def main():
color_files, depth_files, traj, intrinsics = get_realsense_data()
axis_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.2)
axis_frame.translate([0, 0.8, -0.7])
grid_ls = construct_grid(size=2,
n=20,
plane_offset=-0.8,
translate=[0, 1.0, 0.0])
for idx in range(len(color_files)):
if idx < 2:
continue
pcd, rgbd, extrinsics = get_frame_data(idx,
color_files,
depth_files,
traj,
intrinsics,
stride=2)
center = pcd.get_center() if o3d_major_version > 9 else True
pcd = pcd.rotate(R_Standard_d400[:3, :3], center=center)
logging.info("File %r - Point Cloud; Size: %r", idx,
np.asarray(pcd.points).shape[0])
o3d.visualization.draw_geometries([pcd, grid_ls, axis_frame])
results = run_test(pcd,
rgbd,
intrinsics,
extrinsics,
callback=callback,
stride=2)
def callback(alg_name, execution_time, mesh=None):
axis_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.2)
axis_frame.translate([0, 0.8, -0.7])
grid_ls = construct_grid(size=2, n=20, plane_offset=-0.8, translate=[0, 1.0, 0.0])
logging.info("%s took (ms): %.2f", alg_name, execution_time)
if mesh:
if isinstance(mesh, list):
o3d.visualization.draw_geometries(
[*mesh], width=800, height=500)
else:
o3d.visualization.draw_geometries([mesh], width=800, height=500)
def main():
axis_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.2)
axis_frame.translate([0, 0.8, -1.0])
grid_ls = construct_grid(size=2,
n=20,
plane_offset=-1.0,
translate=[0, 0.0, 0.0])
mesh = o3d.io.read_triangle_mesh('fixtures/meshes/Table_edit.ply')
mesh.compute_vertex_normals()
run_test(mesh, callback=callback, stride=2)
def main():
axis_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.2)
axis_frame.translate([0, 0.8, -1.0])
grid_ls = construct_grid(size=2,
n=20,
plane_offset=-1.0,
translate=[0, 0.0, 0.0])
for i, mesh in enumerate(get_mesh_data_iterator()):
if i < 2:
continue
# o3d.io.write_triangle_mesh('test.ply', mesh)
run_test(mesh, callback=callback, stride=2)
def main():
axis_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.2)
axis_frame.translate([0, 0.8, -1.0])
grid_ls = construct_grid(size=2,
n=20,
plane_offset=-1.0,
translate=[0, 0.0, 0.0])
polylidar_kwargs_basement = dict(alpha=0.0,
lmax=0.10,
min_triangles=80,
z_thresh=0.08,
norm_thresh=0.95,
norm_thresh_min=0.95,
min_hole_vertices=6)
config_pp_basement = dict(filter=dict(hole_area=dict(min=0.05, max=100.0),
hole_vertices=dict(min=6),
plane_area=dict(min=0.25)),
positive_buffer=0.0,
negative_buffer=0.025,
simplify=0.01)
polylidar_kwargs_mainfloor = dict(alpha=0.0,
lmax=0.10,
min_triangles=1000,
z_thresh=0.08,
norm_thresh=0.95,
norm_thresh_min=0.95,
min_hole_vertices=6)
config_pp_main_floor = dict(filter=dict(hole_area=dict(min=0.1, max=100.0),
hole_vertices=dict(min=6),
plane_area=dict(min=0.25)),
positive_buffer=0.02,
negative_buffer=0.05,
simplify=0.02)
polylidar_kwargs = [
polylidar_kwargs_mainfloor, None, polylidar_kwargs_basement
]
config_pp = [config_pp_main_floor, None, config_pp_basement]
for i, mesh in enumerate(get_mesh_data_iterator()):
if i == 1:
continue
run_test(mesh,
callback=callback,
polylidar_kwargs=polylidar_kwargs[i],
config_pp=config_pp[i])