Visualiztion

1. `draw_geometries()`

Open3D provides a convenient visualization function draw_geometries which takes a list of geometry objects (PointCloud, TriangleMesh, or Image), and renders them together.

1.1 하나씩 시각화

print("Load a ply point cloud, print it, and render it")
pcd = read_point_cloud("test.pcd")
draw_geometries([pcd])

1. 2 연속 재생Non-blocking visualization

컨트롤 flag : update_geometry() and update_renderer()

#간략 코드 
vis = Visualizer()
vis.create_window()
for i in range(icp_iteration):
    # do ICP single iteration
    # transform geometry using ICP
    vis.update_geometry()
    vis.poll_events()
    vis.update_renderer()

#전체 코드 
# examples/Python/Advanced/non_blocking_visualization.py

from open3d import *
import numpy as np
import copy

if __name__ == "__main__":
    set_verbosity_level(VerbosityLevel.Debug)
    source_raw = read_point_cloud("../../TestData/ICP/cloud_bin_0.pcd")
    target_raw = read_point_cloud("../../TestData/ICP/cloud_bin_1.pcd")
    source = voxel_down_sample(source_raw, voxel_size = 0.02)
    target = voxel_down_sample(target_raw, voxel_size = 0.02)
    trans = [[0.862, 0.011, -0.507,  0.0],
            [-0.139, 0.967, -0.215,  0.7],
            [0.487, 0.255,  0.835, -1.4],
            [0.0, 0.0, 0.0, 1.0]]
    source.transform(trans)

    #Both point clouds are flipped for better visualization.
    flip_transform = [[1, 0, 0, 0],  
            [0, -1, 0, 0],
            [0, 0, -1, 0],
            [0, 0, 0, 1]]
    source.transform(flip_transform)
    target.transform(flip_transform)

    #Initialize Visualizer class
    vis = Visualizer()
    vis.create_window()
    vis.add_geometry(source)
    vis.add_geometry(target)
    threshold = 0.05
    icp_iteration = 100
    save_image = False

    for i in range(icp_iteration):
        reg_p2l = registration_icp(source, target, threshold,
                np.identity(4), TransformationEstimationPointToPlane(),
                ICPConvergenceCriteria(max_iteration = 1))
        source.transform(reg_p2l.transformation)
        vis.update_geometry() #informs the `vis` that the related geometries are updated
        vis.poll_events()  #visualizer renders a new frame by calling `poll_events` and `update_renderer`. 
        vis.update_renderer()
        if save_image:
            vis.capture_screen_image("temp_%04d.jpg" % i)
    vis.destroy_window()

2. `draw_geometries_with_custom_animation()`

examples/Python/Advanced/customized_visualization.py

allows the programmer to define a custom view trajectory and play an animation in the GUI.

3. ustomized Visualization](http://www.open3d.org/docs/tutorial/Advanced/customized_visualization.html#customized-visualization)

3.1 Mimic draw_geometries() with Visualizer class

draw_geometries()와 동일한 기능 수행

def custom_draw_geometry(pcd):
    # The following code achieves the same effect as:
    # draw_geometries([pcd])
    vis = Visualizer()
    vis.create_window()
    vis.add_geometry(pcd)
    vis.run()
    vis.destroy_window()

3.2 Change field of view

3.3 `custom_draw_geometry_with_rotation()`

회전 기능으로, 데모용으로 좋을듯
Function draw_geometries_with_animation_callback registers a Python callback function rotate_view as the idle function of the main loop.
It rotates the view along the x-axis whenever the visualizer is idle. This defines an animation behavior.

def custom_draw_geometry_with_rotation(pcd):
    def rotate_view(vis):
        ctr = vis.get_view_control()
        ctr.rotate(10.0, 0.0)
        return False
    draw_geometries_with_animation_callback([pcd], rotate_view)

3.4 키값 연계

배경색 변경
깊이 정보 추출
이미지 캡쳐

시각화 창에서 h 키 이용 도움말 보기

-- Mouse view control --
Left button + drag : Rotate.
Ctrl + left button + drag : Translate.
Wheel : Zoom in/out.

