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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
def custom_draw_geometry_with_camera_trajectory(pcd, camera_trajectory_path,
render_option_path,
output_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(output_path, 'image')
if not os.path.exists(image_path):
os.makedirs(image_path)
depth_path = os.path.join(output_path, 'depth')
if not os.path.exists(depth_path):
os.makedirs(depth_path)
print("Saving color images in " + image_path)
print("Saving depth images in " + 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))
# Capture and save image using Open3D.
vis.capture_depth_image(
os.path.join(depth_path, "{:05d}.png".format(glb.index)), False)
vis.capture_screen_image(
os.path.join(image_path, "{:05d}.png".format(glb.index)), False)
# Example to save image using matplotlib.
'''
depth = vis.capture_depth_float_buffer()
image = vis.capture_screen_float_buffer()
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)
'''
glb.index = glb.index + 1
if glb.index < len(glb.trajectory.parameters):
ctr.convert_from_pinhole_camera_parameters(
glb.trajectory.parameters[glb.index])
else:
custom_draw_geometry_with_camera_trajectory.vis.destroy_window()
# Return false as we don't need to call UpdateGeometry()
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()
if __name__ == "__main__":
if not o3d._build_config['ENABLE_HEADLESS_RENDERING']:
print("Headless rendering is not enabled. "
"Please rebuild Open3D with ENABLE_HEADLESS_RENDERING=ON")
exit(1)
sample_data = o3d.data.DemoCustomVisualization()
pcd = o3d.io.read_point_cloud(sample_data.point_cloud_path)
print("Customized visualization playing a camera trajectory. "
"Press ctrl+z to terminate.")
custom_draw_geometry_with_camera_trajectory(
pcd, sample_data.camera_trajectory_path, sample_data.render_option_path,
'HeadlessRenderingOutput')
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