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display_open3d.py
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import numpy as np
import open3d as o3d
import matplotlib.pyplot as plt
import os
def toList1(arr, n):
temp = []
cmap = []
for i in range(0, n):
for j in range(0, n):
for k in range(0, n):
if arr[i][j][k] >= 0.00000001 and arr[i][j][k] < 0.000005:
color = 0.95
temp.append([i - 100, j, k])
cmap.append([color, color, color])
if arr[i][j][k] >= 0.000005 and arr[i][j][k] < 0.00001:
color = 0.7
temp.append([i, j, k])
cmap.append([color, color, color])
if arr[i][j][k] >= 0.00001 and arr[i][j][k] < 0.00005:
color = 0.4
temp.append([i + 100, j, k])
cmap.append([color, color, color])
if arr[i][j][k] >= 0.00005 and arr[i][j][k] < 0.0001:
color = 0.3
temp.append([i + 200, j, k])
cmap.append([color, color, color])
if arr[i][j][k] >= 0.0001 and arr[i][j][k] < 0.001:
color = 0.2
temp.append([i + 300, j, k])
cmap.append([color, color, color])
if arr[i][j][k] >= 0.001 :
color = 0.1
temp.append([i + 400, j, k])
cmap.append([color, color, color])
return [np.array(temp), np.array(cmap)]
def toList2(arr, n):
temp = []
cmap = []
for i in range(0, n):
for j in range(0, n):
for k in range(0, n):
if arr[i][j][k] >= 0.000005 and arr[i][j][k] < 0.00005:
color = 0.5
temp.append([i, j, k])
cmap.append([color, color, color])
return [np.array(temp), np.array(cmap)]
'''
def toTxt(arr):
f = open("data_d.txt", "w")
for i in range(len(arr)):
f.write()
f.close()
'''
def custom_draw_geometry_with_rotation1(pcd):
def change_background_to_black(vis):
opt = vis.get_render_option()
opt.background_color = np.asarray([230/255, 225/255, 227/255])
return False
def load_render_option(vis):
vis.get_render_option().load_from_json(
"../../test_data/renderoption.json")
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
def rotate_view(vis):
ctr = vis.get_view_control()
for i in range(180):
ctr.rotate(10.0, 0.0)
image = vis.capture_screen_float_buffer(True)
plt.imsave("{:05d}.png".format(i), np.asarray(image), dpi = 1)
return False
key_to_callback = {}
key_to_callback[ord("K")] = change_background_to_black
key_to_callback[ord("R")] = rotate_view
key_to_callback[ord(",")] = capture_depth
key_to_callback[ord(".")] = capture_image
o3d.visualization.draw_geometries_with_key_callbacks([pcd],
key_to_callback,
window_name=str(i),
width=1080,
height=1080)
def custom_draw_geometry_with_custom_fov(pcd):
for i in range(90):
vis = o3d.visualization.Visualizer()
vis.create_window()
vis.add_geometry(pcd)
ctr = vis.get_view_control()
ctr.rotate(10.0, 0.0)
vis.run()
image = vis.capture_screen_float_buffer(True)
plt.imsave("{:05d}.png".format(i), np.asarray(image), dpi = 1)
vis.destroy_window()
def custom_draw_geometry_with_rotation2(pcd):
def rotate_view(vis):
ctr = vis.get_view_control()
ctr.rotate(10.0, 0.0)
image = vis.capture_screen_float_buffer(True)
plt.imsave("{:05d}.png".format(i), np.asarray(image), dpi = 1)
return False
o3d.visualization.draw_geometries_with_animation_callback([pcd],
rotate_view)
def custom_draw_geometry_with_camera_trajectory(pcd):
custom_draw_geometry_with_camera_trajectory.index = -1
custom_draw_geometry_with_camera_trajectory.trajectory =\
o3d.io.read_pinhole_camera_trajectory(
"../../test_data/camera_trajectory.json")
custom_draw_geometry_with_camera_trajectory.vis = o3d.visualization.Visualizer(
)
if not os.path.exists("../../test_data/image/"):
os.makedirs("../../test_data/image/")
if not os.path.exists("../../test_data/depth/"):
os.makedirs("../../test_data/depth/")
def move_forward(vis):
# This function is called within the o3d.visualization.Visualizer::run() loop
# The run loop calls the function, then re-render
# So the sequence in this function is to:
# 1. Capture frame
# 2. index++, check ending criteria
# 3. Set camera
# 4. (Re-render)
ctr = vis.get_view_control()
glb = custom_draw_geometry_with_camera_trajectory
if glb.index >= 0:
print("Capture image {:05d}".format(glb.index))
depth = vis.capture_depth_float_buffer(False)
image = vis.capture_screen_float_buffer(False)
plt.imsave("../../test_data/depth/{:05d}.png".format(glb.index),\
np.asarray(depth), dpi = 1)
plt.imsave("../../test_data/image/{:05d}.png".format(glb.index),\
np.asarray(image), dpi = 1)
#vis.capture_depth_image("depth/{:05d}.png".format(glb.index), False)
#vis.capture_screen_image("image/{:05d}.png".format(glb.index), False)
glb.index = glb.index + 1
if glb.index < len(glb.trajectory.parameters):
ctr.convert_from_pinhole_camera_parameters(
glb.trajectory.parameters[glb.index])
else:
custom_draw_geometry_with_camera_trajectory.vis.\
register_animation_callback(None)
return False
vis = custom_draw_geometry_with_camera_trajectory.vis
vis.create_window()
vis.add_geometry(pcd)
vis.get_render_option().load_from_json("../../test_data/renderoption.json")
vis.register_animation_callback(move_forward)
vis.run()
vis.destroy_window()
if __name__ == '__main__':
e_vec = np.load('data_E_vectors_Tetrahedron70x70x70e50.npy')
N = 70
print('done load')
for i in range(35, 40):
Elevel = pow(np.absolute( e_vec[:, i].reshape(N, N, N) ), 2)
xyz, cmap= toList1(Elevel, N)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(xyz)
pcd.colors = o3d.utility.Vector3dVector(cmap)
custom_draw_geometry_with_rotation1(pcd)