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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2024 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------
# examples/python/visualization/non_blocking_visualization.py
import open3d as o3d
import numpy as np
def prepare_data():
pcd_data = o3d.data.DemoICPPointClouds()
source_raw = o3d.io.read_point_cloud(pcd_data.paths[0])
target_raw = o3d.io.read_point_cloud(pcd_data.paths[1])
source = source_raw.voxel_down_sample(voxel_size=0.02)
target = target_raw.voxel_down_sample(voxel_size=0.02)
trans = [[0.862, 0.011, -0.507, 0.0], [-0.139, 0.967, -0.215, 0.7],
[0.487, 0.255, 0.835, -1.4], [0.0, 0.0, 0.0, 1.0]]
source.transform(trans)
flip_transform = [[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]]
source.transform(flip_transform)
target.transform(flip_transform)
return source, target
def demo_non_blocking_visualization():
o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Debug)
source, target = prepare_data()
vis = o3d.visualization.Visualizer()
vis.create_window()
vis.add_geometry(source)
vis.add_geometry(target)
threshold = 0.05
icp_iteration = 100
save_image = False
for i in range(icp_iteration):
reg_p2l = o3d.pipelines.registration.registration_icp(
source, target, threshold, np.identity(4),
o3d.pipelines.registration.TransformationEstimationPointToPlane(),
o3d.pipelines.registration.ICPConvergenceCriteria(max_iteration=1))
source.transform(reg_p2l.transformation)
vis.update_geometry(source)
vis.poll_events()
vis.update_renderer()
if save_image:
vis.capture_screen_image("temp_%04d.jpg" % i)
vis.destroy_window()
o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Info)
if __name__ == '__main__':
demo_non_blocking_visualization()
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