1. Installation
Preferably python 3.8 or above
pip install open3d
You can add Tsinghua University or other download sources to speed up downloading.
Read pcd point cloud file and display
import open3d as o3d
pcd = o3d.io.read_point_cloud("./PointClouds/0120.pcd") # 读取pcd文件
print(pcd) #只是简单的打印信息：PointCloud with 113662 points.
#显示，zoom等信息是一些可选项
o3d.visualization.draw_geometries([pcd])
# o3d.visualization.draw_geometries([pcd], zoom=0.3412,
# front=[0.4257, -0.2125, -0.8795],
# lookat=[2.6172, 2.0475, 1.532],
# up=[-0.0694, -0.9768, 0.2024])
# 在同级目录下写入 copy_of_fragment.pcd文件
o3d.io.write_point_cloud("copy_of_fragment.pcd", pcd)
Pyqt5+open3d displays point cloud
pip install PyQt5 -i https://pypi.tuna.tsinghua.edu.cn/simple
pip install pyqtgraph -i https://pypi.tuna.tsinghua.edu.cn/simple
pip install pyOpenGL -i https://pypi.douban.com/simple
import sys
import open3d as o3d
import numpy as np
import pyqtgraph.opengl as gl
from PyQt5.QtWidgets import QApplication, QVBoxLayout, QPushButton, QWidget, QFileDialog
from pyqtgraph.opengl import GLViewWidget
class PyQtGraphicDemo(QWidget):
def __init__(self, parent=None):
super(PyQtGraphicDemo, self).__init__(parent)
self.resize(800, 600)
#显示控件
self.graphicsView = GLViewWidget(self)
#按钮
self.pushButton = QPushButton(self)
self.pushButton.setText("PushButton")
self.pushButton.clicked.connect(self.showCloud)
#布局
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.addWidget(self.graphicsView)
self.verticalLayout.addWidget(self.pushButton)
self.setLayout(self.verticalLayout)
def showCloud(self):
fileName, filetype = QFileDialog.getOpenFileName(self, "请选择点云：", '.', "cloud Files(*pcd *ply)")
if fileName != '':
pcd = o3d.io.read_point_cloud(fileName) # 读取点云
np_points = np.asarray(pcd.points) # 获取Numpy数组
plot = gl.GLScatterPlotItem() # 创建显示对象
plot.setData(pos=np_points, color=(1, 1, 1, 1), size=0.001, pxMode=False) # 设置显示数据
self.graphicsView.addItem(plot) # 显示点云
if __name__ == '__main__':
app = QApplication(sys.argv)
window = PyQtGraphicDemo()
window.show()
sys.exit(app.exec_())
renderings
Join your own qt project
# -*- coding: utf-8 -*-
'''**************************************************************************
这是通用的图像识别的qt界面，具有图片检测，摄像头检测，本地视频检测的功能。
版本：1.0
内容：创建pyqt界面，用于图像识别，有基本打开图像，显示图像、检测图像，摄像头实时显示并检测，本地视频检测
时间：2021.9.13
作者：狄云
版本：2.0
内容：目前最新版界面，开始识别，停止识别，保存图像，界面大小设置等
时间：2022.10.22
作者：狄云
版本：3.0
内容：新增显示点云界面设计
时间：2022.10.22
作者：狄云
***************************************************************************'''
import sys
import cv2
import cv2 as cv
import random
import os
import numpy as np
from PyQt5 import QtCore, QtGui, QtWidgets
from PyQt5 import QtWidgets
from PyQt5.QtWidgets import *
from PyQt5.QtGui import *
from timeit import time
#点云显示相关
import open3d as o3d
import pyqtgraph.opengl as gl
from pyqtgraph.opengl import GLViewWidget
envpath = '/home/xxxxxx/anaconda3/envs/pytorch_gpu/lib/python3.8/site-packages/cv2/qt/plugins/platforms'
os.environ['QT_QPA_PLATFORM_PLUGIN_PATH'] = envpath
###========全局变量 定义开始=======###
# 打开的是摄像头还是本地视频
camera_or_local_flag = 0
# 识别进行中还是暂停识别中，1为摄像头，2位本地摄像头
Start_or_pause_flag = 0
result_image = ...
