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# -*- coding: utf-8 -*-
# How to visualize a range image
# http://www.pointclouds.org/documentation/tutorials/range_image_visualization.php#range-image-visualization
import pcl
import numpy as np
import random
import argparse
import pcl.pcl_visualization
# -----Parameters-----
angular_resolution_x = 0.5
angular_resolution_y = 0.5
coordinate_frame = pcl.CythonCoordinateFrame_Type.CAMERA_FRAME
live_update = False
# -----Help-----
# void printUsage (const char* progName)
# {
# std::cout << "\n\nUsage: "<<progName<<" [options] <scene.pcd>\n\n"
# << "Options:\n"
# << "-------------------------------------------\n"
# << "-r <float> angular resolution in degrees (default "<<angular_resolution<<")\n"
# << "-c <int> coordinate frame (default "<< (int)coordinate_frame<<")\n"
# << "-m Treat all unseen points to max range\n"
# << "-h this help\n"
# << "\n\n";
# }
# void setViewerPose (pcl::visualization::PCLVisualizer& viewer, const Eigen::Affine3f& viewer_pose)
# {
# Eigen::Vector3f pos_vector = viewer_pose * Eigen::Vector3f(0, 0, 0);
# Eigen::Vector3f look_at_vector = viewer_pose.rotation () * Eigen::Vector3f(0, 0, 1) + pos_vector;
# Eigen::Vector3f up_vector = viewer_pose.rotation () * Eigen::Vector3f(0, -1, 0);
# viewer.setCameraPosition (pos_vector[0], pos_vector[1], pos_vector[2],
# look_at_vector[0], look_at_vector[1], look_at_vector[2],
# up_vector[0], up_vector[1], up_vector[2]);
# }
# -----Main-----
# int main (int argc, char** argv)
# // -----Parse Command Line Arguments-----
# if (pcl::console::find_argument (argc, argv, "-h") >= 0)
# {
# printUsage (argv[0]);
# return 0;
# }
# if (pcl::console::find_argument (argc, argv, "-l") >= 0)
# {
# live_update = true;
# std::cout << "Live update is on.\n";
# }
# if (pcl::console::parse (argc, argv, "-rx", angular_resolution_x) >= 0)
# std::cout << "Setting angular resolution in x-direction to "<<angular_resolution_x<<"deg.\n";
# if (pcl::console::parse (argc, argv, "-ry", angular_resolution_y) >= 0)
# std::cout << "Setting angular resolution in y-direction to "<<angular_resolution_y<<"deg.\n";
# int tmp_coordinate_frame;
# if (pcl::console::parse (argc, argv, "-c", tmp_coordinate_frame) >= 0)
# {
# coordinate_frame = pcl::RangeImage::CoordinateFrame (tmp_coordinate_frame);
# std::cout << "Using coordinate frame "<< (int)coordinate_frame<<".\n";
# }
# angular_resolution_x = pcl::deg2rad (angular_resolution_x);
# angular_resolution_y = pcl::deg2rad (angular_resolution_y);
parser = argparse.ArgumentParser(description='StrawPCL example: How to visualize a range image')
parser.add_argument('--UnseenToMaxRange', '-m', default=True, type=bool,
help='Setting unseen values in range image to maximum range readings')
parser.add_argument('--CoordinateFrame', '-c', default=-1, type=int,
help='Using coordinate frame = ')
parser.add_argument('--AngularResolution', '-r', default=0, type=int,
help='Setting angular resolution to = ')
parser.add_argument('--Help',
help='Usage: narf_keypoint_extraction.py [options] <scene.pcd>\n\n'
'Options:\n'
'-------------------------------------------\n'
'-r <float> angular resolution in degrees (default = angular_resolution)\n'
'-c <int> coordinate frame (default = coordinate_frame)\n'
'-m Treat all unseen points as max range\n'
'-h this help\n\n\n;')
args = parser.parse_args()
# // -----Read pcd file or create example point cloud if not given-----
# pcl::PointCloud<PointType>::Ptr point_cloud_ptr (new pcl::PointCloud<PointType>);
# pcl::PointCloud<PointType>& point_cloud = *point_cloud_ptr;
# Eigen::Affine3f scene_sensor_pose (Eigen::Affine3f::Identity ());
# std::vector<int> pcd_filename_indices = pcl::console::parse_file_extension_argument (argc, argv, "pcd");
# if (!pcd_filename_indices.empty ())
# {
# std::string filename = argv[pcd_filename_indices[0]];
# if (pcl::io::loadPCDFile (filename, point_cloud) == -1)
# {
# std::cout << "Was not able to open file \""<<filename<<"\".\n";
# printUsage (argv[0]);
# return 0;
# }
# scene_sensor_pose = Eigen::Affine3f (Eigen::Translation3f (point_cloud.sensor_origin_[0],
# point_cloud.sensor_origin_[1],
# point_cloud.sensor_origin_[2])) *
# Eigen::Affine3f (point_cloud.sensor_orientation_);
# }
# else
# {
# std::cout << "\nNo *.pcd file given => Genarating example point cloud.\n\n";
# for (float x=-0.5f; x<=0.5f; x+=0.01f)
# {
# for (float y=-0.5f; y<=0.5f; y+=0.01f)
# {
# PointType point; point.x = x; point.y = y; point.z = 2.0f - y;
# point_cloud.points.push_back (point);
# }
# }
# point_cloud.width = (int) point_cloud.points.size (); point_cloud.height = 1;
# }
pcd_filename_indices = ''
