feat: encore changes

regpipe_ros/data_explorer.py

@@ -0,0 +1,99 @@
+import open3d as o3d
+import os
+import sys
+import json
+# import dataset_location
+import numpy as np
+
+class PointCloudVisualizer:
+    def __init__(self, directory,markers=[]):
+        self.directory = directory
+        self.ply_files = [file for file in os.listdir(directory) if file.endswith('.ply')]
+        if not self.ply_files:
+            print("No .ply files found in the directory.")
+            sys.exit(0)
+        self.current_index = 0
+        self.markers = markers
+        self.vis = o3d.visualization.VisualizerWithKeyCallback()
+
+    def load_point_cloud(self, index):
+        file_path = os.path.join(self.directory, self.ply_files[index])
+        return o3d.io.read_point_cloud(file_path)
+
+    def update_visualization(self):
+        print("Current Index: ", self.current_index)
+        self.vis.clear_geometries()
+        self.point_cloud = self.load_point_cloud(self.current_index)
+
+        # Shift the point cloud to the origin
+        self.point_cloud = self.point_cloud.translate(-self.point_cloud.get_center())
+
+        # Custom Markers
+        # Oriented Bounding Box
+        if 'obb' in self.markers:
+            obb = self.point_cloud.get_oriented_bounding_box()
+            obb.color = (1, 0, 0)
+            self.vis.add_geometry(obb)
+
+        # Point Cloud Center
+        if 'pcd_center' in self.markers:
+            center = o3d.geometry.TriangleMesh.create_sphere(radius=0.01)
+            center.compute_vertex_normals()
+            center.paint_uniform_color([0, 0, 1])
+            center.translate(self.point_cloud.get_center())
+            self.vis.add_geometry(center)
+
+        # cl,ind = self.point_cloud.remove_statistical_outlier(nb_neighbors=10,std_ratio=0.2)
+        # total_points = np.asarray(self.point_cloud.points).shape[0]
+        # print(f"Removed {total_points - np.asarray(cl.points).shape[0]} outliers from the point cloud")
+
+        # self.point_cloud = self.point_cloud.select_by_index(ind)
+
+        # cl,ind = self.point_cloud.remove_radius_outlier(nb_points=100,radius=0.01)
+        # total_points = np.asarray(self.point_cloud.points).shape[0]
+        # print(f"Removed {total_points - np.asarray(cl.points).shape[0]} outliers from the point cloud")
+
+        # self.point_cloud = self.point_cloud.select_by_index(ind)
+
+
+
+
+        # Add a Sphere to the point with maximum Z value
+        max_z_index = np.argmax(np.asarray(self.point_cloud.points)[:,2])
+        max_z_point = np.asarray(self.point_cloud.points)[max_z_index]
+        sphere = o3d.geometry.TriangleMesh.create_sphere(radius=0.01)
+        sphere.compute_vertex_normals()
+        sphere.paint_uniform_color([0, 1, 0])
+
+        sphere.translate(max_z_point)
+        self.vis.add_geometry(sphere)
+
+
+        self.vis.add_geometry(self.point_cloud)
+        self.vis.update_renderer()
+
+
+    def next_cloud(self):
+        self.current_index = (self.current_index + 1) % len(self.ply_files)
+        self.update_visualization()
+
+    def previous_cloud(self):
+        self.current_index = (self.current_index - 1) % len(self.ply_files)
+        self.update_visualization()
+
+
+    def run(self):
+        self.vis.create_window()
+        self.vis.register_key_callback(262, lambda vis: self.next_cloud())  # Right arrow key
+        self.vis.register_key_callback(263, lambda vis: self.previous_cloud())  # Left arrow key
+
+        self.update_visualization()
+        self.vis.run()
+
+if __name__ == "__main__":
+    directory_path = 'dataset/ply'
+    # directory_path = "filtered"
+    # markers = ['obb','pcd_center']
+    markers = []
+    visualizer = PointCloudVisualizer(directory_path,markers)
+    visualizer.run()