DISPLAY_W=1400 # 显示的宽度
DISPLAY_H=900 # 显示的高度
DISPLAY_RIGHT_W=220 # 右边按钮显示的宽度
fps = 0.0
len_last = 0
SAVE_OUTPUT=1 #保存图像
one_enter=1
def plot_one_box(x, img, color=None, label=None, line_thickness=3):
# Plots one bounding box on image img
tl = line_thickness or round(0.002 * (img.shape[0] + img.shape[1]) / 2) + 1 # line/font thickness
color = color or [random.randint(0, 255) for _ in range(3)]
c1, c2 = (int(x[0]), int(x[1])), (int(x[2]), int(x[3]))
cv2.rectangle(img, c1, c2, color, thickness=tl, lineType=cv2.LINE_AA)
if label:
tf = max(tl - 1, 1) # font thickness
t_size = cv2.getTextSize(label, 0, fontScale=tl / 3, thickness=tf)[0]
c2 = c1[0] + t_size[0], c1[1] - t_size[1] - 3
cv2.rectangle(img, c1, c2, color, -1, cv2.LINE_AA) # filled
cv2.putText(img, label, (c1[0], c1[1] - 2), 0, tl / 3, [225, 255, 255], thickness=tf, lineType=cv2.LINE_AA)
#查找系统有几个摄像头
class Camera:
def __init__(self, cam_preset_num=10):
self.cam_preset_num = cam_preset_num
def get_cam_num(self):
cnt = 0
for device in range(0, self.cam_preset_num):
stream = cv.VideoCapture(device)
grabbed = stream.grab()
stream.release()
if not grabbed:
break
cnt = cnt + 1
return cnt
class Ui_MainWindow(QtWidgets.QMainWindow):
def __init__(self, parent=None):
super(Ui_MainWindow, self).__init__(parent)
def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow")
# 1、总界面框大小 MainWindow
MainWindow.resize(DISPLAY_W+DISPLAY_RIGHT_W+100, DISPLAY_H+50) # 总界面框
# 左边界面区域：verticalLayoutWidget QWidget类
self.verticalLayoutWidget = QtWidgets.QWidget(MainWindow)
self.verticalLayoutWidget.setGeometry(QtCore.QRect(30, 25, DISPLAY_W, DISPLAY_H)) # 左边图片框。左上角坐标及宽度高度
self.verticalLayoutWidget.setStyleSheet('background-color:rgb(55,55,55)') # 设置做左边框的颜色
self.verticalLayoutWidget.setObjectName("verticalLayoutWidget")
self.verticalLayout = QtWidgets.QVBoxLayout(self.verticalLayoutWidget) # QVBoxLayout类 垂直地摆放小部件
self.verticalLayout.setContentsMargins(0, 0, 0, 0) # 设置左侧、顶部、右侧和底部边距，以便在布局周围使用。
self.verticalLayout.setObjectName("verticalLayout")
#self.label_ShowPicture = QtWidgets.QLabel(self.verticalLayoutWidget)
#self.label_ShowPicture.setObjectName("label_ShowPicture")
#self.verticalLayout.addWidget(self.label_ShowPicture)
#显示控件
self.graphicsView = GLViewWidget(self.verticalLayoutWidget)
self.graphicsView.setObjectName("graphicsView")
self.verticalLayout.addWidget(self.graphicsView)
# 右边按钮及显示结果字符的一块区域：verticalLayoutWidget_2 QWidget类
self.verticalLayoutWidget_2 = QtWidgets.QWidget(MainWindow)
self.verticalLayoutWidget_2.setGeometry(QtCore.QRect(DISPLAY_W + 50, 50, DISPLAY_RIGHT_W, DISPLAY_H)) # 右边按钮及显示结果字符的大小
# self.verticalLayoutWidget_2.setStyleSheet('background-color:rgb(155,155,155)') # 设置做左边框的颜色
self.verticalLayoutWidget_2.setObjectName("verticalLayoutWidget_2")
self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.verticalLayoutWidget_2) # QVBoxLayout类 垂直地摆放小部件
self.verticalLayout_2.setContentsMargins(0, 0, 0, 0)
self.verticalLayout_2.setObjectName("verticalLayout_2")
# 设置控件间的间距
self.verticalLayout_2.setSpacing(30)
# 按钮0 查看系统有几个摄像头：pushButton_select_pcture
self.pushButton_find_camera = QtWidgets.QPushButton(self.verticalLayoutWidget_2)
