data/bottle_2/inference_ICP.py

#!/usr/bin/env python
# coding: utf-8

# In[21]:


# conda activate vision
# cd build
# cmake -DCMAKE_BUILD_TYPE=Release ..
# make
# ./FRICP ./data/bottle/tea_gt_filtered.ply ./data/bottle/tea_noisy_filtered.ply ./data/bottle/res/ 3


# 100_16 is the best thing. 


# In[22]:


import open3d as o3d
import numpy as np

file_names = []
with open('filename.txt', 'r') as f:
    for line in f:
        file_names.append(line.strip())
filename = file_names[0]
print(filename)



# # Modify initial file

# In[23]:


output_filename = f'./initialized_result/initial_{filename}.ply'

# 1. read file

with open(f'./initialized_result/initial_{filename}.ply', 'r') as f:
    lines = f.readlines()

# 2. seperate data and header 
header_lines = []
data_lines = []
is_header = True

for line in lines:
    if "end_header" in line:
        is_header = False
        continue
    
    if is_header:
        header_lines.append(line)
    
    else: 
        parts = line.strip().split()
        if len(parts) >= 3:
             data_lines.append(f"{parts[0]} {parts[1]} {parts[2]}\n")


# 3. modify header
# vertex
num_points = len(data_lines)

# generate new header

new_header = f"""ply
format ascii 1.0
element vertex {num_points}
property float x
property float y
property float z
element camera 1
property float view_px
property float view_py
property float view_pz
property float x_axisx
property float x_axisy
property float x_axisz
property float y_axisx
property float y_axisy
property float y_axisz
property float z_axisx
property float z_axisy
property float z_axisz
element phoxi_frame_params 1
property uint32 frame_width
property uint32 frame_height
property uint32 frame_index
property float frame_start_time
property float frame_duration
property float frame_computation_duration
property float frame_transfer_duration
property int32 total_scan_count
element camera_matrix 1
property float cm0
property float cm1
property float cm2
property float cm3
property float cm4
property float cm5
property float cm6
property float cm7
property float cm8
element distortion_matrix 1
property float dm0
property float dm1
property float dm2
property float dm3
property float dm4
property float dm5
property float dm6
property float dm7
property float dm8
property float dm9
property float dm10
property float dm11
property float dm12
property float dm13
element camera_resolution 1
property float width
property float height
element frame_binning 1
property float horizontal
property float vertical
end_header
"""

#4. write 4file 

with open(output_filename,'w') as f:
    f.write(new_header)

    for line in data_lines:
        f.write(line)


print("\n작업 완료!")
print(f"'{output_filename}' 파일이 성공적으로 생성되었습니다.")


# ### Source PCD

# In[ ]:





# In[24]:


source_path = f"./initialized_result/initial_{filename}.ply"

source_pcd = o3d.io.read_point_cloud(source_path)



source_pcd_array = np.asarray(source_pcd.points)
print("Source shape:", source_pcd_array.shape)

coord_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=50.0, origin=[0, 0, 0])
o3d.visualization.draw_geometries([source_pcd,coord_frame])


# In[ ]:





# ### Target PCD

# In[25]:


target_path = f"gt_filtered.ply"
target_pcd = o3d.io.read_point_cloud(target_path)

target_pcd_array = np.asarray(target_pcd.points)
print("Target shape:", target_pcd_array.shape)

o3d.visualization.draw_geometries([target_pcd, coord_frame])


# ## Execute termianl

# In[26]:


# ./FRICP ./data/bottle_2/gt_filtered.ply ./data/bottle_2/result/noisy_filtered_100_1.ply ./data/bottle_2/res 3  execute
import os
print(os.getcwd())

import subprocess

cmd = [
    '../../FRICP',
    './gt_filtered.ply',
    f'./initialized_result/initial_{filename}.ply',
    './res',
    '3'
]

try:
    result = subprocess.run(cmd, capture_output=True, text=True, check=True)

    print("--- STDOUT (표준 출력) ---")
    print("명령어가 성공적으로 실행되었습니다.")
    print(result.stdout)

except FileNotFoundError:
    print("--- 에러 발생! ---")
    print(f"'{cmd[0]}' 파일을 찾을 수 없습니다.")
    print("경로가 올바른지, 파일이 그 위치에 존재하는지 확인해 주세요.")

except subprocess.CalledProcessError as e:
    print("--- 에러 발생! ---")
    print(f"명령어 실행 중 오류가 발생했습니다. (종료 코드: {e.returncode})")
    print("\n--- STDERR (에러 원인) ---")
    print(e.stderr)


# ### Change the path for result
# 

# In[27]:


import shutil
import os

transformed_path = "resm3reg_pc.ply"
destination_path = f"./result/final_result_{filename}.ply"
transformed_path2 = "resm3trans.txt"
destination_path2 = f"./result/final_result_{filename}.txt"

shutil.move(transformed_path, destination_path)
print(f"Successfully moved and renamed '{transformed_path}' to '{destination_path}'")



shutil.move(transformed_path2, destination_path2)
print(f"Successfully moved and renamed '{transformed_path2}' to '{destination_path2}'")




# ### Transformed Source PCD

# In[28]:


transformed_pcd = o3d.io.read_point_cloud(destination_path)

transformed_pcd_array = np.asarray(transformed_pcd.points)
print("Transformed shape:", transformed_pcd_array.shape)

o3d.visualization.draw_geometries([transformed_pcd, coord_frame])


# ### Source (Original) + Target

# In[29]:


source_pcd.paint_uniform_color([1, 0, 0])
target_pcd.paint_uniform_color([0, 1, 0])

vis = o3d.visualization.Visualizer()
vis.create_window(window_name="Point Cloud Viewer", width=1200, height=800, visible=True)
vis.add_geometry(source_pcd)
vis.add_geometry(target_pcd)
vis.add_geometry(coord_frame)
vis.run()


vis.destroy_window()


# ### Transformed + Target

# In[30]:


transformed_pcd.paint_uniform_color([1, 0, 0])
target_pcd.paint_uniform_color([0, 1, 0])

vis = o3d.visualization.Visualizer()
vis.create_window(window_name="Point Cloud Viewer", width=1200, height=800, visible=True)
vis.add_geometry(transformed_pcd)
vis.add_geometry(target_pcd)
vis.add_geometry(coord_frame)
vis.run()
vis.destroy_window()