285 lines
8.8 KiB
Python
285 lines
8.8 KiB
Python
#!/usr/bin/env python3
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"""
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Web visualization version - Generate interactive HTML using plotly
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Point cloud data visualization tool with 3D interactive display support
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"""
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import os
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import sys
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import numpy as np
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import open3d as o3d
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import plotly.graph_objects as go
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def get_default_paths():
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"""Get default file paths"""
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# Get the directory where the script is located (tools directory)
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script_dir = os.path.dirname(os.path.abspath(__file__))
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# Get project root directory (parent directory of tools)
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project_root = os.path.dirname(script_dir)
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# Default PCD file paths (search in project root directory)
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possible_pcd_paths = [
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os.path.join(project_root, "test_data", "map_only23456.pcd"),
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os.path.join(project_root, "test_data", "0619", "1", "output.pcd"),
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os.path.join(project_root, "utm_test", "3", "output.pcd"),
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]
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# Find existing PCD files
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for pcd_path in possible_pcd_paths:
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if os.path.exists(pcd_path):
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return pcd_path, os.path.join(project_root, "web_visualization")
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# If not found, return the first path as default
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return possible_pcd_paths[0], os.path.join(project_root, "web_visualization")
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def find_pcd_files(directory):
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"""Find all PCD files in the specified directory"""
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pcd_files = []
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for root, dirs, files in os.walk(directory):
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for file in files:
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if file.lower().endswith(".pcd"):
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pcd_files.append(os.path.join(root, file))
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return pcd_files
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def create_3d_visualization(pcd, output_dir="web_output", title="Point Cloud"):
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"""Create 3D interactive visualization"""
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os.makedirs(output_dir, exist_ok=True)
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points = np.asarray(pcd.points)
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x, y, z = points[:, 0], points[:, 1], points[:, 2]
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# Create 3D scatter plot
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fig_3d = go.Figure(
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data=[
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go.Scatter3d(
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x=x,
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y=y,
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z=z,
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mode="markers",
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marker=dict(
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size=2,
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color="steelblue", # Use single color
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opacity=0.8,
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),
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text=[
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f"X: {x[i]:.3f}<br>Y: {y[i]:.3f}<br>Z: {z[i]:.3f}"
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for i in range(min(1000, len(x)))
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], # Only add hover info for the first 1000 points
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hoverinfo="text",
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name="Point Cloud",
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)
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]
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)
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fig_3d.update_layout(
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title=dict(
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text="Interactive 3D Point Cloud Visualization", x=0.5, font=dict(size=20)
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),
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scene=dict(
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xaxis_title="X (m)",
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yaxis_title="Y (m)",
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zaxis_title="Z (m)",
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aspectmode="cube", # Use cube mode to maintain proportions and center
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camera=dict(
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eye=dict(x=0, y=0, z=2.5), # Set camera position for centered top view
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center=dict(x=0, y=0, z=0), # Set view center point
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),
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),
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width=1000,
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height=700,
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margin=dict(l=50, r=50, t=80, b=50), # Adjust margins to center the graph
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)
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# Save 3D visualization
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html_3d_path = os.path.join(output_dir, "pointcloud_3d.html")
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fig_3d.write_html(html_3d_path)
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return html_3d_path
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def create_simple_index(output_dir, html_3d_path):
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"""Create simplified index page"""
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html_content = """
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<!DOCTYPE html>
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<html lang="en">
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<head>
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<meta charset="UTF-8">
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<meta name="viewport" content="width=device-width, initial-scale=1.0">
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<title>3D Point Cloud Visualization</title>
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<style>
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body {
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font-family: Arial, sans-serif;
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margin: 0;
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padding: 20px;
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background-color: #f5f5f5;
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}
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.container {
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max-width: 1000px;
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margin: 0 auto;
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background-color: white;
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padding: 30px;
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border-radius: 10px;
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box-shadow: 0 2px 10px rgba(0,0,0,0.1);
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text-align: center;
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}
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.header {
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margin-bottom: 30px;
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border-bottom: 2px solid #007bff;
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padding-bottom: 20px;
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}
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.header h1 {
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color: #333;
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margin: 0;
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}
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.header p {
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color: #666;
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margin: 10px 0 0 0;
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}
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.btn {
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display: inline-block;
