Open3D-GUI系列教程（六）点云法向可视化

GUI模块并没有提供一个可视化法向量的方法，所以只能另辟蹊径，使用open3d.geometry.LineSet来创建一个法向量的线段集。

版本：0.14.1

从点云创建线段集

def normals_lineset(pcd, normal_scale = 0.005, color = [1,0,0]):
    line_set = o3d.geometry.LineSet()
    start = np.asarray(pcd.points)
    end = np.asarray(pcd.points)+(np.asarray(pcd.normals) * normal_scale)
    points = np.concatenate((start,end))
    line_set.points = o3d.utility.Vector3dVector(points)
    size = len(start)
    line_set.lines = o3d.utility.Vector2iVector(np.asarray([[i,i+size] for i in range(0,size)])) # 线段端点索引
    line_set.paint_uniform_color(color)
    return line_set

 
 
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• pcd：点云数据，包含顶点数据points和法向数据normals
• normal_scale：法向一般是归一化的，显示效果可能不理想，所以进行缩放
• color：线段颜色

加入场景

在load函数中创建并显示点云法向，也可以在Menubar添加一个item来控制法向的显示。

	def load(self, file):
        # 加载模型
        # ...
    <span class="token comment"># 法向</span>
    normals <span class="token operator">=</span> normals_lineset<span class="token punctuation">(</span>self<span class="token punctuation">.</span>pcd<span class="token punctuation">)</span>
    <span class="token comment"># 材质</span>
    normal_mat <span class="token operator">=</span> rendering<span class="token punctuation">.</span>MaterialRecord<span class="token punctuation">(</span><span class="token punctuation">)</span>
    normal_mat <span class="token operator">=</span> <span class="token string">'defaultUnlit'</span>
    
    self<span class="token punctuation">.</span>_scene<span class="token punctuation">.</span>scene<span class="token punctuation">.</span>add_geometry<span class="token punctuation">(</span><span class="token string">'normal'</span><span class="token punctuation">,</span>normals<span class="token punctuation">,</span>normal_mat<span class="token punctuation">)</span>
    
    <span class="token comment"># 重绘</span>
    self<span class="token punctuation">.</span>_scene<span class="token punctuation">.</span>force_redraw<span class="token punctuation">(</span><span class="token punctuation">)</span>        

运行

运行

运行结果

完整代码

import open3d as o3d
import open3d.visualization.gui as gui
import open3d.visualization.rendering as rendering
import numpy as np
import copy

def normals_lineset(pcd, normal_scale = 0.005, color = [1,0,0]):
line_set = o3d.geometry.LineSet()
start = np.asarray(pcd.points)
end = np.asarray(pcd.points)+(np.asarray(pcd.normals) * normal_scale)
points = np.concatenate((start,end))
line_set.points = o3d.utility.Vector3dVector(points)
size = len(start)
line_set.lines = o3d.utility.Vector2iVector(np.asarray([[i,i+size] for i in range(0,size)]))
line_set.paint_uniform_color(color)
return line_set

class App:

MENU_OPEN = 1

MENU_SHOW = 5

MENU_QUIT = 20
MENU_ABOUT = 21

show = True

_picked_indicates = []
_picked_points = []
_pick_num = 0

_label3d_list = []

def init(self):
gui.Application.instance.initialize()

self.window = gui.Application.instance.create_window(“Pick Points”,800,600)
w = self.window
em = w.theme.font_size

# 渲染窗口
self._scene = gui.SceneWidget()
self._scene.scene = rendering.Open3DScene(w.renderer)
self._scene.set_on_mouse(self._on_mouse_widget3d)

self._info = gui.Label(“”)
self._info.visible = False

# 布局回调函数
w.set_on_layout(self._on_layout)
w.add_child(self._scene)
w.add_child(self._info)

# ---------------Menu----------------
# 菜单栏是全局的（因为macOS上是全局的）
# 无论创建多少窗口，菜单栏只创建一次。

# ----以下只针对Windows的菜单栏创建----
if gui.Application.instance.menubar is None:
# 文件菜单栏
file_menu = gui.Menu()
file_menu.add_item(“Open”,App.MENU_OPEN)
file_menu.add_separator()
file_menu.add_item(“Quit”,App.MENU_QUIT)

# 显示菜单栏
show_menu = gui.Menu()
show_menu.add_item(“Show Geometry”,App.MENU_SHOW)
show_menu.set_checked(App.MENU_SHOW,True)

# 帮助菜单栏
help_menu = gui.Menu()
help_menu.add_item(“About”,App.MENU_ABOUT)
help_menu.set_enabled(App.MENU_ABOUT,False)
# 菜单栏
menu = gui.Menu()
menu.add_menu(“File”,file_menu)
menu.add_menu(“Show”,show_menu)
menu.add_menu(“Help”,help_menu)

gui.Application.instance.menubar = menu

#-----注册菜单栏事件------
w.set_on_menu_item_activated(App.MENU_OPEN,self._menu_open)
w.set_on_menu_item_activated(App.MENU_QUIT,self._menu_quit)
w.set_on_menu_item_activated(App.MENU_SHOW,self._menu_show)