if len(pcd_filename_indices) != 0:
# point_cloud = pcl.load(argv[0])
point_cloud = pcl.load('./examples/official/IO/test_pcd.pcd')
far_ranges_filename = 'test_pcd.pcd'
far_ranges = pcl.load_PointWithViewpoint(far_ranges_filename)
else:
setUnseenToMaxRange = True
print ('No *.pcd file given = Genarating example point cloud.\n')
count = 0
points = np.zeros((100 * 100, 3), dtype=np.float32)
# float NG
for x in range(-50, 50, 1):
for y in range(-50, 50, 1):
points[count][0] = x * 0.01
points[count][1] = y * 0.01
points[count][2] = 2.0 - y * 0.01
count = count + 1
point_cloud = pcl.PointCloud()
point_cloud.from_array(points)
far_ranges = pcl.PointCloud_PointWithViewpoint()
# // -----------------------------------------------
# // -----Create RangeImage from the PointCloud-----
# // -----------------------------------------------
# float noise_level = 0.0;
# float min_range = 0.0f;
# int border_size = 1;
# boost::shared_ptr<pcl::RangeImage> range_image_ptr(new pcl::RangeImage);
# pcl::RangeImage& range_image = *range_image_ptr;
# range_image.createFromPointCloud (point_cloud, angular_resolution_x, angular_resolution_y,
# pcl::deg2rad (360.0f), pcl::deg2rad (180.0f),
# scene_sensor_pose, coordinate_frame, noise_level, min_range, border_size);
noise_level = 0.0
min_range = 0.0
border_size = 1
range_image = point_cloud.make_RangeImage()
range_image.CreateFromPointCloud (point_cloud,
angular_resolution_x, pcl.deg2rad (360.0), pcl.deg2rad (180.0),
coordinate_frame, noise_level, min_range, border_size)
print ('range_image::integrateFarRanges.\n')
# // --------------------------------------------
# // -----Open 3D viewer and add point cloud-----
# // --------------------------------------------
# pcl::visualization::PCLVisualizer viewer ("3D Viewer");
# viewer.setBackgroundColor (1, 1, 1);
# pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> range_image_color_handler (range_image_ptr, 0, 0, 0);
# viewer.addPointCloud (range_image_ptr, range_image_color_handler, "range image");
# viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "range image");
# //viewer.addCoordinateSystem (1.0f, "global");
# //PointCloudColorHandlerCustom<PointType> point_cloud_color_handler (point_cloud_ptr, 150, 150, 150);
# //viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud");
# viewer.initCameraParameters ();
# setViewerPose(viewer, range_image.getTransformationToWorldSystem ());
viewer = pcl.pcl_visualization.PCLVisualizering()
viewer.SetBackgroundColor (1.0, 1.0, 1.0)
range_image_color_handler = pcl.pcl_visualization.PointCloudColorHandleringCustom (point_cloud, 0, 0, 0)
cloudname = str('cloud')
viewer.AddPointCloud (range_image, range_image_color_handler, cloudname)
viewer.SetPointCloudRenderingProperties (pcl.pcl_visualization.PCLVISUALIZER_POINT_SIZE, 1, cloudname)
# // --------------------------
# // -----Show range image-----
# // --------------------------
# pcl::visualization::RangeImageVisualizer range_image_widget ("Range image");
# range_image_widget.showRangeImage (range_image);
range_image_widget = pcl.pcl_visualization.RangeImageVisualization()
range_image_widget.ShowRangeImage (range_image)
# //--------------------
# // -----Main loop-----
# //--------------------
# while (!viewer.wasStopped ())
# {
# range_image_widget.spinOnce ();
# viewer.spinOnce ();
# pcl_sleep (0.01);
#
# if (live_update)
# {
# scene_sensor_pose = viewer.getViewerPose();
# range_image.createFromPointCloud (point_cloud, angular_resolution_x, angular_resolution_y,
# pcl::deg2rad (360.0f), pcl::deg2rad (180.0f),
# scene_sensor_pose, pcl::RangeImage::LASER_FRAME, noise_level, min_range, border_size);
# range_image_widget.showRangeImage (range_image);
# }
# }
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