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background-color: #007bff;
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color: white;
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padding: 15px 30px;
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text-decoration: none;
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border-radius: 8px;
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font-size: 18px;
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margin: 20px 0;
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transition: background-color 0.2s;
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}
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.btn:hover {
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background-color: #0056b3;
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}
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.solution-box {
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background-color: #e8f5e8;
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border: 1px solid #28a745;
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border-radius: 8px;
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padding: 20px;
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margin: 20px 0;
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}
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.solution-box h3 {
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color: #28a745;
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margin-top: 0;
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}
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</style>
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</head>
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<body>
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<div class="container">
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<div class="header">
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<h1>🎯 3D Point Cloud Interactive Visualization</h1>
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</div>
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<a href="pointcloud_3d.html" class="btn">🌐 Open 3D Point Cloud Visualization</a>
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<div style="margin-top: 40px; padding: 20px; background-color: #f8f9fa; border-radius: 8px; text-align: center;">
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<h3>💡 Usage Instructions</h3>
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<p>Click the button above to open the 3D visualization page and use mouse for interactive operations:</p>
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<ul style="display: inline-block; text-align: left; margin: 0; padding-left: 20px;">
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<li>Drag: Rotate view</li>
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<li>Scroll wheel: Zoom</li>
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<li>Right-click drag: Pan</li>
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<li>Hover: View point coordinates</li>
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</ul>
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</div>
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</div>
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</body>
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</html>
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"""
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index_path = os.path.join(output_dir, "index.html")
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with open(index_path, "w", encoding="utf-8") as f:
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f.write(html_content)
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return index_path
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def main():
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"""Main function"""
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print("=== Image2PCD Web Visualization Tool ===")
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# Get default paths
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default_pcd_path, default_output_dir = get_default_paths()
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# Check for command line arguments
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if len(sys.argv) > 1:
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pcd_path = sys.argv[1]
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if not os.path.exists(pcd_path):
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print(f"Error: Specified PCD file does not exist: {pcd_path}")
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return
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else:
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pcd_path = default_pcd_path
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if not os.path.exists(pcd_path):
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print(f"Warning: Default PCD file does not exist: {pcd_path}")
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# Try to find other PCD files
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script_dir = os.path.dirname(os.path.abspath(__file__))
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project_root = os.path.dirname(script_dir)
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print("Searching for PCD files...")
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pcd_files = find_pcd_files(project_root)
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if pcd_files:
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pcd_path = pcd_files[0]
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print(f"Found PCD file: {pcd_path}")
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else:
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print("Error: No PCD files found")
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print(
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"Please ensure there are PCD files in the project, or specify file path via command line"
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)
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print("Usage: python pcd_web.py <pcd_file_path>")
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return
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# Set output directory
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if len(sys.argv) > 2:
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output_dir = sys.argv[2]
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else:
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output_dir = default_output_dir
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print(f"Input file: {pcd_path}")
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print(f"Output directory: {output_dir}")
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# Load point cloud
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print("Loading point cloud file...")
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pcd = o3d.io.read_point_cloud(pcd_path)
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if len(pcd.points) == 0:
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print("Error: Unable to load point cloud file or file is empty")
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print("Please check if the file format is correct")
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return
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print(f"Successfully loaded point cloud with {len(pcd.points)} points")
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# Get filename as title
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pcd_filename = os.path.basename(pcd_path)
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title = f"Point Cloud: {pcd_filename}"
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# Create 3D visualization
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print("Generating 3D visualization...")
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html_3d_path = create_3d_visualization(pcd, output_dir, title)
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# Create index page
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print("Generating index page...")
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index_path = create_simple_index(output_dir, html_3d_path)
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print("\n3D visualization created successfully!")
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print(f"Output directory: {os.path.abspath(output_dir)}")
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print(f"Main page: {os.path.abspath(index_path)}")
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print(f"3D visualization: {os.path.abspath(html_3d_path)}")
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print("\nUsage:")
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print(f"1. Open in browser: file://{os.path.abspath(index_path)}")
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print(f"2. Or open directly: file://{os.path.abspath(html_3d_path)}")
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# Try to automatically open browser (optional)
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try:
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import webbrowser
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webbrowser.open(f"file://{os.path.abspath(index_path)}")
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print("Attempted to open visualization page in default browser")
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except ImportError:
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pass
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if __name__ == "__main__":
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main()
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