# 鼠标事件
def _on_mouse_widget3d(self, event):
if event.type == gui.MouseEvent.Type.BUTTON_DOWN and event.is_button_down(gui.MouseButton.LEFT) and event.is_modifier_down(gui.KeyModifier.CTRL):

def depth_callback(depth_image):

x = event.x - self._scene.frame.x
y = event.y - self._scene.frame.y

depth = np.asarray(depth_image)[y, x]

if depth==1.0:
# 远平面（没有几何体）
text = “”
else:
world = self._scene.scene.camera.unproject(x, self._scene.frame.height - y, depth, self._scene.frame.width, self._scene.frame.height)

text = “({:.3f}, {:.3f}, {:.3f})”.format(world[0],world[1],world[2])

idx = self._cacl_prefer_indicate(world)
true_point = np.asarray(self.pcd.points)[idx]

self._pick_num += 1
self._picked_indicates.append(idx)
self._picked_points.append(true_point)

print(f"Pick point #{ idx} at ({ true_point[0]}, { true_point[1]}, { true_point[2]})")

def draw_point():
self._info.text = text
self._info.visible = (text != “”)
self.window.set_needs_layout()

if depth != 1.0:
label3d = self._scene.add_3d_label(true_point, “#”+str(self._pick_num))
self._label3d_list.append(label3d)

# 标记球
sphere = o3d.geometry.TriangleMesh.create_sphere(0.0025)
sphere.paint_uniform_color([1,0,0])
sphere.translate(true_point)
material = rendering.MaterialRecord()
material.shader = ‘defaultUnlit’
self._scene.scene.add_geometry(“sphere”+str(self._pick_num),sphere,material)
self._scene.force_redraw()

gui.Application.instance.post_to_main_thread(self.window, draw_point)

self._scene.scene.scene.render_to_depth_image(depth_callback)
return gui.Widget.EventCallbackResult.HANDLED
elif event.type == gui.MouseEvent.Type.BUTTON_DOWN and event.is_button_down(gui.MouseButton.RIGHT) and event.is_modifier_down(gui.KeyModifier.CTRL):
if self._pick_num > 0:
idx = self._picked_indicates.pop()
point = self._picked_points.pop()

print(f"Undo pick: #{ idx} at ({ point[0]}, { point[1]}, { point[2]})")

self._scene.scene.remove_geometry(‘sphere’+str(self._pick_num))
self._pick_num -= 1
self._scene.remove_3d_label(self._label3d_list.pop())
self._scene.force_redraw()
else:
print(“Undo no point!”)
return gui.Widget.EventCallbackResult.HANDLED
return gui.Widget.EventCallbackResult.IGNORED

def _cacl_prefer_indicate(self, point):
pcd = copy.deepcopy(self.pcd)
pcd.points.append(np.asarray(point))

pcd_tree = o3d.geometry.KDTreeFlann(pcd)
[k, idx, _]=pcd_tree.search_knn_vector_3d(pcd.points[-1], 2)
return idx[-1]

# 打开并显示一个obj模型
def _menu_open(self):
# 文件拾取对话框
file_picker = gui.FileDialog(gui.FileDialog.OPEN,“Select file…”,self.window.theme)

# 文件类型过滤
file_picker.add_filter(‘.obj’, ‘obj model files’)
file_picker.add_filter(‘’, ‘All files’)

# 初始文件路径
file_picker.set_path(‘./model’)

# 设置对话框按钮回调
file_picker.set_on_cancel(self._on_cancel)
file_picker.set_on_done(self._on_done)

# 显示对话框
self.window.show_dialog(file_picker)

def _on_cancel(self):
# 关闭当前对话框
self.window.close_dialog()

def _on_done(self, filename):
self.window.close_dialog()
self.load(filename)

def load(self, file):
# 读取模型文件
mesh = o3d.io.read_triangle_mesh(file)
mesh.compute_vertex_normals()
# 定义材质
material = rendering.MaterialRecord()
material.shader = ‘defaultLit’

# 向场景中添加模型
self._scene.scene.add_geometry(‘bunny’,mesh,material)
bounds = mesh.get_axis_aligned_bounding_box()
self._scene.setup_camera(60,bounds,bounds.get_center())
# self._scene.scene.show_geometry(‘bunny’,False)

self.mesh = mesh

self.pcd = o3d.geometry.PointCloud()
self.pcd.points = o3d.utility.Vector3dVector(np.asarray(mesh.vertices))
self.pcd.normals = o3d.utility.Vector3dVector(np.asarray(mesh.vertex_normals))

normals = normals_lineset(self.pcd)

normal_mat = rendering.MaterialRecord()
normal_mat.shader = ‘defaultUnlit’

self._scene.scene.add_geometry(‘normal’,normals,normal_mat)

# 重绘
self._scene.force_redraw()

# 退出应用
def _menu_quit(self):
self.window.close()

# 切换显示模型
def _menu_show(self):
self.show = not self.show
gui.Application.instance.menubar.set_checked(App.MENU_SHOW,self.show)
self._scene.scene.show_geometry(‘bunny’,self.show)

def _on_layout(self, layout_context):
r = self.window.content_rect
self._scene.frame = r

pref = self._info.calc_preferred_size(layout_context, gui.Widget.Constraints())
self._info.frame = gui.Rect(
r.x, r.get_bottom()-pref.height, pref.width, pref.height)

def run(self):
gui.Application.instance.run()

if name == “main”:
app = App()
app.run()