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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 os
import open3d as o3d
import numpy as np
import matplotlib.pyplot as plt
pyexample_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
test_data_path = os.path.join(os.path.dirname(pyexample_path), 'test_data')
def custom_draw_geometry(pcd):
# The following code achieves the same effect as:
# o3d.visualization.draw_geometries([pcd])
vis = o3d.visualization.Visualizer()
vis.create_window()
vis.add_geometry(pcd)
vis.run()
vis.destroy_window()
def custom_draw_geometry_with_custom_fov(pcd, fov_step):
vis = o3d.visualization.Visualizer()
vis.create_window()
vis.add_geometry(pcd)
ctr = vis.get_view_control()
print("Field of view (before changing) %.2f" % ctr.get_field_of_view())
ctr.change_field_of_view(step=fov_step)
print("Field of view (after changing) %.2f" % ctr.get_field_of_view())
vis.run()
vis.destroy_window()
def custom_draw_geometry_with_rotation(pcd):
def rotate_view(vis):
ctr = vis.get_view_control()
ctr.rotate(10.0, 0.0)
return False
o3d.visualization.draw_geometries_with_animation_callback([pcd],
rotate_view)
def custom_draw_geometry_load_option(pcd, render_option_path):
vis = o3d.visualization.Visualizer()
vis.create_window()
vis.add_geometry(pcd)
vis.get_render_option().load_from_json(render_option_path)
vis.run()
vis.destroy_window()
def custom_draw_geometry_with_key_callback(pcd, render_option_path):
def change_background_to_black(vis):
opt = vis.get_render_option()
opt.background_color = np.asarray([0, 0, 0])
return False
def load_render_option(vis):
vis.get_render_option().load_from_json(render_option_path)
return False
def capture_depth(vis):
depth = vis.capture_depth_float_buffer()
plt.imshow(np.asarray(depth))
plt.show()
return False
def capture_image(vis):
image = vis.capture_screen_float_buffer()
plt.imshow(np.asarray(image))
plt.show()
return False
key_to_callback = {}
key_to_callback[ord("K")] = change_background_to_black
key_to_callback[ord("R")] = load_render_option
key_to_callback[ord(",")] = capture_depth
key_to_callback[ord(".")] = capture_image
o3d.visualization.draw_geometries_with_key_callbacks([pcd], key_to_callback)
def custom_draw_geometry_with_camera_trajectory(pcd, render_option_path,
camera_trajectory_path):
custom_draw_geometry_with_camera_trajectory.index = -1
custom_draw_geometry_with_camera_trajectory.trajectory =\
o3d.io.read_pinhole_camera_trajectory(camera_trajectory_path)
custom_draw_geometry_with_camera_trajectory.vis = o3d.visualization.Visualizer(
)
image_path = os.path.join(test_data_path, 'image')
if not os.path.exists(image_path):
os.makedirs(image_path)
depth_path = os.path.join(test_data_path, 'depth')
if not os.path.exists(depth_path):
os.makedirs(depth_path)
def move_forward(vis):
# This function is called within the o3d.visualization.Visualizer::run() loop
# The run loop calls the function, then re-render
# So the sequence in this function is to:
# 1. Capture frame
# 2. index++, check ending criteria
# 3. Set camera
# 4. (Re-render)
ctr = vis.get_view_control()
glb = custom_draw_geometry_with_camera_trajectory
if glb.index >= 0:
print("Capture image {:05d}".format(glb.index))
depth = vis.capture_depth_float_buffer(False)
image = vis.capture_screen_float_buffer(False)
plt.imsave(os.path.join(depth_path, '{:05d}.png'.format(glb.index)),
np.asarray(depth),
dpi=1)
plt.imsave(os.path.join(image_path, '{:05d}.png'.format(glb.index)),
np.asarray(image),
dpi=1)
# vis.capture_depth_image("depth/{:05d}.png".format(glb.index), False)
# vis.capture_screen_image("image/{:05d}.png".format(glb.index), False)
glb.index = glb.index + 1
if glb.index < len(glb.trajectory.parameters):
ctr.convert_from_pinhole_camera_parameters(
glb.trajectory.parameters[glb.index], allow_arbitrary=True)
else:
custom_draw_geometry_with_camera_trajectory.vis.\
register_animation_callback(None)
return False
vis = custom_draw_geometry_with_camera_trajectory.vis
vis.create_window()
vis.add_geometry(pcd)
vis.get_render_option().load_from_json(render_option_path)
vis.register_animation_callback(move_forward)
vis.run()
vis.destroy_window()
if __name__ == "__main__":
sample_data = o3d.data.DemoCustomVisualization()
pcd_flipped = o3d.io.read_point_cloud(sample_data.point_cloud_path)
# Flip it, otherwise the pointcloud will be upside down
pcd_flipped.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0],
[0, 0, 0, 1]])
print("1. Customized visualization to mimic DrawGeometry")
custom_draw_geometry(pcd_flipped)
print("2. Changing field of view")
custom_draw_geometry_with_custom_fov(pcd_flipped, 90.0)
custom_draw_geometry_with_custom_fov(pcd_flipped, -90.0)
print("3. Customized visualization with a rotating view")
custom_draw_geometry_with_rotation(pcd_flipped)
print("4. Customized visualization showing normal rendering")
custom_draw_geometry_load_option(pcd_flipped,
sample_data.render_option_path)
print("5. Customized visualization with key press callbacks")
print(" Press 'K' to change background color to black")
print(" Press 'R' to load a customized render option, showing normals")
print(" Press ',' to capture the depth buffer and show it")
print(" Press '.' to capture the screen and show it")
custom_draw_geometry_with_key_callback(pcd_flipped,
sample_data.render_option_path)
pcd = o3d.io.read_point_cloud(sample_data.point_cloud_path)
print("6. Customized visualization playing a camera trajectory")
custom_draw_geometry_with_camera_trajectory(
pcd, sample_data.render_option_path, sample_data.camera_trajectory_path)
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