add create pcd

easymocap/visualize/o3dwrapper.py

@@ -2,37 +2,57 @@
   @ Date: 2021-04-25 15:52:01
   @ Author: Qing Shuai
   @ LastEditors: Qing Shuai
-  @ LastEditTime: 2021-06-20 15:22:59
+  @ LastEditTime: 2022-09-02 14:27:41
-  @ FilePath: /EasyMocap/easymocap/visualize/o3dwrapper.py
+  @ FilePath: /EasyMocapPublic/easymocap/visualize/o3dwrapper.py
 '''
 import open3d as o3d
 import numpy as np
 from .geometry import create_ground as create_ground_
 from .geometry import create_point as create_point_
 from .geometry import create_line as create_line_
+from os.path import join
 
 Vector3dVector = o3d.utility.Vector3dVector
 Vector3iVector = o3d.utility.Vector3iVector
 Vector2iVector = o3d.utility.Vector2iVector
 TriangleMesh = o3d.geometry.TriangleMesh
 load_mesh = o3d.io.read_triangle_mesh
+load_pcd = o3d.io.read_point_cloud
 vis = o3d.visualization.draw_geometries
+write_mesh = o3d.io.write_triangle_mesh
 
 def _create_cylinder():
     # create_cylinder(radius=1.0, height=2.0, resolution=20, split=4, create_uv_map=False)
     pass
 
-def create_mesh(vertices, faces, colors=None, **kwargs):
+def read_mesh(filename):
+    mesh = load_mesh(filename)
+    mesh.compute_vertex_normals()
+    return mesh
+
+def create_mesh(vertices, faces, colors=None, normal=True, **kwargs):
     mesh = TriangleMesh()
     mesh.vertices = Vector3dVector(vertices)
     mesh.triangles = Vector3iVector(faces)
-    if colors is not None:
+    if colors is not None and isinstance(colors, np.ndarray):
         mesh.vertex_colors = Vector3dVector(colors)
+    elif colors is not None and isinstance(colors, list):
+        mesh.paint_uniform_color(colors)
     else:
         mesh.paint_uniform_color([1., 0.8, 0.8])
+    if normal:
         mesh.compute_vertex_normals()
     return mesh
 
+def create_pcd(xyz, color=None, colors=None):
+    pcd = o3d.geometry.PointCloud()
+    pcd.points = Vector3dVector(xyz[:, :3])
+    if color is not None:
+        pcd.paint_uniform_color(color)
+    if colors is not None:
+        pcd.colors = Vector3dVector(colors)
+    return pcd
+
 def create_point(**kwargs):
     return create_mesh(**create_point_(**kwargs))
 
@@ -46,6 +66,7 @@ def create_ground(**kwargs):
 def create_coord(camera = [0,0,0], radius=1, scale=1):
     camera_frame = TriangleMesh.create_coordinate_frame(
             size=radius, origin=camera)
+    if scale != 1:
         camera_frame.scale(scale)
     return camera_frame
 
@@ -56,4 +77,61 @@ def create_bbox(min_bound=(-3., -3., 0), max_bound=(3., 3., 2), flip=False):
         min_bound = [min_bound_[0], -max_bound_[1], -max_bound_[2]]
         max_bound = [max_bound_[0], -min_bound_[1], -min_bound_[2]]
     bbox = o3d.geometry.AxisAlignedBoundingBox(min_bound, max_bound)
+    bbox.color = [0., 0., 0.]
     return bbox
+
+def get_bound_corners(bounds):
+    min_x, min_y, min_z = bounds[0]
+    max_x, max_y, max_z = bounds[1]
+    corners_3d = np.array([
+        [min_x, min_y, min_z],
+        [min_x, min_y, max_z],
+        [min_x, max_y, min_z],
+        [min_x, max_y, max_z],
+        [max_x, min_y, min_z],
+        [max_x, min_y, max_z],
+        [max_x, max_y, min_z],
+        [max_x, max_y, max_z],
+    ])
+    return corners_3d
+
+def create_rt_bbox(rtbbox):
+    corners = get_bound_corners(rtbbox.aabb)
+    corners = corners @ rtbbox.R.T + rtbbox.T
+    lines = []
+    for (i, j) in [(0, 1), (0, 2), (2, 3), (3, 1), 
+        (4, 5), (4, 6), (6, 7), (5, 7), 
+        (0, 4), (2, 6), (1, 5), (3, 7)]:
+        line = create_line(start=corners[i], end=corners[j], r=0.001)
+        line.paint_uniform_color([0., 0., 0.])
+        lines.append(line)
+    return lines
+
+def create_my_bbox(min_bound=(-3., -3., 0), max_bound=(3., 3., 2)):
+    # 使用圆柱去创建一个mesh
+    bbox = o3d.geometry.AxisAlignedBoundingBox(min_bound, max_bound)
+    return bbox
+
+def create_camera(path=None, cameras=None):
+    if cameras is None:
+        from ..mytools.camera_utils import read_cameras
+        cameras = read_cameras(path)
+    from .geometry import create_cameras
+    meshes = create_cameras(cameras)
+    return create_mesh(**meshes)
+
+def read_and_vis(filename):
+    mesh = load_mesh(filename)
+    mesh.compute_vertex_normals()
+    # if not mesh.has_texture:
+    vis([mesh])
+
+if __name__ == "__main__":
+    for res in [2, 4, 8, 20]:
+        mesh_sphere = o3d.geometry.TriangleMesh.create_sphere(radius=1.0, resolution=res)
+        mesh_sphere.paint_uniform_color([0.6, 0.7, 0.8])
+        outname = 'easymocap/visualize/assets/sphere_faces_{}.txt'.format(res)
+        np.savetxt(outname, np.asarray(mesh_sphere.triangles), fmt='%6d')
+        outname = outname.replace('faces', 'vertices')
+        np.savetxt(outname, np.asarray(mesh_sphere.vertices), fmt='%7.3f')
+        vis([mesh_sphere])