def draw_pc(pc_xyzrgb):
pc = open3d.PointCloud()
pc.points = open3d.Vector3dVector(pc_xyzrgb[:, 0:3])
if pc_xyzrgb.shape[1] == 3:
open3d.draw_geometries([pc])
return 0
if np.max(pc_xyzrgb[:, 3:6]) > 20: ## 0-255
pc.colors = open3d.Vector3dVector(pc_xyzrgb[:, 3:6] / 255.)
else:
pc.colors = open3d.Vector3dVector(pc_xyzrgb[:, 3:6])
# Default behavior: show pcl
# open3d.draw_geometries([pc])
# Aljosa: store image
path = "/tmp/test.png"
vis = open3d.visualization.Visualizer()
vis.create_window()
vis.add_geometry(pc)
vis.update_geometry()
vis.poll_events()
vis.update_renderer()
vis.capture_screen_image(path)
vis.destroy_window()
return 0
def semantic_ply(points, labels):
pc = open3d.PointCloud()
pc.points = open3d.Vector3dVector(points)
# ins_colors = Plot.random_colors(len(np.unique(labels)) + 1, seed=2) # cls 21
ins_colors = Plot.random_colors(21, seed=2)
label_color = []
for i in range(len(labels)):
laa = ins_colors[labels[i, 0]]
label_color.append(laa)
pc.colors = open3d.Vector3dVector(label_color)
open3d.draw_geometries([pc])
def draw_pc(pc_xyzrgb):
pc = open3d.PointCloud()
pc.points = open3d.Vector3dVector(pc_xyzrgb[:, 0:3])
if pc_xyzrgb.shape[1] == 3:
open3d.draw_geometries([pc])
return 0
if np.max(pc_xyzrgb[:, 3:6]) > 20: # 0-255
pc.colors = open3d.Vector3dVector(pc_xyzrgb[:, 3:6] / 255.)
else:
pc.colors = open3d.Vector3dVector(pc_xyzrgb[:, 3:6])
open3d.draw_geometries([pc])
return 0
def draw_pc(pc_xyzrgb, idx):
pc = open3d.PointCloud()
pc.points = open3d.Vector3dVector(pc_xyzrgb[:, 0:3])
if pc_xyzrgb.shape[1] == 3:
open3d.draw_geometries([pc])
return 0
if np.max(pc_xyzrgb[:, 3:6]) > 20: ## 0-255
pc.colors = open3d.Vector3dVector(pc_xyzrgb[:, 3:6] / 255.)
else:
pc.colors = open3d.Vector3dVector(pc_xyzrgb[:, 3:6])
#open3d.write_point_cloud("./image_test/{}.pcd".format(idx), pc)
open3d.draw_geometries([pc])
return 0
def calculate_pc_normals(pc_xyz):
pc = open3d.PointCloud()
pc.points = open3d.Vector3dVector(pc_xyz)
open3d.estimate_normals(pc)
pc_normals = np.asarray(pc.normals)
return pc_normals
