open3d-0.13.0 ICP模仿PCL迭代可视化

 

# examples/Python/Advanced/non_blocking_visualization.py

import open3d as o3d
import numpy as np
import copy

def save_view_point(pcd, filename):
    vis = o3d.visualization.Visualizer()
    vis.create_window()
    vis.add_geometry(pcd)
    vis.run()  # user changes the view and press "q" to terminate
    param = vis.get_view_control().convert_to_pinhole_camera_parameters()
    o3d.io.write_pinhole_camera_parameters(filename, param)
    vis.destroy_window()


def load_view_point(pcd, filename):
    vis = o3d.visualization.Visualizer()
    vis.create_window()
    ctr = vis.get_view_control()
    param = o3d.io.read_pinhole_camera_parameters(filename)
    vis.add_geometry(pcd)
    ctr.convert_from_pinhole_camera_parameters(param)
    vis.run()
    vis.destroy_window()

def test():
    o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Debug)
    source = o3d.io.read_point_cloud("/home/ninghua/code/deepglint/HSR/PycharmProjects/open3d_demo/python/monkey.ply")
    source = source.voxel_down_sample(voxel_size=0.02)
    
    #flip_transform = [[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]]
    #source.transform(flip_transform)

    target = copy.deepcopy(source)

    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)

    source.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1, max_nn=30))
    target.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1, max_nn=30))

    left_source = copy.deepcopy(source)
    left_target = copy.deepcopy(target)
    tx_ty = [[1.0, 0.0, 0.0, -5], 
             [0.0, 1.0, 0.0, 0],
             [0.0, 0.0, 1.0, 0], 
             [0.0, 0.0, 0.0, 1.0]]
    left_source.transform(tx_ty)
    left_target.transform(tx_ty)


    left_source.paint_uniform_color([0, 1, 0])
    left_target.paint_uniform_color([1, 1, 1])
    source.paint_uniform_color([1, 0, 0])
    target.paint_uniform_color([1, 1, 1])

    vis = o3d.visualization.VisualizerWithKeyCallback()
    vis.create_window()

    ctr = vis.get_view_control()
    param = o3d.io.read_pinhole_camera_parameters("viewpoint.json")

    vis.add_geometry(left_source)
    vis.add_geometry(left_target)
    
    vis.add_geometry(source)
    vis.add_geometry(target)

    ctr.convert_from_pinhole_camera_parameters(param)

    rotating = False
    def key_action_callback(vis, action, mods):
        nonlocal rotating
        #print(action)
        if action == 1:  # key down
            rotating = True
        elif action == 0:  # key up
            rotating = False
        elif action == 2:  # key repeat
            pass
        return True

    def animation_callback(vis):
        nonlocal rotating
        if rotating:
            reg_p2l = o3d.pipelines.registration.registration_icp(
                source=source,
                target=target,
                max_correspondence_distance=10,
                init=np.identity(4),
                estimation_method=o3d.pipelines.registration.TransformationEstimationPointToPoint(),
                criteria=o3d.pipelines.registration.ICPConvergenceCriteria(max_iteration=1,
                                                                        relative_fitness=1e-6,
                                                                        relative_rmse=1e-6))
            source.transform(reg_p2l.transformation)
            vis.update_geometry(source)
            vis.poll_events()
            vis.update_renderer()

    # key_action_callback will be triggered when there's a keyboard press, release or repeat event
    vis.register_key_action_callback(32, key_action_callback)  # space

    # animation_callback is always repeatedly called by the visualizer
    vis.register_animation_callback(animation_callback)

    vis.run()

    # param = vis.get_view_control().convert_to_pinhole_camera_parameters()
    # o3d.io.write_pinhole_camera_parameters("viewpoint.json", param)
    # vis.destroy_window()

    # for i in range(icp_iteration):
    #     source.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1, max_nn=30))
    #     target.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1, max_nn=30))
    #     reg_p2l = o3d.pipelines.registration.registration_icp(
    #         source=source,
    #         target=target,
    #         max_correspondence_distance=100,
    #         init=np.identity(4),
    #         estimation_method=o3d.pipelines.registration.TransformationEstimationPointToPoint(),
    #         criteria=o3d.pipelines.registration.ICPConvergenceCriteria(max_iteration=1,
    #                                                                    relative_fitness=1e-6,
    #                                                                    relative_rmse=1e-6))
    #     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()


if __name__ == "__main__":
    test()