self.pushButton_find_camera.setObjectName("pushButton_find_camera")
self.verticalLayout_2.addWidget(self.pushButton_find_camera) # 将按钮1增加到
# 按钮1 打开图片：pushButton_open_picture
self.pushButton_open_picture = QtWidgets.QPushButton(self.verticalLayoutWidget_2)
self.pushButton_open_picture.setObjectName("pushButton_open_picture")
self.verticalLayout_2.addWidget(self.pushButton_open_picture)
# 按钮2 打开摄像头：pushButton_select_pcture
self.pushButton_open_camera = QtWidgets.QPushButton(self.verticalLayoutWidget_2)
self.pushButton_open_camera.setObjectName("pushButton_open_camera")
self.verticalLayout_2.addWidget(self.pushButton_open_camera) # 将按钮1增加到
# 按钮3 选择视频按钮：pushButton_select_pcture
self.pushButton_open_Local_video = QtWidgets.QPushButton(self.verticalLayoutWidget_2)
self.pushButton_open_Local_video.setObjectName("pushButton_open_Local_video")
self.verticalLayout_2.addWidget(self.pushButton_open_Local_video) # 将按钮1增加到
# 按钮4 开始识别按钮：pushButton_shibie
self.pushButton_Start_or_pause = QtWidgets.QPushButton(self.verticalLayoutWidget_2)
self.pushButton_Start_or_pause.setObjectName("pushButton_Start_or_pause")
self.verticalLayout_2.addWidget(self.pushButton_Start_or_pause)
# 按钮5 停止识别按钮：pushButton_shibie
self.pushButton_stop = QtWidgets.QPushButton(self.verticalLayoutWidget_2)
self.pushButton_stop.setObjectName("pushButton_stop")
self.verticalLayout_2.addWidget(self.pushButton_stop)
# 按钮6 显示点云按钮：pushButton_shibie
self.pushButton_PointClouds = QtWidgets.QPushButton(self.verticalLayoutWidget_2)
self.pushButton_PointClouds.setObjectName("pushButton_PointClouds")
self.verticalLayout_2.addWidget(self.pushButton_PointClouds)
# 放“图像识别结果为”这一句话
self.label = QtWidgets.QLabel(self.verticalLayoutWidget_2)
font = QtGui.QFont()
font.setPointSize(15)
self.label.setFont(font)
self.label.setObjectName("label")
self.verticalLayout_2.addWidget(self.label)
# lable_2放显示结果1
self.label_2 = QtWidgets.QLabel(self.verticalLayoutWidget_2)
font = QtGui.QFont()
font.setPointSize(15)
self.label_2.setFont(font)
self.label_2.setText("")
self.label_2.setObjectName("label_2")
self.verticalLayout_2.addWidget(self.label_2)
# lable_3放是否密集
self.label_3 = QtWidgets.QLabel(self.verticalLayoutWidget_2)
font = QtGui.QFont()
font.setPointSize(15)
self.label_3.setFont(font)
self.label_3.setText("")
self.label_3.setObjectName("label_3")
self.verticalLayout_2.addWidget(self.label_3)
self.timer_camera = QtCore.QTimer() # 初始化定时器
self.cap = cv2.VideoCapture() # 初始化摄像头
self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920)
self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080)
self.CAM_NUM = 0
self.__flag_work = 0
self.x = 0
self.count = 0
# 视频显示与计时器，以及关闭识别
# 建立通信连接
self.pushButton_find_camera.clicked.connect(self.button_find_camera_click)
self.pushButton_open_camera.clicked.connect(self.button_open_camera_click)
self.timer_camera.timeout.connect(self.kaishi_shibie)
self.pushButton_open_Local_video.clicked.connect(self.pushButton_open_Local_video_click) #
self.pushButton_Start_or_pause.clicked.connect(self.pushButton_Start_or_pause_click)
