def intialize_visualizer(self):
'''
Function to add geometry (cannot destroy)
'''
self.vis = o3.Visualizer()
self.vis.create_window()
self.vis.get_render_option().load_from_json(
"static_data/renderoption.json")
self.vis.add_geometry(self.base)
self.trajectory = o3.read_pinhole_camera_trajectory(
"static_data/pinholeCameraTrajectory3.json")
self.custom_view()
self.vis.run()
def intialize_visualizer(self):
'''
Function to add geometry (cannot destroy)
'''
h, w = self._get_window_size()
self.vis = o3.Visualizer()
self.vis.create_window('pose',
width=int(w),
height=int(h),
left=50,
right=50)
self.vis.add_geometry(self.base)
self.render_option = self.vis.get_render_option().load_from_json(
"static_data/renderoption.json")
self.trajectory = o3.read_pinhole_camera_trajectory(
"static_data/pinholeCameraTrajectory.json")
self.custom_view()
self.vis.update_renderer()
self.vis.run()
glb.vis.register_animation_callback(None)
return False
vis = glb.vis
vis.create_window(width=intrinsic.width, height=intrinsic.height)
vis.add_geometry(mesh)
vis.register_animation_callback(callback)
vis.run()
vis.destroy_window()
if __name__ == "__main__":
open3d.set_verbosity_level(open3d.VerbosityLevel.Debug)
# Read camera pose and mesh
camera = open3d.read_pinhole_camera_trajectory(os.path.join(path, "scene/key.log"))
mesh = open3d.read_triangle_mesh(os.path.join(path, "scene", "integrated.ply"))
color_image_path = get_file_list(
os.path.join(path, "image/"), extension = ".jpg")
if USE_Z_BUFFERING:
depth_image_path = [osp.join('/tmp', fn.replace('jpg', 'png'))
for fn in color_image_path]
# generate depth maps
save_depth_maps(mesh, camera.intrinsic, np.asarray(camera.extrinsic),
depth_image_path)
else:
depth_filenames = get_file_list(
os.path.join(path, "depth/"), extension = ".png")
depth_image_path = []
def reconstruct(room_name, cam_poses):
# prepare the result file
result_file = os.path.join(
proj_path, "result", "{}_{}_{}.json".format(dataset_name, room_name,
vox_num_option))
print(result_file)
if ft.file_exist(result_file):
# load data
print("load result json file ...")
data_result = io.load_json(result_file)
else:
print("No result file, please check your folder again!")
return
if VIS_ALL or VIS_FINAL:
vis = o3d.Visualizer()
vis.create_window()
print("created a window")
for start_index_key in start_key_list:
print("start index", start_index_key)
result_pcd_folder = os.path.join(proj_path, "result", "pcd",
start_index_key)
if not os.path.exists(result_pcd_folder):
os.makedirs(result_pcd_folder)
# regarding the view point for the visualiser
viewpoint_file = os.path.join(result_pcd_folder, "view_point.json")
for method in NBV_strategy:
print("method", method)
result_pcd_file = os.path.join(
result_pcd_folder,
"{}_{}_{}.ply".format(dataset_name, room_name, method))
result_pcd_folder_method = os.path.join(proj_path, "result",
start_index_key, method)
if (not os.path.exists(result_pcd_file)) or (
VIS_ALL and
(not os.path.exists(result_pcd_folder_method))):
if VIS_ALL:
trajectory = o3d.read_pinhole_camera_trajectory(
viewpoint_file)
print("created a window")
if VIS_ALL and (not os.path.exists(result_pcd_folder_method)):
os.makedirs(os.path.join(result_pcd_folder_method, "pcd"))
os.makedirs(os.path.join(result_pcd_folder_method,
"depth"))
os.makedirs(os.path.join(result_pcd_folder_method, "rgb"))
print("created folders")
nbv_ids = data_result[start_index_key][method]["NBV_ids"]
volume = o3d.ScalableTSDFVolume(
voxel_length=0.01,
sdf_trunc=0.03,
color_type=o3d.TSDFVolumeColorType.RGB8) # 4.0 / 512.0
count = 0
for pose_id in range(len(nbv_ids)):
