def display_points(pts, labels):
occ_display.EraseAll()
print('number of points:', len(pts))
feats = [None] * 14
if len(labels) > 0:
for i in range(len(pts)):
feat_id = labels[i]
if feats[feat_id] is None:
feats[feat_id] = [pts[i]]
else:
feats[feat_id].append(pts[i])
else:
feats[0] = pts
for i in range(len(feats)):
feat = feats[i]
if feat is None:
continue
print('number of feature ' + str(i) + ' points:', len(feat))
n_points = len(feat)
points_3d = Graphic3d_ArrayOfPoints(n_points)
for pt in feat:
points_3d.AddVertex(pt[0], pt[1], pt[2])
point_cloud = AIS_PointCloud()
point_cloud.SetPoints(points_3d)
point_cloud.SetColor(colors[i])
ais_context.Display(point_cloud)
# occ_display.View_Iso()
occ_display.FitAll()
def __init__(self, points, occ_display):
n_points = len(points)
points_3d = Graphic3d_ArrayOfPoints(n_points)
for pt in points:
points_3d.AddVertex(pt[0], pt[1], pt[2])
point_cloud = AIS_PointCloud()
point_cloud.SetPoints(points_3d)
ais_context = occ_display.GetContext()
ais_context.Display(point_cloud)
def bunny(event=None):
pcd_file = open(os.path.join('models', 'bunny.pcd'), 'r').readlines()[10:]
# create the point_cloud
pc = Graphic3d_ArrayOfPoints(len(pcd_file))
for line in pcd_file:
x, y, z = map(float, line.split())
pc.AddVertex(x, y, z)
point_cloud = AIS_PointCloud()
point_cloud.SetPoints(pc.GetHandle())
ais_context = display.GetContext().GetObject()
ais_context.Display(point_cloud.GetHandle())
display.View_Iso()
display.FitAll()
def random_points(event=None):
n_points = 500000
# first, create a set of 1000 points
points_3d = Graphic3d_ArrayOfPoints(n_points)
for idx in range(n_points):
x = random.uniform(-50, 50)
y = random.uniform(-50, 50)
z = random.uniform(-50, 50)
points_3d.AddVertex(x, y, z)
# then build the point cloud
point_cloud = AIS_PointCloud()
point_cloud.SetPoints(points_3d.GetHandle())
# display
ais_context = display.GetContext().GetObject()
ais_context.Display(point_cloud.GetHandle())
display.View_Iso()
display.FitAll()
def tabletop(event=None):
pcd_file = open(os.path.join('assets', 'models', 'tabletop.pcd'), 'r').readlines()[11:]
#create the point_cloud
pc = Graphic3d_ArrayOfPoints(len(pcd_file), True)
for idx, line in enumerate(pcd_file):
x, y, z, rgb = map(float, line.split())
rgb = float2int(rgb)
r = (rgb >> 16 & 0x0000ff) / float(255)
g = (rgb >> 8 & 0x0000ff) / float(255)
b = (rgb & 0x0000ff) / float(255)
color = Quantity_Color(r, g, b, Quantity_TOC_RGB)
pc.AddVertex(gp_Pnt(x, y, z), color)
point_cloud = AIS_PointCloud()
point_cloud.SetPoints(pc.GetHandle())
ais_context = display.GetContext().GetObject()
ais_context.Display(point_cloud.GetHandle())
display.DisableAntiAliasing()
display.View_Iso()
display.FitAll()