self.pushButton_open_picture.clicked.connect(self.pushButton_select_pcture_click)
self.pushButton_stop.clicked.connect(self.pushButton_stop_click)
self.pushButton_PointClouds.clicked.connect(self.pushButton_PointClouds_click)
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
name_picture = 0
image = None
def retranslateUi(self, MainWindow):
_translate = QtCore.QCoreApplication.translate
MainWindow.setWindowTitle(_translate("MainWindow", "点云显示系统"))
self.pushButton_find_camera.setText(_translate("MainWindow", "检查设备"))
self.pushButton_open_picture.setText(_translate("MainWindow", "图片识别"))
self.pushButton_open_camera.setText(_translate("MainWindow", "打开相机"))
self.pushButton_open_Local_video.setText(_translate("MainWindow", "选择本地视频识别"))
self.pushButton_Start_or_pause.setText(_translate("MainWindow", "开始识别"))
self.pushButton_stop.setText(_translate("MainWindow", "停止识别"))
self.pushButton_PointClouds.setText(_translate("MainWindow", "打开点云"))
# 查看系统有几个摄像头
def button_find_camera_click(self):
cam = Camera()
cam_num = cam.get_cam_num()
print(cam_num)
new_num=str(cam_num)
#self.label_2.setText(cam_num)
self.label.setText( "当前设备摄像头个数为：")
self.label_2.setText(new_num)
# 打开摄像头
def button_open_camera_click(self):
print("进入打开视频按钮")
global camera_or_local_flag
global one_enter
one_enter = 1
if self.timer_camera.isActive() == False:
flag = self.cap.open(self.CAM_NUM)
if flag != True:
print("运行到行号：", sys._getframe().f_lineno)
# 后两项分别为按钮(以|隔开，共有7种按钮类型，见示例后)、默认按钮(省略则默认为第一个按钮)
msg = QMessageBox.warning(self, "消息框标题", "请检测相机与电脑是否连接正确！", QMessageBox.Yes | QMessageBox.No, QMessageBox.Yes)
return
else:
print("运行到行号：", sys._getframe().f_lineno)
self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920)
self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080)
self.timer_camera.start(30)
camera_or_local_flag = 1 # 打开了摄像头
self.pushButton_open_camera.setText(u'关闭相机')
else:
self.timer_camera.stop()
self.cap.release()
camera_or_local_flag = 0 # 关闭了摄像头
self.label_ShowPicture.clear()
self.pushButton_open_camera.setText(u'打开相机')
# 选择图片
def pushButton_select_pcture_click(self):
print("进入选择按钮")
name_list = []
img_name, _ = QtWidgets.QFileDialog.getOpenFileName(self, "打开图片", "", "*.jpg;;*.png;;All Files(*)")
img = cv2.imread(img_name)
print(img_name)
showimg = img
[height_src, width_src, tongdao_src] = img.shape
number1111=0
showimg =cv2.putText(showimg, "fps= %.2f" % (fps), (0, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
cv2.imwrite('./temp/prediction.jpg', showimg)
self.result = cv2.cvtColor(showimg, cv2.COLOR_BGR2BGRA)
self.result = cv2.resize(self.result, (DISPLAY_W, DISPLAY_H), interpolation=cv2.INTER_AREA)
self.QtImg = QtGui.QImage(self.result.data, self.result.shape[1], self.result.shape[0], QtGui.QImage.Format_RGB32)
#self.label.setPixmap(QtGui.QPixmap.fromImage(self.QtImg))
self.label_ShowPicture.setPixmap(QtGui.QPixmap.fromImage(self.QtImg))
def pushButton_PointClouds_click(self):
print("进入选择点云按钮")
fileName, filetype = QFileDialog.getOpenFileName(self, "请选择点云：", '.', "cloud Files(*pcd *ply)")
if fileName != '':
pcd = o3d.io.read_point_cloud(fileName) # 读取点云
