open3d 定制可视化o3d.visualization.Visualizer

Mr.Q

已于 2023-05-25 16:02:26 修改

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分类专栏： open3d 文章标签： python

于 2023-05-25 16:02:08 首次发布

本文链接：https://blog.csdn.net/jizhidexiaoming/article/details/130869026

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1. 简单可视化

import os
import open3d as o3d
import numpy as np
import matplotlib.pyplot as plt

pyexample_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
test_data_path = os.path.join(os.path.dirname(pyexample_path), 'test_data')


def custom_draw_geometry(pcd):
    """没有任何骚操作, 单纯显示pcd点云"""
    # The following code achieves the same effect as:
    # o3d.visualization.draw_geometries([pcd])
    vis = o3d.visualization.Visualizer()
    vis.create_window()
    vis.add_geometry(pcd)
    vis.run()
    vis.destroy_window()


if __name__ == "__main__":
    # 1. load pcd
    sample_data = o3d.data.DemoCustomVisualization()
    pcd_flipped = o3d.io.read_point_cloud(sample_data.point_cloud_path)
    # Flip it, otherwise the pointcloud will be upside down
    pcd_flipped.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0],
                           [0, 0, 0, 1]])

    print("1. Customized visualization to mimic DrawGeometry")
    custom_draw_geometry(pcd_flipped)

2. 改变视场角

看不出来有啥变化

def custom_draw_geometry_with_custom_fov(pcd, fov_step):
    """
    改变相机的视场角: 表征视场范围
    :param pcd:
    :param fov_step:
    :return: 
    """
    vis = o3d.visualization.Visualizer()
    vis.create_window()
    vis.add_geometry(pcd)
    ctr = vis.get_view_control()
    print("Field of view (before changing) %.2f" % ctr.get_field_of_view())
    ctr.change_field_of_view(step=fov_step)
    print("Field of view (after changing) %.2f" % ctr.get_field_of_view())
    vis.run()
    vis.destroy_window()


if __name__ == "__main__":
    # 1. load pcd
    sample_data = o3d.data.DemoCustomVisualization()
    pcd_flipped = o3d.io.read_point_cloud(sample_data.point_cloud_path)
    # Flip it, otherwise the pointcloud will be upside down
    pcd_flipped.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0],
                           [0, 0, 0, 1]])

    print("2. Changing field of view")
    custom_draw_geometry_with_custom_fov(pcd_flipped, 90.0)
    custom_draw_geometry_with_custom_fov(pcd_flipped, -90.0)

3. 旋转视场

def custom_draw_geometry_with_rotation(pcd):
    """通过回调函数
    旋转视场
    """
    def rotate_view(vis):
        ctr = vis.get_view_control()
        ctr.rotate(10.0, 0.0)  # ?
        return False

    o3d.visualization.draw_geometries_with_animation_callback([pcd],
                                                              rotate_view)


if __name__ == "__main__":
    # 1. load pcd
    sample_data = o3d.data.DemoCustomVisualization()
    pcd_flipped = o3d.io.read_point_cloud(sample_data.point_cloud_path)
    # Flip it, otherwise the pointcloud will be upside down
    pcd_flipped.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0],
                           [0, 0, 0, 1]])


    print("3. Customized visualization with a rotating view")
    custom_draw_geometry_with_rotation(pcd_flipped)

4. 法向量渲染

def custom_draw_geometry_load_option(pcd, render_option_path):
    """渲染文件控制"""
    vis = o3d.visualization.Visualizer()
    vis.create_window()
    vis.add_geometry(pcd)
    vis.get_render_option().load_from_json(render_option_path)
    vis.run()
    vis.destroy_window()


if __name__ == "__main__":
    # 1. load pcd
    sample_data = o3d.data.DemoCustomVisualization()
    pcd_flipped = o3d.io.read_point_cloud(sample_data.point_cloud_path)
    # Flip it, otherwise the pointcloud will be upside down
    pcd_flipped.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0],
                           [0, 0, 0, 1]])

    print("4. Customized visualization showing normal rendering")
    custom_draw_geometry_load_option(pcd_flipped,
                                     sample_data.render_option_path)

5. 键盘控制

def custom_draw_geometry_with_key_callback(pcd, render_option_path):
    """键盘控制"""
    def change_background_to_black(vis):
        opt = vis.get_render_option()
        opt.background_color = np.asarray([0, 0, 0])
        return False

    def load_render_option(vis):
        vis.get_render_option().load_from_json(render_option_path)
        return False

    def capture_depth(vis):
        depth = vis.capture_depth_float_buffer()
        plt.imshow(np.asarray(depth))
        plt.show()
        return False

    def capture_image(vis):
        image = vis.capture_screen_float_buffer()
        plt.imshow(np.asarray(image))
        plt.show()
        return False

    key_to_callback = {}
    key_to_callback[ord("K")] = change_background_to_black
    key_to_callback[ord("R")] = load_render_option
    key_to_callback[ord(",")] = capture_depth
    key_to_callback[ord(".")] = capture_image
    o3d.visualization.draw_geometries_with_key_callbacks([pcd], key_to_callback)


if __name__ == "__main__":
    # 1. load pcd
    sample_data = o3d.data.DemoCustomVisualization()
    pcd_flipped = o3d.io.read_point_cloud(sample_data.point_cloud_path)
    # Flip it, otherwise the pointcloud will be upside down
    pcd_flipped.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0],
                           [0, 0, 0, 1]])

    print("5. Customized visualization with key press callbacks")
    print("   Press 'K' to change background color to black")
    print("   Press 'R' to load a customized render option, showing normals")
    print("   Press ',' to capture the depth buffer and show it")
    print("   Press '.' to capture the screen and show it")
    custom_draw_geometry_with_key_callback(pcd_flipped,
                                           sample_data.render_option_path)