README.md · makangcheng/SLAM_tools

[toc]

# 食用步骤

## 安装

### 1. 环境

安装pip我好像都用的清华源，特别是torchboard，直接pip似乎会有版本问题

```
conda env create -f environment.yml

pip install -i https://pypi.tuna.tsinghua.edu.cn/simple -r requirements.txt
```

个人更加推荐使用mamba代替conda
现在base里下载一个mamba

`
conda install mamba -n base -c conda-forge
`

然后把conda换成mamba可以配置新环境的时候快很多

```sh
mamba env create -f environment.yml

pip install -i https://pypi.tuna.tsinghua.edu.cn/simple -r requirements.txt

# 然后是子模块，目前还没有
# git submodule update--init--recursive
```

---

### 2. 激活

`
conda activate SLAM_tools
`

---

## 功能介绍

### 1. read_PCD

```python
# 示例代码

from PCD.read_PCD import read_pcd

mypcd_ctrl = read_pcd("Resource/test_ply.ply")
mypcd = mypcd_ctrl.read()
print(type(mypcd))
# 下面这俩结果是一样的
mypcd.show_pcd()
mypcd_ctrl.show_pcd()

```
---

### 2. read_CAM

```python
# 示例代码

from Camera import read_cam
import os

# 需要绝对路径
current_directory = os.getcwd()
absPath = os.path.join(current_directory, "Resource/transforms_train.json")
mycam_ctrl = read_cam(absPath)
# json文件旁边准备了image文件夹的话可以改readImg为True
mycam = mycam_ctrl.read(readImg = False)
# 现在是个list了，所以没有直接的show函数了，不过可以迭代使用
print(type(mycam))
mycam_ctrl.show_cam(showValue = True)

```
---

### 3. o3d_ctr

```python
# 示例代码

from Open3d_tools import o3d_ctr

path_ply = "Resource/test_ply.ply"
path_cam = "Resource/transforms_train.json"

o3d_ctrl = o3d_ctr(noPrint = False)
# 假如这里使用绝对路径，那么需要增加一个参数abs=True
o3d_ctrl.oc_read_cam(path_cam)
o3d_ctrl.oc_read_pcd(path_ply)

```

### 4. tkinter_tool

```python
# 示例代码

import time
from tkinter_tools import mytk
import multiprocessing as mp

a = [1]
# int 的也可以，但是假如使用默认的，bar上还是浮点数，会取整
# b = mp.Value('i', 1)
b = mp.Value('f', 1)
c= 1

def test(a, b, c):
    mytk_ctrl = mytk()
    mytk_ctrl.add_Label(text = 'a')
    mytk_ctrl.add_slider(value = a)
    mytk_ctrl.add_Label(text = 'b')
    mytk_ctrl.add_slider(value = b)
    mytk_ctrl.add_Label(text = 'c')
    mytk_ctrl.add_slider(value = c)
    mytk_ctrl.run_tk()

pro = mp.Process(target = test, args = (a, b, c))
pro.start()

for i in range(10):
    print("i'll sleep...zzzzz~")
    time.sleep(1)

pro.join()

```
---

### 5. Open3d_tools

```python
# 示例代码

from tkinter_tools import mytk
import multiprocessing as mp
from Open3d_tools import o3d_ctr

def tk(a, b):
    mytk_ctrl = mytk()
    mytk_ctrl.add_Label(text = 'distance from new position to the old')
    mytk_ctrl.add_slider(value = a, from_ = 0., to_ = 3, resolution = 0.03)
    mytk_ctrl.add_Label(text = 'change button')
    mytk_ctrl.add_slider(value = b, from_ = 0, to_ = 1, resolution = 1, length = 100)
    mytk_ctrl.add_Label(text = 'or:')
    mytk_ctrl.add_button_tran_value_to_newV(value = b, newV = 1, text = "click to update")
    mytk_ctrl.run_tk()

path_ply = "Resource/test_ply.ply"
path_cam = "Resource/transforms_train.json"

o3d_ctrl = o3d_ctr(noPrint = False)
# 假如这里使用绝对路径，那么需要增加一个参数abs=True
o3d_ctrl.oc_read_cam(path_cam)
o3d_ctrl.oc_read_pcd(path_ply)

a = o3d_ctrl.change_cam
b = o3d_ctrl.changed
pro1 = mp.Process(target = tk, args = (a, b))
pro1.start()

# 或者把这一块开一个进程也可以
o3d_ctrl.flash_open3d()

pro1.join()

```
---

#### 5.1 做了一个按键按下后可以存储当前的改变后的cam

```python
# 示例代码

from tkinter_tools import mytk
import multiprocessing as mp
from Open3d_tools import o3d_ctr

def tk(a, b, c):
    mytk_ctrl = mytk()
    mytk_ctrl.add_Label(text = 'change T of camera to to the new position')
    mytk_ctrl.add_slider(value = a, from_ = 0., to_ = 3, resolution = 0.03)
    mytk_ctrl.add_Label(text = 'change button')
    mytk_ctrl.add_slider(value = b, from_ = 0, to_ = 1, resolution = 1, length = 100)
    mytk_ctrl.add_Label(text = 'or:')
    mytk_ctrl.add_button_tran_value_to_newV(value = b, newV = 1, text = "click to update")
    mytk_ctrl.add_Label(text = 'save camera')
    mytk_ctrl.add_button_tran_value_to_newV(value = c, newV = 1, text = "click to save(when pro finish)")
    mytk_ctrl.run_tk()

path_ply = "Resource/test_ply.ply"
path_cam = "Resource/transforms_train.json"
# path_cam = "/home/kangcheng/Desktop/SLAM/NeRF/NeRF/nerf-pytorch/data/nerf_synthetic/lego/transforms_test.json" # test abs path

o3d_ctrl = o3d_ctr(noPrint = False)
# 假如这里使用绝对路径，那么需要增加一个参数abs=True
# o3d_ctrl.oc_read_cam(path_cam, abs=True)
o3d_ctrl.oc_read_cam(path_cam)
o3d_ctrl.oc_read_pcd(path_ply)

a = o3d_ctrl.change_cam
b = o3d_ctrl.changed
c = o3d_ctrl.did_save
pro1 = mp.Process(target = tk, args = (a, b, c))
pro1.start()

# 或者把这一块开一个进程也可以
o3d_ctrl.flash_open3d()

pro1.join()

if o3d_ctrl.did_save.value == 1:
    savePath = "Resource/test.json"
    o3d_ctrl.oc_save_f_camera(path = savePath)
    print("save success!")

```
---

makangcheng/SLAM_tools

简介

发行版

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近期动态

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简介

发行版

贡献者

近期动态

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makangcheng/SLAM_tools