_model'] = self.model
self.update()
self.last_drag_pos = event.pos
pass
def on_draw(self, event):
gloo.clear()
self.program_data.draw(gl.GL_POINTS)
self.program_axis.draw(mode = gl.GL_LINES, indices = self.axis_indies)
self.program_plane.draw(mode = gl.GL_TRIANGLE_STRIP, indices = self.plane_indies)
def print_help():
print('''Simple Point Visualizer Based on Vispy\nUsage: python point_visualizer.py data_file\n[Space] - toggle animation\n[F] - toggle fullscreen\n[Esc] - exit\n''')
if __name__ == '__main__':
if len(sys.argv) < 2:
print_help();
pass
else:
c = Canvas(sys.argv[1])
c.show()
print_help();
app.run()