64 lines
1.7 KiB
Python
64 lines
1.7 KiB
Python
import open3d as o3d
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import numpy as np
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def mini_color_table(index, norm=True):
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colors = [
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[0.5000, 0.5400, 0.5300], [0.8900, 0.1500, 0.2100], [0.6400, 0.5800, 0.5000],
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[1.0000, 0.3800, 0.0100], [1.0000, 0.6600, 0.1400], [0.4980, 1.0000, 0.0000],
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[0.4980, 1.0000, 0.8314], [0.9412, 0.9725, 1.0000], [0.5412, 0.1686, 0.8863],
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[0.5765, 0.4392, 0.8588], [0.3600, 0.1400, 0.4300], [0.5600, 0.3700, 0.6000],
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]
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assert index >= 0 and index < len(colors)
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color = colors[index]
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if not norm:
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color[0] *= 255
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color[1] *= 255
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color[2] *= 255
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return color
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def view_points(points, colors=None):
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'''
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points: np.ndarray with shape (n, 3)
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colors: [r, g, b] or np.array with shape (n, 3)
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'''
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cloud = o3d.PointCloud()
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cloud.points = o3d.Vector3dVector(points)
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if colors is not None:
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if isinstance(colors, np.ndarray):
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cloud.colors = o3d.Vector3dVector(colors)
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else: cloud.paint_uniform_color(colors)
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o3d.draw_geometries([cloud])
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def label2color(labels):
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'''
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labels: np.ndarray with shape (n, )
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colors(return): np.ndarray with shape (n, 3)
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'''
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num = labels.shape[0]
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colors = np.zeros((num, 3))
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minl, maxl = np.min(labels), np.max(labels)
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for l in range(minl, maxl + 1):
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colors[labels==l, :] = mini_color_table(l)
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return colors
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def view_points_labels(points, labels):
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'''
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Assign points with colors by labels and view colored points.
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points: np.ndarray with shape (n, 3)
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labels: np.ndarray with shape (n, 1), dtype=np.int32
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'''
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assert points.shape[0] == labels.shape[0]
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colors = label2color(labels)
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view_points(points, colors)
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