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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# The MIT License (MIT)
#
# Copyright (c) 2018-2021 www.open3d.org
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
# IN THE SOFTWARE.
# ----------------------------------------------------------------------------
# examples/python/reconstruction_system/debug/visualize_fragment.py
import argparse
import json
import sys
import open3d as o3d
pyexample_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
sys.path.append(pyexample_path)
from open3d_example import *
sys.path.append(".")
from initialize_config import *
# test wide baseline matching
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="visualize pose graph")
parser.add_argument("config", help="path to the config file")
parser.add_argument("--start_id",
type=int,
default=0,
help="starting ID of fragment")
parser.add_argument(
"--estimate_normal",
type=int,
default=0,
help="normal estimation for better visualization of point cloud")
args = parser.parse_args()
with open(args.config) as json_file:
config = json.load(json_file)
initialize_config(config)
fragment_files = get_file_list(join(config["path_dataset"],
config["folder_fragment"]),
extension='.ply')
for i in range(args.start_id, len(fragment_files)):
print(fragment_files[i])
pcd = o3d.io.read_point_cloud(fragment_files[i])
if (args.estimate_normal):
pcd.estimate_normals(
o3d.geometry.KDTreeSearchParamHybrid(
radius=config["voxel_size"] * 2.0, max_nn=30))
draw_geometries_flip([pcd])
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