[open3d] 4. KITTI Point cloud animation

[Sungryul Lee]

1. KITTI Point Cloud Animation

KITTI 데이터셋의 포인트 클라우드를 그리고 레이블정보를 이용하여 3차원 바운딩 박스를 그려줌

1초에 1개의 프레임씩 연속적으로 출력하도록 함

실행결과를 윈도우즈 캡쳐도구로 동영상으로 저장함

kitti_utils.py

24.64KB

<소스코드>

# ----------------------------------------------------------------------------

# -                        Open3D: www.open3d.org                            -

# ----------------------------------------------------------------------------

# Copyright (c) 2018-2024 www.open3d.org

# SPDX-License-Identifier: MIT

# ----------------------------------------------------------------------------

# lidar box animation example

import numpy as np

import open3d as o3d

import threading

import time

import os

import kitti_utils as kitti

lidar_file_path = r"D:\Users\2sungryul\Dropbox\Work\Dataset\KITTI\data_object_velodyne\training\velodyne"

label_file_path = r"D:\Users\2sungryul\Dropbox\Work\Dataset\KITTI\data_object_label_2\training\label_2"

calib_file_path = r"D:\Users\2sungryul\Dropbox\Work\Dataset\KITTI\data_object_calib\training\calib"

CLOUD_NAME = "points"

FRAME_NUM = 60

class MultiWinApp:

    def __init__(self):

        self.is_done = False

        self.cloud = None

        self.main_vis = None

        self.frame_index = 0

        self.first = False

        self.bbox_num = 0

        #self.n_snapshots = 0

        #self.snapshot_pos = None        

    def run(self):

        app = o3d.visualization.gui.Application.instance

        app.initialize()

        self.main_vis = o3d.visualization.O3DVisualizer("KITTI", 1280, 720)

        self.main_vis.reset_camera_to_default()

        self.main_vis.setup_camera(60, [0, 0, 0], [-15, 0, 10], [5, 0, 10]) # center, eye, up

        self.main_vis.set_background(np.array([0, 0, 0, 0]), None)

        self.main_vis.show_skybox(False)

        self.main_vis.point_size = 1

        self.main_vis.show_settings = True

        self.main_vis.set_on_close(self.on_main_window_closing)

        app.add_window(self.main_vis)

        threading.Thread(target=self.update_thread).start()

        #self.main_vis.add_action("Take snapshot in new window", self.on_snapshot)

        #self.snapshot_pos = (self.main_vis.os_frame.x, self.main_vis.os_frame.y)

        app.run()

    def on_main_window_closing(self):

        self.is_done = True

        return True  # False would cancel the close

    def update_thread(self):

        # This is NOT the UI thread, need to call post_to_main_thread() to update

        # the scene or any part of the UI.

        # parse bin, calib, and label files

        point_cloud_frames = load_point_cloud_frames(lidar_file_path)

        print(len(point_cloud_frames), len(point_cloud_frames[0]),len(point_cloud_frames[0][0]))

        matrix_tr_velo_to_cam_list, R_cam_to_rect_list = load_calib_list(calib_file_path)

        print(len(matrix_tr_velo_to_cam_list), len(matrix_tr_velo_to_cam_list[0]),len(matrix_tr_velo_to_cam_list[0][0]))

        print(len(R_cam_to_rect_list), len(R_cam_to_rect_list[0]),len(R_cam_to_rect_list[0][0]))

        class_ids_list, bbox3D_list = load_label_list(label_file_path, matrix_tr_velo_to_cam_list, R_cam_to_rect_list)

        print(len(class_ids_list), len(class_ids_list[0]))

        print(len(bbox3D_list), len(bbox3D_list[0]),len(bbox3D_list[0][0]), bbox3D_list[0][0])

        axis_pcd = o3d.geometry.TriangleMesh.create_coordinate_frame(size=1.0, origin=[0, 0, 0])

        #self.main_vis.add_geometry("axis", axis_pcd)

        # Initialize point cloud geometry

        point_cloud = o3d.geometry.PointCloud()

        #point_cloud.points = o3d.utility.Vector3dVector(point_cloud_frames[0][:, :3])

        #point_cloud.colors = o3d.utility.Vector3dVector(np.ones((point_cloud_frames[0].shape[0], 3)))

        #self.main_vis.add_geometry("pc", point_cloud)

        #line_set_list = kitti.draw_box(bbox3D_list[0], ref_labels=class_ids_list[0])

        #self.main_vis.add_geometry("bbox", line_set_list[0])

        while not self.is_done:

            time.sleep(1)

            def update_cloud():

                print("frame_index:",self.frame_index )

                if self.first:

                    self.main_vis.remove_geometry("axis")

                    self.main_vis.remove_geometry("pc")

                    for i in range(self.bbox_num):

                        self.main_vis.remove_geometry(f"bbox{i}")

                axis_pcd = o3d.geometry.TriangleMesh.create_coordinate_frame(size=1.0, origin=[0, 0, 0])

                self.main_vis.add_geometry("axis", axis_pcd)

                # Update point cloud with new data

                point_cloud.points = o3d.utility.Vector3dVector(point_cloud_frames[self.frame_index][:, :3])

                point_cloud.colors = o3d.utility.Vector3dVector(np.ones((point_cloud_frames[self.frame_index].shape[0], 3)))

                self.main_vis.add_geometry("pc", point_cloud)

                #print(len(bbox3D_list), len(bbox3D_list[0]),len(bbox3D_list[0][0]), bbox3D_list[0][0])                

                """

                line_set_list = kitti.create_line_set_list(bbox3D_list[self.frame_index], ref_labels=class_ids_list[self.frame_index])

                #print(len(line_set_list),line_set_list[0])

                self.bbox_num = len(line_set_list)

                for i in range(self.bbox_num):

                    self.main_vis.add_geometry(f"bbox{i}", line_set_list[i])

                """                                                

                open3d_bbox_list = kitti.create_open3d_bbox_list(bbox3D_list[self.frame_index], class_ids_list[self.frame_index])

                self.bbox_num = len(open3d_bbox_list)

                for i in range(self.bbox_num):

                    self.main_vis.add_geometry(f"bbox{i}", open3d_bbox_list[i])

                # Move to the next frame

                self.frame_index = (self.frame_index + 1) % FRAME_NUM

                self.first = True

                # save screen image to jpg                

                #self.main_vis.capture_screen_image("pc_%06d.jpg" % frame_index)

            o3d.visualization.gui.Application.instance.post_to_main_thread(self.main_vis, update_cloud)            

            if self.is_done:  # might have changed while sleeping

                break

def main():

    MultiWinApp().run()

if __name__ == "__main__":

    main()

<실행결과>

https://youtu.be/hTgoPD8qXxc

2. 참고 동영상

https://youtu.be/KdrHLXpYYlg?list=PLjWnfPvWhv9Isn-erhtk7LXUFrB2cZQsq

https://youtu.be/_imrrzn8NDk?list=PLjWnfPvWhv9Isn-erhtk7LXUFrB2cZQsq