print("Integrate frame at {:d}".format(pose_id))
current_pose = cam_poses[nbv_ids[pose_id]]
rgb_path = os.path.join(
proj_path, config["dataset_folder"], dataset_name,
room_name, "image",
"rgb{:d}.png".format(nbv_ids[pose_id]))
depth_path = os.path.join(
proj_path, config["dataset_folder"], dataset_name,
room_name, "depth",
"depth{:d}.png".format(nbv_ids[pose_id]))
color = o3d.read_image(rgb_path)
depth = o3d.read_image(depth_path)
rgbd = o3d.create_rgbd_image_from_color_and_depth(
color,
depth,
depth_trunc=4.5,
convert_rgb_to_intensity=False)
volume.integrate(rgbd, intrinsic,
np.linalg.inv(current_pose))
pcd_scene = volume.extract_point_cloud(
) # note the points are not isometric
if VIS_ALL:
print("Visualise each frame")
result_pcd_file_temp = os.path.join(
result_pcd_folder_method, "pcd",
"{}_{}_{:03d}.png".format(dataset_name, room_name,
count))
result_depth_file_temp = os.path.join(
result_pcd_folder_method, "depth",
"{}_{}_{:03d}.png".format(dataset_name, room_name,
count))
result_rgb_file_temp = os.path.join(
result_pcd_folder_method, "rgb",
"{}_{}_{:03d}.png".format(dataset_name, room_name,
count))
copyfile(depth_path, result_depth_file_temp)
copyfile(rgb_path, result_rgb_file_temp)
vis.add_geometry(pcd_scene)
mesh_frame = local_plt.o3d_coordinate(current_pose)
vis.add_geometry(mesh_frame)
ctr = vis.get_view_control()
#if count == 0:
ctr.convert_from_pinhole_camera_parameters(
trajectory.intrinsic, trajectory.extrinsic[0])
vis.update_geometry()
vis.poll_events()
vis.update_renderer()
vis.capture_screen_image(result_pcd_file_temp)
# crop border
img = improc.crop_border(result_pcd_file_temp, 0.08,
0.4)
# img = improc.imscale(img, 1.5)
improc.imwrite(result_pcd_file_temp, img)
time.sleep(0.5)
pcd_scene.points = o3d.Vector3dVector([])
pcd_scene.colors = o3d.Vector3dVector([])
vis.update_geometry()
vis.poll_events()
vis.update_renderer()
count = count + 1
if not os.path.exists(result_pcd_file):
pcd_scene = volume.extract_point_cloud(
) #note the points are not isometric
o3d.write_point_cloud(result_pcd_file, pcd_scene)
else:
if VIS_FINAL:
print("created a visualiser")
pcd_scene = o3d.read_point_cloud(result_pcd_file)
# only trigger the view point set when there is no tarjectory file
if not os.path.exists(viewpoint_file):
print(
"Please manipulate the visualiser for a better view point, close to save!"
)
save_view_point(vis, pcd_scene, viewpoint_file)
return
image_name = os.path.join(result_pcd_folder,
"{}_pcd.png".format(method))
trajectory = o3d.read_pinhole_camera_trajectory(
viewpoint_file)
print("read the view point")
vis.add_geometry(pcd_scene)
print("Added the view point")
ctr = vis.get_view_control()
print("obtained view control")
ctr.convert_from_pinhole_camera_parameters(
trajectory.intrinsic, trajectory.extrinsic[0])
print("changed the view point")
vis.update_geometry()
vis.poll_events()
vis.update_renderer()
print("updated the rendering")
vis.capture_screen_image(image_name)
print("captured the screenshot")
# crop border
img = improc.crop_border(image_name, 0.08, 0.4)
#img = improc.imscale(img, 1.5)
improc.imwrite(image_name, img)
time.sleep(2)
pcd_scene.points = o3d.Vector3dVector([])
pcd_scene.colors = o3d.Vector3dVector([])
vis.update_geometry()
vis.poll_events()
vis.update_renderer()
print("reset the point to empty")
if VIS_ALL or VIS_FINAL:
vis.destroy_window()
print("closed window and visualiser")
def setView(self):
ctr = vis.get_view_control()
trajectory = o3d.read_pinhole_camera_trajectory("test.json")
ctr.convert_from_pinhole_camera_parameters(trajectory.intrinsic,
trajectory.extrinsic[0])