[英]Adding new points to point cloud in real time - Open3D
我正在使用 Open3D 可視化 Python 中的點雲。本質上,我想做的是以編程方式向點雲添加另一個點,然后實時渲染它。
這是我到目前為止所擁有的。 我找不到任何解決方案。
在下面的代碼中,我展示了一種可能的解決方案,但它並不有效。 積分得到添加,第一個關閉后立即打開一個新的 window。 這不是我想要的。 我希望它動態地顯示新點,而無需關閉和再次打開。 以及創建新變量的事實,我認為在處理越來越大的數據集時可能會出現問題
import open3d as o3d
import numpy as np
#Create two random points
randomPoints = np.random.rand(2, 3)
pointSet = o3d.geometry.PointCloud()
pointSet.points = o3d.utility.Vector3dVector(randomPoints)
#Visualize the two random points
o3d.visualization.draw_geometries([pointSet])
#Here I want to add more points to the pointSet
#This solution does not work effective
#Create another random set
p1 = np.random.rand(3, 3)
p2 = np.concatenate((pointSet.points, p1), axis=0)
pointSet2 = o3d.geometry.PointCloud()
pointSet2.points = o3d.utility.Vector3dVector(p2)
o3d.visualization.draw_geometries([pointSet2])
有什么可能的解決方案嗎?
如果沒有,我可以看看還有哪些庫具有實時渲染新傳入點的能力。
通過使用新坐標擴展PointCloud.points
,可以將新點以交互方式添加和可視化到PointCloud
。
這是因為當我們使用 numpy arrays 時,我們需要創建一個Vector3dVector
實例,它實現了方便的extend
方法。 從文檔:
擴展(* args , ** kwargs )
重載 function。
- 擴展(自身:open3d.cpu.pybind.utility.Vector3dVector,L:open3d.cpu.pybind.utility.Vector3dVector)->無
通過附加給定列表中的所有項目來擴展列表
- 擴展(自我:open3d.cpu.pybind.utility.Vector3dVector,L:可迭代)->無
通過附加給定列表中的所有項目來擴展列表
所以我們可以使用不同的 object 實例,例如ndarrays
、 Vector3dVector
、 lists
等。
玩具示例及其結果:
import open3d as o3d
import numpy as np
import time
# create visualizer and window.
vis = o3d.visualization.Visualizer()
vis.create_window(height=480, width=640)
# initialize pointcloud instance.
pcd = o3d.geometry.PointCloud()
# *optionally* add initial points
points = np.random.rand(10, 3)
pcd.points = o3d.utility.Vector3dVector(points)
# include it in the visualizer before non-blocking visualization.
vis.add_geometry(pcd)
# to add new points each dt secs.
dt = 0.01
# number of points that will be added
n_new = 10
previous_t = time.time()
# run non-blocking visualization.
# To exit, press 'q' or click the 'x' of the window.
keep_running = True
while keep_running:
if time.time() - previous_t > dt:
# Options (uncomment each to try them out):
# 1) extend with ndarrays.
pcd.points.extend(np.random.rand(n_new, 3))
# 2) extend with Vector3dVector instances.
# pcd.points.extend(
# o3d.utility.Vector3dVector(np.random.rand(n_new, 3)))
# 3) other iterables, e.g
# pcd.points.extend(np.random.rand(n_new, 3).tolist())
vis.update_geometry(pcd)
previous_t = time.time()
keep_running = vis.poll_events()
vis.update_renderer()
vis.destroy_window()
為了完整起見,其他(我認為不是更好的)替代方法可能包括以下步驟:
PointCloud
Pointcloud
並將其添加到可視化工具。這會產生更差的性能,並且幾乎不允許與可視化進行交互。
要了解這一點,讓我們看一下下面的比較,使用相同的設置(下面的代碼)。 兩個版本同時運行(約 10 秒)。
重現代碼:
import open3d as o3d
import numpy as np
import time
# Global settings.
dt = 3e-2 # to add new points each dt secs.
t_total = 10 # total time to run this script.
n_new = 10 # number of points that will be added each iteration.
#---
# 1st, using extend. Run non-blocking visualization.
# create visualizer and window.
vis = o3d.visualization.Visualizer()
vis.create_window(height=480, width=640)
# initialize pointcloud instance.
pcd = o3d.geometry.PointCloud()
# *optionally* add initial points
points = np.random.rand(10, 3)
pcd.points = o3d.utility.Vector3dVector(points)
# include it in the visualizer before non-blocking visualization.
vis.add_geometry(pcd)
exec_times = []
current_t = time.time()
t0 = current_t
while current_t - t0 < t_total:
previous_t = time.time()
while current_t - previous_t < dt:
s = time.time()
# Options (uncomment each to try it out):
# 1) extend with ndarrays.
pcd.points.extend(np.random.rand(n_new, 3))
# 2) extend with Vector3dVector instances.
# pcd.points.extend(
# o3d.utility.Vector3dVector(np.random.rand(n_new, 3)))
# 3) other iterables, e.g
# pcd.points.extend(np.random.rand(n_new, 3).tolist())
vis.update_geometry(pcd)
current_t = time.time()
exec_times.append(time.time() - s)
vis.poll_events()
vis.update_renderer()
print(f"Using extend\t\t\t# Points: {len(pcd.points)},\n"
f"\t\t\t\t\t\tMean execution time:{np.mean(exec_times):.5f}")
vis.destroy_window()
# ---
# 2nd, using remove + create + add PointCloud. Run non-blocking visualization.
# create visualizer and window.
vis = o3d.visualization.Visualizer()
vis.create_window(height=480, width=640)
# initialize pointcloud instance.
pcd = o3d.geometry.PointCloud()
points = np.random.rand(10, 3)
pcd.points = o3d.utility.Vector3dVector(points)
vis.add_geometry(pcd)
exec_times = []
current_t = time.time()
t0 = current_t
previous_t = current_t
while current_t - t0 < t_total:
previous_t = time.time()
while current_t - previous_t < dt:
s = time.time()
# remove, create and add new geometry.
vis.remove_geometry(pcd)
pcd = o3d.geometry.PointCloud()
points = np.concatenate((points, np.random.rand(n_new, 3)))
pcd.points = o3d.utility.Vector3dVector(points)
vis.add_geometry(pcd)
current_t = time.time()
exec_times.append(time.time() - s)
current_t = time.time()
vis.poll_events()
vis.update_renderer()
print(f"Without using extend\t# Points: {len(pcd.points)},\n"
f"\t\t\t\t\t\tMean execution time:{np.mean(exec_times):.5f}")
vis.destroy_window()
在下面的頁面中,它解釋了如何在不關閉 window 的情況下更新可視化工具。 http://www.open3d.org/docs/release/tutorial/visualization/non_blocking_visualization.html代碼可能如下所示:
//設置一個新的空pcd
// 初始化可視化器
// for 循環:
//add new points into pcd
//visualizer update as sample code
//完畢
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