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plot3dUtils.py
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import numpy as np
import cv2
import open3d as o3d
class Open3dVisualizer():
def __init__(self):
self.point_cloud = o3d.geometry.PointCloud()
self.o3d_started = False
self.vis = o3d.visualization.Visualizer()
self.vis.create_window(window_name='Point')
def __call__(self, points_3d, rgb_image=None):
self.update(points_3d, rgb_image)
def update(self, points_3d, rgb_image=None):
# Add values to vectors
self.point_cloud.points = o3d.utility.Vector3dVector(points_3d)
if rgb_image is not None:
colors = cv2.cvtColor(rgb_image, cv2.COLOR_BGRA2RGB).reshape(-1,3)/255
self.point_cloud.colors = o3d.utility.Vector3dVector(colors)
self.point_cloud.transform([[1,0,0,0],[0,-1,0,0],[0,0,-1,0],[0,0,0,1]])
# Add geometries if it is the first time
if not self.o3d_started:
self.vis.add_geometry(self.point_cloud)
self.o3d_started = True
else:
self.vis.update_geometry(self.point_cloud)
self.vis.poll_events()
self.vis.update_renderer()
class Open3dMeshVisualizer():
def __init__(self):
self.mesh = o3d.geometry.TriangleMesh()
self.o3d_started = False
self.vis = o3d.visualization.Visualizer()
self.coor = o3d.geometry.TriangleMesh.create_coordinate_frame()
self.coor.scale(0.2, center=self.coor.get_center())
self.vis.create_window(window_name='Mesh')
def __call__(self, model, rgb_image=None):
self.update(model, rgb_image)
def update(self, model, rgb_image=None, location=None, faces=None):
# Add values to vectors
if faces is None:
try:
face = model.f
except:
face = model.faces
else:
face = faces
if location is not None:
offset = location
else:
offset = 0
self.mesh.vertices = o3d.utility.Vector3dVector(model+offset)
self.mesh.triangles = o3d.utility.Vector3iVector(face)
# try:
# self.mesh.vertices = o3d.utility.Vector3dVector(model[0].cpu().numpy()+offset)
# except:
# self.mesh.vertices = o3d.utility.Vector3dVector(model.v[0].detach().cpu().numpy()+offset)
# print(type(face))
# try:
# self.mesh.triangles = o3d.utility.Vector3iVector(face.detach().cpu().numpy())
# except:
# self.mesh.triangles = o3d.utility.Vector3iVector(face)
self.mesh.compute_vertex_normals()
self.mesh.compute_triangle_normals()
# self.point_cloud.points = o3d.utility.Vector3dVector(points_3d)
# if rgb_image is not None:
# colors = cv2.cvtColor(rgb_image, cv2.COLOR_BGRA2RGB).reshape(-1,3)/255
# self.point_cloud.colors = o3d.utility.Vector3dVector(colors)
# self.point_cloud.transform([[1,0,0,0],[0,-1,0,0],[0,0,-1,0],[0,0,0,1]])
# Add geometries if it is the first time
if not self.o3d_started:
self.vis.add_geometry(self.mesh)
self.vis.add_geometry(self.coor)
self.o3d_started = True
else:
self.vis.update_geometry(self.mesh)
self.vis.poll_events()
self.vis.update_renderer()
class Visualizer():
def __init__(self):
self.mesh = o3d.geometry.TriangleMesh()
self.o3d_started = False
self.vis = o3d.visualization.Visualizer()
self.vis.create_window(window_name='Mesh')
def __call__(self, model, rgb_image=None):
self.update(model, rgb_image)
def update(self, model, rgb_image=None):
# Add values to vectors
face = model.f
try:
self.mesh.vertices = o3d.utility.Vector3dVector(model[0].cpu().numpy())
except:
self.mesh.vertices = o3d.utility.Vector3dVector(model.v[0].detach().cpu().numpy())
# print(type(face))
self.mesh.triangles = o3d.utility.Vector3iVector(face.detach().cpu().numpy())
self.mesh.compute_vertex_normals()
self.mesh.compute_triangle_normals()
# self.point_cloud.points = o3d.utility.Vector3dVector(points_3d)
# if rgb_image is not None:
# colors = cv2.cvtColor(rgb_image, cv2.COLOR_BGRA2RGB).reshape(-1,3)/255
# self.point_cloud.colors = o3d.utility.Vector3dVector(colors)
# self.point_cloud.transform([[1,0,0,0],[0,-1,0,0],[0,0,-1,0],[0,0,0,1]])
# Add geometries if it is the first time
if not self.o3d_started:
self.vis.add_geometry(self.mesh)
self.o3d_started = True
else:
self.vis.update_geometry(self.mesh)
self.vis.poll_events()
self.vis.update_renderer()