np_points = np.asarray(pcd.points) # 获取Numpy数组
plot = gl.GLScatterPlotItem() # 创建显示对象
plot.setData(pos=np_points, color=(1, 1, 1, 1), size=0.001, pxMode=False) # 设置显示数据
#self.graphicsView.addItem(plot) # 显示点云
self.graphicsView.addItem(plot)
# 选择视频
def pushButton_open_Local_video_click(self):
print("进入打开本地视频按钮")
global camera_or_local_flag
global Start_or_pause_flag
global one_enter
# 打开本地视频，则关闭摄像头的视频
self.timer_camera.stop()
self.cap.release()
camera_or_local_flag = 0 # 关闭了摄像头
Start_or_pause_flag = 0 # 0代表不识别
self.pushButton_Start_or_pause.setText(u'开始识别')
self.label_ShowPicture.clear()
self.pushButton_open_camera.setText(u'打开相机')
one_enter = 1
if self.timer_camera.isActive() == False:
print("打开本地视频")
self.fileName, self.fileType = QFileDialog.getOpenFileName(None, 'Choose file', '', '*.mp4;;*.avi')
self.cap_Local_video = cv.VideoCapture(self.fileName)
# self.timer_camera.start(30)
camera_or_local_flag = 2 # 打开了本地视频
#self.pushButton_open_Local_video.setText(u'关闭本地视频')
# 打开录像后，不进行播放，等点击开始识别后开始播放
ret, self.frame = self.cap_Local_video.read()
img = cv2.resize(self.frame, (DISPLAY_W, DISPLAY_H), interpolation=cv2.INTER_AREA)
height, width, bytesPerComponent = img.shape # 取彩色图片的长、宽、通道
bytesPerLine = 3 * width
cv.cvtColor(img, cv.COLOR_BGR2RGB, img)
QImg = QImage(img.data, width, height, bytesPerLine, QImage.Format_RGB888)
pixmap = QPixmap.fromImage(QImg)
self.label_ShowPicture.setPixmap(QPixmap(pixmap))
else:
self.timer_camera.stop()
self.cap_Local_video.release()
camera_or_local_flag = 0 # 关闭了摄像头
self.pushButton_Start_or_pause.setText(u'开始识别')
self.label_ShowPicture.clear()
self.pushButton_open_camera.setText(u'打开相机')
# 停止按钮
def pushButton_stop_click(self):
print("进入停止按钮")
global camera_or_local_flag
global Start_or_pause_flag
global one_enter
self.out.release()
self.timer_camera.stop()
self.cap.release()
camera_or_local_flag = 0 # 关闭了摄像头
Start_or_pause_flag = 0
one_enter=1
self.label_ShowPicture.clear()
self.pushButton_open_Local_video.setText(u'打开本地视频')
self.pushButton_open_camera.setText(u'打开相机')
self.pushButton_Start_or_pause.setText(u'开始识别')
# 开启按钮
def pushButton_Start_or_pause_click(self):
global camera_or_local_flag
global Start_or_pause_flag
print(camera_or_local_flag, Start_or_pause_flag)
print(254)
if camera_or_local_flag == 1: # 摄像头视频
if Start_or_pause_flag == 0:
Start_or_pause_flag = 1 # 代表开始识别
print(258)
self.timer_camera.start(30)
self.pushButton_Start_or_pause.setText(u'识别中')
# self.deep_sort() # 调用函数
else:
Start_or_pause_flag = 0 # 3代表开始识别
self.timer_camera.stop()
self.pushButton_Start_or_pause.setText(u'开始识别')
elif camera_or_local_flag == 2: # 本地视频
if Start_or_pause_flag == 0:
Start_or_pause_flag = 1 # 代表开始识别
self.timer_camera.start(30)
print(269)
print(camera_or_local_flag, Start_or_pause_flag)
self.pushButton_Start_or_pause.setText(u'识别中')
# self.deep_sort() # 调用函数
else:
Start_or_pause_flag = 0 # 0代表不识别
self.timer_camera.stop()
self.pushButton_Start_or_pause.setText(u'开始识别')
print(" 2 camera_or_local_flag =%d Start_or_pause_flag =%d", camera_or_local_flag, Start_or_pause_flag)
def kaishi_shibie(self):
