Update app.py

app.py

@@ -22,20 +22,19 @@ def point_cloud_to_image(point_cloud):
 
     return pil_img
 
-def create_file_mesh_from_pcd(pcd): 
+def create_file_mesh_from_pcd(pcd, alpha): 
     
     temp_file = tempfile.NamedTemporaryFile(suffix=".obj", delete=False)
     file_path = temp_file.name
     temp_file.close()
     
-    alpha = 2
     # print(f"alpha={alpha:.3f}")
     mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_alpha_shape(pcd, alpha)
     mesh.compute_vertex_normals()
     o3d.io.write_triangle_mesh(file_path, mesh, write_triangle_uvs=True)
     return file_path
 
-def plane_detection(pointcloud_path, voxel_size=0.05, distance_threshold=0.01, num_iterations=1000):
+def plane_detection(pointcloud_path, voxel_size=0.05, distance_threshold=0.01, num_iterations=1000, alpha=2):
     # Load point cloud from file
     pcd = o3d.io.read_point_cloud(pointcloud_path.name)
 
@@ -54,9 +53,9 @@ def plane_detection(pointcloud_path, voxel_size=0.05, distance_threshold=0.01, n
     a, b, c, d = plane_model
     plane_model = np.array([[a], [b], [c], [d]])
     df = pd.DataFrame(plane_model.reshape(1, 4), columns=["a", "b", "c", "d"])
-    input_path = create_file_mesh_from_pcd(pcd)
-    inlier_path = create_file_mesh_from_pcd(inlier_cloud)
-    outlier_path = create_file_mesh_from_pcd(outlier_cloud)
+    input_path = create_file_mesh_from_pcd(pcd, alpha)
+    inlier_path = create_file_mesh_from_pcd(inlier_cloud, alpha)
+    outlier_path = create_file_mesh_from_pcd(outlier_cloud, alpha)
     # Return inlier point cloud, outlier point cloud, and plane model
     # return point_cloud_to_image(inlier_cloud), point_cloud_to_image(outlier_cloud), df
     return input_path, inlier_path, outlier_path, df
@@ -76,16 +75,25 @@ outputs = [
 iface = gr.Interface(plane_detection, 
                      inputs=[
                          File(label="Point cloud file (.ply or .pcd format)"),
-                         Slider(label="Voxel size", minimum=1, maximum=50, step=1, value=2),
-                         Slider(label="Distance threshold", minimum=0.5, maximum=50, step=0.5, value=5),
-                         Slider(label="Number of iterations", minimum=1, maximum=10000, step=1, value=100)
+                         Slider(label="Voxel size", minimum=0.001, maximum=50, step=1, value=2),
+                         Slider(label="Distance threshold", minimum=0.001, maximum=50, step=0.01, value=5),
+                         Slider(label="Number of iterations", minimum=1, maximum=10000, step=1, value=100),
+                         Slider(label="Alpha for surface reconstruction", minimum=0.02, maximum=100, step=0.01, value=2),
                      ],
                      outputs=outputs,
                      title="Plane Detection using RANSAC",
                      description="This app takes as input a point cloud file (.ply or .pcd format), voxel size, distance threshold, and number of iterations, finds a plane using RANSAC algorithm, displays the inlier and outlier point clouds, and returns the inlier point cloud, outlier point cloud, and the plane model.",
-                     allow_flagging="never"
+                     allow_flagging="never",
+                     examples=[
+                        # ["Pointclouds/p1.ply", 2, 5, 100, 2]
+                        ["Pointclouds/cloud_bin_0.ply", 0.001, 0.03, 100, 0.05],
+                        ["Pointclouds/cloud_bin_20.ply", 0.001, 0.03, 100, 0.05],
+                        ["Pointclouds/cloud_bin_30.ply", 0.001, 0.03, 100, 0.05],
+                        ["Pointclouds/cloud_bin_40.ply", 0.001, 0.03, 100, 0.05],
+                        ["Pointclouds/cloud_bin_50.ply", 0.001, 0.03, 100, 0.05],
+                        ],
                      )
 
 
 # Launch the interface
-iface.launch()
+iface.launch()