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{
"cells": [
{
"cell_type": "markdown",
"id": "0c5517fb",
"metadata": {},
"source": [
"## import Blender.txt\n",
"\n"
]
},
{
"cell_type": "code",
"execution_count": 12,
"id": "fd9f6425",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"100_13\n",
"[[ 9.98290e-01 1.27898e-02 -5.70343e-02 8.50504e-01]\n",
" [-2.31538e-02 9.82475e-01 -1.84952e-01 -8.78984e+00]\n",
" [ 5.36693e-02 1.85956e-01 9.81091e-01 -6.32466e+01]\n",
" [ 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00]]\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./gt_filtered.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./noisy_result/noisy_filtered_100_13.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./noisy_result/noisy_filtered_100_13.ply\u001b[0;m\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n"
]
}
],
"source": [
"import json\n",
"import numpy as np\n",
"import open3d as o3d\n",
"\n",
"\n",
"def get_T(file_path):\n",
" with open(file_path, 'r') as f:\n",
" T_matrix = np.loadtxt(file_path)\n",
" print(T_matrix)\n",
" return T_matrix\n",
" \n",
"filenames = []\n",
"with open(\"filename.txt\", \"r\") as f:\n",
" for line in f:\n",
" filenames.append(line.strip())\n",
"\n",
"\n",
"filename = filenames[0]\n",
"print(filename)\n",
"\n",
"with open(f\"./gt/noisy_filtered_{filename}.json\", 'r') as f:\n",
" loaded_data = json.load(f)\n",
"\n",
"noisy_data = loaded_data[f'noisy_filtered_{filename}']\n",
"T_matrix = noisy_data['matrix_world']\n",
"\n",
" \n",
"infer_path = f\"./result3/result_{filename}.txt\"\n",
"infer_T = get_T(infer_path)\n",
"\n",
"\n",
"\n",
"##Translated\n",
"\n",
"gt_path = \"./gt_filtered.ply\"\n",
"noisy_path = f\"./noisy_result/noisy_filtered_{filename}.ply\"\n",
"\n",
"\n",
"gt_pcd = o3d.io.read_point_cloud(gt_path)\n",
"gt_pcd.paint_uniform_color([0,0,1])\n",
"noisy_pcd = o3d.io.read_point_cloud(noisy_path)\n",
"noisy_pcd.paint_uniform_color([1,0,0])\n",
"infer_pcd = o3d.io.read_point_cloud(noisy_path)\n",
"infer_pcd.paint_uniform_color([0,1,0])\n",
"\n",
"## move and check gt and noisy\n",
"\n",
"\n",
"\n",
"# infer_pcd.transform(infer_T)\n",
"noisy_pcd.transform(T_matrix)\n",
"\n",
"\n",
"o3d.visualization.draw_geometries([gt_pcd, noisy_pcd, infer_pcd])\n"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "fbf13a76",
"metadata": {},
"outputs": [],
"source": []
},
{
"cell_type": "code",
"execution_count": null,
"id": "0509ac65",
"metadata": {},
"outputs": [],
"source": []
},
{
"cell_type": "markdown",
"id": "eccad9e9",
"metadata": {},
"source": [
"## write GT\n"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "e0a339ca",
"metadata": {},
"outputs": [],
"source": []
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.10.12"
}
},
"nbformat": 4,
"nbformat_minor": 5
}
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