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Visualize_align_PC.py
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# coding:utf-8
import open3d as o3d
import numpy as np
import os
from plyfile import PlyData, PlyElement
# pcd = o3d.io.read_point_cloud("C:\\Users\\zjx61\\Desktop\\scene0565\\scene0565_00_vh_clean_2.labels.ply")
# pcd = o3d.io.read_point_cloud("C:\\Users\\zjx61\\Desktop\\scene0565\\aligned.ply")
# print(pcd)
# print(np.asarray(pcd.points))
# o3d.visualization.draw_geometries([pcd],
# zoom=0.3412,
# front=[0.4257, -0.2125, -0.8795],
# lookat=[2.6172, 2.0475, 1.532],
# up=[-0.0694, -0.9768, 0.2024])
def read_mesh(filename):
""" read XYZ for each vertex.
"""
assert os.path.isfile(filename)
with open(filename, 'rb') as f:
plydata = PlyData.read(f)
num_verts = plydata['vertex'].count
vertices = np.zeros(shape=[num_verts, 6], dtype=np.float32)
vertices[:, 0] = plydata['vertex'].data['x']
vertices[:, 1] = plydata['vertex'].data['y']
vertices[:, 2] = plydata['vertex'].data['z']
vertices[:, 3] = plydata['vertex'].data['red']
vertices[:, 4] = plydata['vertex'].data['green']
vertices[:, 5] = plydata['vertex'].data['blue']
return vertices, plydata['face']
def write_mesh(vertices, faces):
new_vertices = []
for i in range(vertices.shape[0]):
new_vertices.append((
vertices[i][0],
vertices[i][1],
vertices[i][2],
vertices[i][3],
vertices[i][4],
vertices[i][5],
))
vertices = np.array(new_vertices,
dtype=[("x", np.dtype("float32")),
("y", np.dtype("float32")),
("z", np.dtype("float32")),
("red", np.dtype("uint8")),
("green", np.dtype("uint8")),
("blue", np.dtype("uint8"))])
vertices = PlyElement.describe(vertices, "vertex")
mesh = PlyData([vertices, faces])
mesh.write("C:\\Users\\zjx61\\Desktop\\aligned.ply")
if __name__ == '__main__':
# 1. 得到 ply ⽂件，分别得到 x, y, z, r, g, b
ROOT = "C:\\Users\\zjx61\\Desktop\\scene0565"
filename = os.path.join(ROOT, "scene0565_00_vh_clean_2.ply")
vertices, faces = read_mesh(filename)
# 2. 得到偏移
meta_file = os.path.join(ROOT, "scene0565_00.txt")
lines = open(meta_file).readlines()
axis_align_matrix = None
for line in lines:
if 'axisAlignment' in line:
axis_align_matrix = [float(x) for x in line.rstrip().strip('axisAlignment = ').split(' ')]
# 3. 将点云 ply ⽂件偏移
if axis_align_matrix != None:
axis_align_matrix = np.array(axis_align_matrix).reshape((4, 4))
pts = np.ones((vertices.shape[0], 4))
pts[:, 0:3] = vertices[:, :3]
pts = np.dot(pts, axis_align_matrix.transpose())
aligned_vertices = np.copy(vertices)
aligned_vertices[:, 0:3] = pts[:, 0:3]
write_mesh(aligned_vertices, faces)
# from six.moves import cPickle
# import numpy as np
# def unpickle_data(file_name, python2_to_3=False):
# """
# Restore data previously saved with pickle_data().
# :param file_name: file holding the pickled data.
# :param python2_to_3: (boolean), if True, pickle happened under python2x, unpickling under python3x.
# :return: an generator over the un-pickled items.
# Note, about implementing the python2_to_3 see
# https://stackoverflow.com/questions/28218466/unpickling-a-python-2-object-with-python-3
# """
# in_file = open(file_name, 'rb')
# if python2_to_3:
# size = cPickle.load(in_file, encoding='latin1')
# else:
# size = cPickle.load(in_file)
# for _ in range(size):
# if python2_to_3:
# yield cPickle.load(in_file, encoding='latin1')
# else:
# yield cPickle.load(in_file)
# in_file.close()
# all_scans = unpickle_data("C:\\Users\\zjx61\\Desktop\\test_resultall_vis.pkl")
# instance_labels = set()
# '''
# dict_keys(['guessed_correctly', 'confidences_probs', 'contrasted_objects', 'target_pos', 'context_size', 'guessed_correctly_among_true_class', 'utterance', 'stimulus_id', 'object_ids', 'target_object_id', 'distrators_pos'])
# '''
# # 48*156
# for scan in all_scans:
# print(scan[0].keys())
# with open("record.txt","a+") as f:
# print("distrators_pos",scan[0]['distrators_pos'][0][0],file=f)
# print("target_pos",scan[0]['target_pos'][0],file=f)
# print("context_size",scan[0]['context_size'][0],file=f)
# print("target_object_id",scan[0]['target_object_id'][0],file=f)
# print("object_ids",scan[0]['object_ids'][0],file=f)
# print("stimulus_id",scan[0]['stimulus_id'][0][0],file=f)
# print("utterance",scan[0]['utterance'][0][0],file=f)