def ply2pcd(file_path=None):
if file_path is None:
file_path, file_format = get_file()
cloud = pcl.load(file_path, cloud_format)
file_path = file_path[:-3]
print(file_path)
pcl.save_XYZRGBA(cloud, (file_path + "pcd"), format="pcd")
def demo_crop_geometry():
print("Demo for manual geometry cropping")
print(
"1) Press 'Y' twice to align geometry with negative direction of y-axis"
)
print("2) Press 'K' to lock screen and to switch to selection mode")
print("3) Drag for rectangle selection,")
print(" or use ctrl + left click for polygon selection")
print("4) Press 'C' to get a selected geometry and to save it")
print("5) Press 'F' to switch to freeview mode")
source_path, source_format = get_file()
pcd = o3d.io.read_point_cloud(source_path)
o3d.visualization.draw_geometries_with_editing([pcd])
information_icp,
uncertain=False))
else: # loop closure case
pose_graph.edges.append(
o3d.registration.PoseGraphEdge(source_id,
target_id,
transformation_icp,
information_icp,
uncertain=True))
return pose_graph
if __name__ == "__main__":
o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Debug)
pcd_p, pcd_f = get_file()
pcds_down = load_point_clouds(voxel_size)
o3d.visualization.draw_geometries(pcds_down)
print("Full registration ...")
pose_graph = full_registration(pcds_down,
max_correspondence_distance_coarse,
max_correspondence_distance_fine)
print("Optimizing PoseGraph ...")
option = o3d.registration.GlobalOptimizationOption(
max_correspondence_distance=max_correspondence_distance_fine,
edge_prune_threshold=0.25,
reference_node=0)
o3d.registration.global_optimization(
pose_graph, o3d.registration.GlobalOptimizationLevenbergMarquardt(),
viewer.SpinOnce()
print("")
print("Done.")
while view:
viewer.Spin()
view = not (viewer.WasStopped())
return accumulate_clouds
if __name__ == "__main__":
while (True):
cloud_path, cloud_format = get_file()
# for path in cloud_path:
folder_name = cloud_path[-13:-4]
cluster_index = 0
cluster_name = str(cluster_index)[-4:]
print("Cluster_" + str(cluster_index)[-4:] + "." + cloud_format)
pcl_cloud = pcl.load(cloud_path, cloud_format)
# for i in range(400):
clusters = segment(pcl_cloud, 2.75, min_cluster=5, view=False)
for cluster in clusters:
# pcl.save(cluster, ("./data/PRICT-28/clusters/Cluster_" + str(cluster_index)[-4:] + "." + cloud_format),
# format=cloud_format)
[0, 1],
[0, 2],
[0, 3],
]
#each vector is red, green blue are PCA1, PCA2 and PCA3 respectivley.
colors = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
#create open3d linesets.
line_set = o3d.LineSet()
line_set.points = o3d.Vector3dVector(points)
line_set.lines = o3d.Vector2iVector(lines)
line_set.colors = o3d.Vector3dVector(colors)
return line_set
if __name__ == "__main__":
cloud_path, cloud_format = load.get_file()
# cloud = pcl.load(cloud_path,cloud_format)
cloud = o3d.io.read_point_cloud(cloud_path, format="ply")
#Perform PCA on entire object
vectors, center, result = get_pca(cloud)
#create vectors in o3d linesets
line_set = o3d_pca_geometry(vectors, center)
#display in o3d
o3d.draw_geometries([cloud, line_set])
ax.plot(zAxisLine[0], zAxisLine[1], zAxisLine[2], 'r')
# label the axes
ax.set_xlabel("X")
ax.set_ylabel("Y")
ax.set_zlabel("Z")
ax.set_title("")
# plt.show(block=True)
return (xAxisLine[0],yAxisLine[1],zAxisLine[2])
if __name__ == "__main__":
source_dir, f1 = load.get_file()
target_dir, f2 = load.get_file()
print(source_dir)
o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Debug)
source_raw = o3d.io.read_point_cloud(source_dir, format = f1)
target_raw = o3d.io.read_point_cloud(target_dir, format = f2)
# source = o3d.geometry.voxel_down_sample(source_raw, voxel_size=0.02)
# target = o3d.geometry.voxel_down_sample(target_raw ,voxel_size=0.02)
source, source_fpfh = preprocess_point_cloud(source_raw, voxel_size=0.1)
target, target_fpfh = preprocess_point_cloud(target_raw, voxel_size=0.1)
result = execute_global_registration(source, target, source_fpfh, target_fpfh, voxel_size=0.1)
def draw_registration_result(source, target, transformation):
source_temp = copy.deepcopy(source)
target_temp = copy.deepcopy(target)
source_temp.paint_uniform_color([1, 0.706, 0])
target_temp.paint_uniform_color([0, 0.651, 0.929])
source_temp.transform(transformation)
o3d.visualization.draw_geometries([source_temp, target_temp])
if __name__ == "__main__":
# main()
source_path, source_format = get_file()
target_path, target_format = get_file()
source = o3d.io.read_point_cloud(source_path)
target = o3d.io.read_point_cloud(target_path)
threshold = 0.02
trans_init = np.asarray([[1, 0, 0, 0],
[0, 1, 0, 0],
[0, 0, 1 , 0],
[0.0, 0.0, 0.0, 1.0]])
print("Initial alignment")
evaluation = o3d.registration.evaluate_registration(source, target,
threshold, trans_init)
print(evaluation)
print("Apply point-to-point ICP")
reg_p2p = o3d.registration.registration_icp(
