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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 numpy as np
import open3d as o3d
import open3d.visualization.gui as gui
import open3d.visualization.rendering as rendering
import time
import threading
def rescale_greyscale(img):
data = np.asarray(img)
assert (len(data.shape) == 2) # requires 1 channel image
dataFloat = data.astype(np.float64)
max_val = dataFloat.max()
# We don't currently support 16-bit images, so convert to 8-bit
dataFloat *= 255.0 / max_val
data8 = dataFloat.astype(np.uint8)
return o3d.geometry.Image(data8)
class VideoWindow:
def __init__(self):
self.rgb_images = []
rgbd_data = o3d.data.SampleRedwoodRGBDImages()
for path in rgbd_data.color_paths:
img = o3d.io.read_image(path)
self.rgb_images.append(img)
self.depth_images = []
for path in rgbd_data.depth_paths:
img = o3d.io.read_image(path)
# The images are pretty dark, so rescale them so that it is
# obvious that this is a depth image, for the sake of the example
img = rescale_greyscale(img)
self.depth_images.append(img)
assert (len(self.rgb_images) == len(self.depth_images))
self.window = gui.Application.instance.create_window(
"Open3D - Video Example", 1000, 500)
self.window.set_on_layout(self._on_layout)
self.window.set_on_close(self._on_close)
self.widget3d = gui.SceneWidget()
self.widget3d.scene = rendering.Open3DScene(self.window.renderer)
self.window.add_child(self.widget3d)
lit = rendering.MaterialRecord()
lit.shader = "defaultLit"
tet = o3d.geometry.TriangleMesh.create_tetrahedron()
tet.compute_vertex_normals()
tet.paint_uniform_color([0.5, 0.75, 1.0])
self.widget3d.scene.add_geometry("tetrahedron", tet, lit)
bounds = self.widget3d.scene.bounding_box
self.widget3d.setup_camera(60.0, bounds, bounds.get_center())
self.widget3d.scene.show_axes(True)
em = self.window.theme.font_size
margin = 0.5 * em
self.panel = gui.Vert(0.5 * em, gui.Margins(margin))
self.panel.add_child(gui.Label("Color image"))
self.rgb_widget = gui.ImageWidget(self.rgb_images[0])
self.panel.add_child(self.rgb_widget)
self.panel.add_child(gui.Label("Depth image (normalized)"))
self.depth_widget = gui.ImageWidget(self.depth_images[0])
self.panel.add_child(self.depth_widget)
self.window.add_child(self.panel)
self.is_done = False
threading.Thread(target=self._update_thread).start()
def _on_layout(self, layout_context):
contentRect = self.window.content_rect
panel_width = 15 * layout_context.theme.font_size # 15 ems wide
self.widget3d.frame = gui.Rect(contentRect.x, contentRect.y,
contentRect.width - panel_width,
contentRect.height)
self.panel.frame = gui.Rect(self.widget3d.frame.get_right(),
contentRect.y, panel_width,
contentRect.height)
def _on_close(self):
self.is_done = True
return True # False would cancel the close
def _update_thread(self):
# This is NOT the UI thread, need to call post_to_main_thread() to update
# the scene or any part of the UI.
idx = 0
while not self.is_done:
time.sleep(0.100)
# Get the next frame, for instance, reading a frame from the camera.
rgb_frame = self.rgb_images[idx]
depth_frame = self.depth_images[idx]
idx += 1
if idx >= len(self.rgb_images):
idx = 0
# Update the images. This must be done on the UI thread.
def update():
self.rgb_widget.update_image(rgb_frame)
self.depth_widget.update_image(depth_frame)
self.widget3d.scene.set_background([1, 1, 1, 1], rgb_frame)
if not self.is_done:
gui.Application.instance.post_to_main_thread(
self.window, update)
def main():
app = o3d.visualization.gui.Application.instance
app.initialize()
win = VideoWindow()
app.run()
if __name__ == "__main__":
main()
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