global camera_or_local_flag
global Start_or_pause_flag
global result_image
global counter_zhenhao
global counter_jueduizhenhao
global fps
global len_last
global one_enter
t1 = time.time()
ret = False
fps_src=30
if camera_or_local_flag == 1 and Start_or_pause_flag == 0:
ret, self.frame = self.cap.read()
fps_src = self.cap.get(cv2.CAP_PROP_FPS) # 帧数
elif camera_or_local_flag == 2 and Start_or_pause_flag == 0: # 打开本地文件，且只显示首帧
ret, self.frame = self.cap_Local_video.read()
fps_src = self.cap_Local_video.get(cv2.CAP_PROP_FPS) # 帧数
if camera_or_local_flag == 1 and Start_or_pause_flag == 1:
ret, self.frame = self.cap.read()
fps_src = self.cap.get(cv2.CAP_PROP_FPS) # 帧数
elif camera_or_local_flag == 2 and Start_or_pause_flag == 1: # 打开本地文件，且只显示首帧
ret, self.frame = self.cap_Local_video.read()
fps_src = self.cap_Local_video.get(cv2.CAP_PROP_FPS) # 帧数
#print("417",ret, camera_or_local_flag, Start_or_pause_flag)
frame0=None
if ret != True:
print("打开图像失败 or 识别结束")
Start_or_pause_flag = 0 # 0代表不识别
self.cap.release()
self.pushButton_Start_or_pause.setText(u'开始识别')
self.out.release()
self.label_ShowPicture.clear()
one_enter = 1
self.timer_camera.stop()
return
if Start_or_pause_flag == 1:
a=int(self.cap.get(3))
b=int(self.cap.get(4))
#print(a,b)
name_list = []
img = self.frame.copy()
number1111=0
chunjing_img = self.frame.copy()
[height_src, width_src, tongdao_src] = chunjing_img.shape
if SAVE_OUTPUT and one_enter == 1:
#print("运行到行号：", sys._getframe().f_lineno)
[height, width, tongdao] = chunjing_img.shape
print(width, height, tongdao)
fourcc = cv2.VideoWriter_fourcc('m', 'p', '4', 'v')
date = time.strftime("%Y_%m_%d_%H_%M_%S")
print(date) # 输出：'2019-06-15 18:58:07'
print("运行到行号：", sys._getframe().f_lineno)
self.out = cv2.VideoWriter('./output/output_{}.mp4'.format(date), fourcc, fps_src, (width, height)) # 写入视频
one_enter = 0
if img is not None:
showimg = img.copy()
fps = (fps + (1. / (time.time() - t1))) / 2
# print("fps= %.2f" % (fps))
showimg = cv.putText(showimg, "fps= %.2f" % (fps), (0, 40), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
frame0 = showimg.copy()
new_num = str(number1111)
if SAVE_OUTPUT:
# save a frame
self.out.write(frame0)
#**************************************************************************************************************************
else:
frame0 = self.frame.copy()
# 在界面实时显示结果
#print("运行到行号：", sys._getframe().f_lineno)
img = cv2.resize(frame0, (DISPLAY_W, DISPLAY_H), interpolation=cv2.INTER_AREA)
height, width, bytesPerComponent = img.shape # 取彩色图片的长、宽、通道
bytesPerLine = 3 * width
img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
QImg = QImage(img.data, width, height, bytesPerLine, QImage.Format_RGB888)
pixmap = QPixmap.fromImage(QImg)
self.label_ShowPicture.setPixmap(QPixmap(pixmap))
if __name__ == '__main__':
counter_zhenhao = 3
counter_jueduizhenhao = 0
#os.system('python login_main.py') # 执行login_main.py文件，即登录界面，账号和密码为 diyun 12345
app = QtWidgets.QApplication(sys.argv)
MainWindow = QtWidgets.QMainWindow()
ui = Ui_MainWindow()
ui.setupUi(MainWindow)
MainWindow.show()
sys.exit(app.exec_())
renderings
