196 lines
6.9 KiB
Python
196 lines
6.9 KiB
Python
"""可视化工具 - 用于显示点云、平面、ROI等"""
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import numpy as np
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import open3d as o3d
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from pathlib import Path
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from typing import List, Tuple, Optional
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class Visualizer:
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"""点云和测量结果可视化工具"""
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@staticmethod
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def visualize_roi_in_context(
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full_cloud: np.ndarray,
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roi_cloud: np.ndarray,
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bbox_min: List[float],
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bbox_max: List[float],
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title: str = "ROI in Context",
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downsample_full: int = 10,
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save_path: Optional[str] = None
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):
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"""
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在完整点云上下文中可视化ROI区域
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Args:
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full_cloud: 完整点云 (N, 3)
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roi_cloud: ROI区域点云 (M, 3)
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bbox_min: 包围盒最小坐标 [x, y, z]
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bbox_max: 包围盒最大坐标 [x, y, z]
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title: 窗口标题
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downsample_full: 完整点云降采样倍数（每N个点取1个）
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save_path: 保存截图路径（可选）
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"""
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# 降采样完整点云以提高显示性能
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full_cloud_downsampled = full_cloud[::downsample_full]
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# 创建完整点云对象（灰色）
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pcd_full = o3d.geometry.PointCloud()
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pcd_full.points = o3d.utility.Vector3dVector(full_cloud_downsampled)
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pcd_full.paint_uniform_color([0.7, 0.7, 0.7]) # 灰色
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# 创建ROI点云对象（红色）
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pcd_roi = o3d.geometry.PointCloud()
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pcd_roi.points = o3d.utility.Vector3dVector(roi_cloud)
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pcd_roi.paint_uniform_color([1.0, 0.0, 0.0]) # 红色
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# 创建包围盒线框
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bbox = Visualizer._create_bbox_lineset(bbox_min, bbox_max, color=[0, 1, 0])
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# 可视化
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geometries = [pcd_full, pcd_roi, bbox]
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o3d.visualization.draw_geometries(
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geometries,
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window_name=title,
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width=1200,
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height=800,
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point_show_normal=False
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)
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# 保存截图（如果指定）
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if save_path:
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vis = o3d.visualization.Visualizer()
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vis.create_window(window_name=title, width=1200, height=800, visible=False)
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for geom in geometries:
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vis.add_geometry(geom)
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vis.update_renderer()
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vis.capture_screen_image(save_path)
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vis.destroy_window()
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print(f"截图已保存: {save_path}")
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@staticmethod
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def visualize_plane_measurement(
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source_cloud: np.ndarray,
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target_cloud: np.ndarray,
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source_plane_normal: np.ndarray,
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source_plane_point: np.ndarray,
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target_plane_normal: np.ndarray,
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target_plane_point: np.ndarray,
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sample_points: np.ndarray,
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distances: np.ndarray,
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title: str = "Plane Measurement",
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save_path: Optional[str] = None
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):
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"""
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可视化平面到平面的距离测量
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Args:
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source_cloud: 源平面点云
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target_cloud: 目标平面点云
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source_plane_normal: 源平面法向量
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source_plane_point: 源平面上的点
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target_plane_normal: 目标平面法向量
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target_plane_point: 目标平面上的点
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sample_points: 采样点
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distances: 每个采样点到目标平面的距离
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title: 窗口标题
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save_path: 保存截图路径
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"""
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# 创建源平面点云（蓝色）
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pcd_source = o3d.geometry.PointCloud()
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pcd_source.points = o3d.utility.Vector3dVector(source_cloud)
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pcd_source.paint_uniform_color([0.0, 0.5, 1.0]) # 蓝色
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# 创建目标平面点云（绿色）
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pcd_target = o3d.geometry.PointCloud()
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pcd_target.points = o3d.utility.Vector3dVector(target_cloud)
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pcd_target.paint_uniform_color([0.0, 1.0, 0.0]) # 绿色
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# 创建采样点（红色）
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pcd_samples = o3d.geometry.PointCloud()
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pcd_samples.points = o3d.utility.Vector3dVector(sample_points)
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pcd_samples.paint_uniform_color([1.0, 0.0, 0.0]) # 红色
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# 创建距离线（从采样点到目标平面的投影）
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lines = []
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for i, (point, dist) in enumerate(zip(sample_points, distances)):
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# 计算投影点
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projection = point - dist * target_plane_normal
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lines.append([point, projection])
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# 创建线集
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line_points = []
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line_indices = []
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for i, (start, end) in enumerate(lines):
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line_points.append(start)
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line_points.append(end)
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line_indices.append([2*i, 2*i+1])
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lineset = o3d.geometry.LineSet()
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lineset.points = o3d.utility.Vector3dVector(line_points)
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lineset.lines = o3d.utility.Vector2iVector(line_indices)
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lineset.paint_uniform_color([1.0, 0.5, 0.0]) # 橙色
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# 可视化
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geometries = [pcd_source, pcd_target, pcd_samples, lineset]
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o3d.visualization.draw_geometries(
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geometries,
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window_name=title,
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width=1200,
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height=800,
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point_show_normal=False
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)
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if save_path:
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vis = o3d.visualization.Visualizer()
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vis.create_window(window_name=title, width=1200, height=800, visible=False)
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for geom in geometries:
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vis.add_geometry(geom)
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vis.update_renderer()
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vis.capture_screen_image(save_path)
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vis.destroy_window()
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print(f"截图已保存: {save_path}")
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@staticmethod
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def _create_bbox_lineset(
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bbox_min: List[float],
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bbox_max: List[float],
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color: List[float] = [0, 1, 0]
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) -> o3d.geometry.LineSet:
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"""创建包围盒线框"""
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# 8个顶点
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points = [
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[bbox_min[0], bbox_min[1], bbox_min[2]], # 0
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[bbox_max[0], bbox_min[1], bbox_min[2]], # 1
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[bbox_max[0], bbox_max[1], bbox_min[2]], # 2
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[bbox_min[0], bbox_max[1], bbox_min[2]], # 3
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[bbox_min[0], bbox_min[1], bbox_max[2]], # 4
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[bbox_max[0], bbox_min[1], bbox_max[2]], # 5
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[bbox_max[0], bbox_max[1], bbox_max[2]], # 6
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[bbox_min[0], bbox_max[1], bbox_max[2]], # 7
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]
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# 12条边
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lines = [
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[0, 1], [1, 2], [2, 3], [3, 0], # 底面
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[4, 5], [5, 6], [6, 7], [7, 4], # 顶面
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[0, 4], [1, 5], [2, 6], [3, 7], # 竖边
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]
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lineset = o3d.geometry.LineSet()
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lineset.points = o3d.utility.Vector3dVector(points)
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lineset.lines = o3d.utility.Vector2iVector(lines)
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lineset.paint_uniform_color(color)
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return lineset
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@staticmethod
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def save_roi_pointcloud(
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roi_cloud: np.ndarray,
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save_path: str
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):
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"""保存ROI点云为PLY文件"""
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pcd = o3d.geometry.PointCloud()
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pcd.points = o3d.utility.Vector3dVector(roi_cloud)
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o3d.io.write_point_cloud(save_path, pcd)
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print(f"ROI点云已保存: {save_path}")
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