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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.
# ----------------------------------------------------------------------------
import argparse
import os
import numpy as np
import open3d as o3d
POINTS_PER_FRUSTUM = 5
EDGES_PER_FRUSTUM = 8
def lineset_from_pose_graph(pose_graph):
points = []
colors = []
lines = []
cnt = 0
for node in pose_graph.nodes:
pose = np.array(node.pose)
l = 0.1
points.append((pose @ np.array([0, 0, 0, 1]).T)[:3])
points.append((pose @ np.array([l, l, 2 * l, 1]).T)[:3])
points.append((pose @ np.array([l, -l, 2 * l, 1]).T)[:3])
points.append((pose @ np.array([-l, -l, 2 * l, 1]).T)[:3])
points.append((pose @ np.array([-l, l, 2 * l, 1]).T)[:3])
lines.append([cnt + 0, cnt + 1])
lines.append([cnt + 0, cnt + 2])
lines.append([cnt + 0, cnt + 3])
lines.append([cnt + 0, cnt + 4])
lines.append([cnt + 1, cnt + 2])
lines.append([cnt + 2, cnt + 3])
lines.append([cnt + 3, cnt + 4])
lines.append([cnt + 4, cnt + 1])
for i in range(0, EDGES_PER_FRUSTUM):
colors.append(np.array([1, 0, 0]))
cnt += POINTS_PER_FRUSTUM
for edge in pose_graph.edges:
s = edge.source_node_id
t = edge.target_node_id
lines.append([POINTS_PER_FRUSTUM * s, POINTS_PER_FRUSTUM * t])
colors.append(
np.array([0, 1, 0]) if edge.uncertain else np.array([0, 0, 1]))
lineset = o3d.geometry.LineSet()
lineset.points = o3d.utility.Vector3dVector(np.vstack(points))
lineset.lines = o3d.utility.Vector2iVector(np.vstack(lines).astype(int))
lineset.colors = o3d.utility.Vector3dVector(np.vstack(colors))
return lineset
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('scene', help='path to reconstructed scene (.ply)')
parser.add_argument('--poses', type=str, help='path to pose graph')
args = parser.parse_args()
path_to_scene = args.scene
scene = o3d.io.read_point_cloud(path_to_scene)
geometries = [scene]
if args.poses:
path_to_posegraph = args.poses
pose_graph = o3d.io.read_pose_graph(path_to_posegraph)
lineset = lineset_from_pose_graph(pose_graph)
geometries.append(lineset)
o3d.visualization.draw_geometries(geometries)
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