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example_1_visualize_ply.py
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example_1_visualize_ply.py
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"""
Read and display ply files. Manipulate pointcloud data and store the result.
"""
import json
import numpy as np
import open3d as o3d
from highway.pointcloud import read_ply, to_pcd, write_ply
def main():
# define ply path - please change accordingly
input_file = "highway_data/splitted/reduced_22_intensity.ply"
# read ply file
points, colors = read_ply(input_file)
# subtract center as GPU cannot work on coordinates that are too large
with open('highway_data/splitted/center.txt') as f:
center = np.array(json.load(f))
points_centered = points - center
# display (rendered on GPU)
# * rotate by holding left mouse button
# * move by pressing middle mouse button OR STRG + left mouse button
# * zoom in and out with the scroll wheel
pcd_centered = to_pcd(points_centered, colors)
o3d.visualization.draw_geometries([pcd_centered])
# save pointcloud as ply for viewing in Meshlab
write_ply("example_1_output.ply", points_centered, colors)
if __name__ == '__main__':
main()