-- Keyboard view control --
[/] : Increase/decrease field of view.
R : Reset view point.
Ctrl/Cmd + C : Copy current view status into the clipboard.
Ctrl/Cmd + V : Paste view status from clipboard.

-- General control --
Q, Esc : Exit window.
H : Print help message.
P, PrtScn : Take a screen capture.
D : Take a depth capture.
O : Take a capture of current rendering settings.

-- Render mode control --
L : Turn on/off lighting.
+/- : Increase/decrease point size.
N : Turn on/off point cloud normal rendering.
S : Toggle between mesh flat shading and smooth shading.
W : Turn on/off mesh wireframe.
B : Turn on/off back face rendering.
I : Turn on/off image zoom in interpolation.
T : Toggle among image render:
no stretch / keep ratio / freely stretch.

-- Color control --
0..4,9 : Set point cloud color option.
0 - Default behavior, render point color.
1 - Render point color.
2 - x coordinate as color.
3 - y coordinate as color.
4 - z coordinate as color.
9 - normal as color.
Ctrl + 0..4,9: Set mesh color option.
0 - Default behavior, render uniform gray color.
1 - Render point color.
2 - x coordinate as color.
3 - y coordinate as color.
4 - z coordinate as color.
9 - normal as color.
Shift + 0..4 : Color map options.
0 - Gray scale color.
1 - JET color map.
2 - SUMMER color map.
3 - WINTER color map.
4 - HOT color map.

2. Jupyter

1. 그리기

Detection 후 B.Box 그릴때 필요 할듯

http://www.open3d.org/docs/tutorial/Basic/visualization.html#draw-multiple-geometries

2. 색변경

np.asarray(pcd.colors)[idx[1:], :] = [0, 0, 1]

We pick the 1500-th point as the anchor point and paint it red.

# src/Python/Tutorial/Basic/kdtree.py

import sys
import numpy as np
sys.path.append("../..")
from py3d import *

if __name__ == "__main__":

    print("Testing kdtree in py3d ...")
    print("Load a point cloud and paint it gray.")
    pcd = read_point_cloud("../../TestData/Feature/cloud_bin_0.pcd")
    pcd.paint_uniform_color([0.5, 0.5, 0.5])
    pcd_tree = KDTreeFlann(pcd)

    print("Paint the 1500th point red.")
    pcd.colors[1500] = [1, 0, 0]

    print("Find its 200 nearest neighbors, paint blue.")
    [k, idx, _] = pcd_tree.search_knn_vector_3d(pcd.points[1500], 200)
    np.asarray(pcd.colors)[idx[1:], :] = [0, 0, 1]

    print("Find its neighbors with distance less than 0.2, paint green.")
    [k, idx, _] = pcd_tree.search_radius_vector_3d(pcd.points[1500], 0.2)
    np.asarray(pcd.colors)[idx[1:], :] = [0, 1, 0]

    print("Visualize the point cloud.")
    draw_geometries([pcd])
    print("")

pcd.colors

9-Visulization

Visualiztion

1. `draw_geometries()`

1.1 하나씩 시각화

1. 2 연속 재생Non-blocking visualization

2. `draw_geometries_with_custom_animation()`

3. ustomized Visualization](http://www.open3d.org/docs/tutorial/Advanced/customized_visualization.html#customized-visualization)

3.1 Mimic draw_geometries() with Visualizer class

3.2 Change field of view

3.3 `custom_draw_geometry_with_rotation()`

3.4 키값 연계

2. Jupyter

1. 그리기

2. 색변경

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Visualiztion

1. draw_geometries()

1.1 하나씩 시각화

1. 2 연속 재생Non-blocking visualization

2. draw_geometries_with_custom_animation()

3. ustomized Visualization](http://www.open3d.org/docs/tutorial/Advanced/customized_visualization.html#customized-visualization)

3.1 Mimic draw_geometries() with Visualizer class

3.2 Change field of view

3.3 custom_draw_geometry_with_rotation()

3.4 키값 연계

2. Jupyter

1. 그리기

2. 색변경

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1. `draw_geometries()`

2. `draw_geometries_with_custom_animation()`

3.3 `custom_draw_geometry_with_rotation()`