import os import tkinter as tk from tkinter.filedialog import askopenfilename import open3d as o3d import numpy as np import csv import math import subprocess # For launching the scan.py script # Helper Functions def convert_to_cartesian(angle, distance, rotation): angle_rad = math.radians(angle) y = distance * math.sin(angle_rad) z = distance * math.cos(angle_rad) rotation_rad = math.radians(rotation) x = z * math.sin(rotation_rad) z = z * math.cos(rotation_rad) x = -x # Negate x to match the correct orientation return x, y, z def distance_to_color(distance, min_distance, max_distance): normalized = (distance - min_distance) / (max_distance - min_distance) normalized = max(0, min(1, normalized)) r = int(255 * normalized) g = int(255 * (1 - abs(normalized - 0.5) * 2)) b = int(255 * (1 - normalized)) return r, g, b def generate_ply(points, filename): with open(filename, 'w') as ply_file: ply_file.write("ply\n") ply_file.write("format ascii 1.0\n") ply_file.write(f"element vertex {len(points)}\n") ply_file.write("property float x\n") ply_file.write("property float y\n") ply_file.write("property float z\n") ply_file.write("property uchar red\n") ply_file.write("property uchar green\n") ply_file.write("property uchar blue\n") ply_file.write("end_header\n") for point in points: x, y, z, r, g, b = point ply_file.write(f"{x} {y} {z} {r} {g} {b}\n") def load_csv_data(filepath): points = [] distances = [] with open(filepath, newline='') as csvfile: csvreader = csv.reader(csvfile) next(csvreader) # Skip header for row in csvreader: try: angle = float(row[1]) distance = float(row[2]) rotation = float(row[3]) x, y, z = convert_to_cartesian(angle, distance, rotation) distances.append(distance) points.append((x, y, z)) except ValueError as e: print(f"Skipping row due to error: {e}") if not points: raise ValueError("No valid points found in the CSV file.") min_distance = min(distances) max_distance = max(distances) colored_points = [(x, y, z, *distance_to_color(distance, min_distance, max_distance)) for (x, y, z), distance in zip(points, distances)] return colored_points, points def process_and_visualize(csv_file_path, vis=None, log_message=None): try: # Load data if log_message: log_message("Loading CSV data...") colored_points, _ = load_csv_data(csv_file_path) if log_message: log_message(f"Loaded {len(colored_points)} points from CSV.") # Set the output folder to './PLY', ensuring it's next to the CSV folder csv_folder = os.path.dirname(csv_file_path) # Directory containing the CSV file ply_folder = os.path.join(os.path.dirname(csv_folder), 'PLY') # PLY folder is in the parent directory os.makedirs(ply_folder, exist_ok=True) # Ensure the PLY folder exists if log_message: log_message(f"Ensured the PLY folder exists: {ply_folder}") # Generate the output file path in the PLY folder csv_filename = os.path.splitext(os.path.basename(csv_file_path))[0] ply_filename = os.path.join(ply_folder, f"{csv_filename}.ply") # Generate the PLY file if log_message: log_message(f"Generating PLY file: {ply_filename}") generate_ply(colored_points, ply_filename) if log_message: log_message(f"Generated PLY file: {ply_filename}") # Load and adjust point cloud point_cloud = o3d.io.read_point_cloud(ply_filename) if not point_cloud.has_points(): if log_message: log_message("Error: The PLY file contains no points.") return # Apply smoothing if log_message: log_message("Applying voxel downsampling for smoothing...") voxel_size = 0.03 point_cloud_smoothed = point_cloud.voxel_down_sample(voxel_size) # Enhance colors for brightness and contrast colors = np.asarray(point_cloud_smoothed.colors) colors = np.clip(colors ** 1.00, 0, 1) # Increase contrast dynamically point_cloud_smoothed.colors = o3d.utility.Vector3dVector(colors) # Visualization if vis is None: vis = o3d.visualization.VisualizerWithKeyCallback() vis.create_window() # Let Open3D window size be default # Toggle background color with 'B' def toggle_background_color(vis): opt = vis.get_render_option() if np.allclose(opt.background_color, [0, 0, 0]): opt.background_color = np.array([1, 1, 1]) # Switch to white else: opt.background_color = np.array([0, 0, 0]) # Switch to black vis.register_key_callback(ord("B"), toggle_background_color) # Customize render options render_option = vis.get_render_option() render_option.background_color = np.array([0, 0, 0]) # Default to black render_option.point_size = 2.25 # Adjust point size render_option.light_on = True # Ensure lighting is enabled render_option.mesh_show_back_face = True # Show back faces of points # Add geometry vis.add_geometry(point_cloud_smoothed) vis.run() vis.destroy_window() except Exception as e: if log_message: log_message(f"Error during processing: {e}") print(f"Error during processing: {e}") # GUI Functions def main_gui(): def log_message(message): text_box.insert(tk.END, message + "\n") text_box.see(tk.END) def open_csv(): log_message("Opening file dialog to select a new CSV file...") csv_file_path = askopenfilename(title="Select CSV File", filetypes=[("CSV files", "*.csv")]) if csv_file_path: log_message(f"Selected file: {csv_file_path}") try: process_and_visualize(csv_file_path, log_message=log_message) except Exception as e: log_message(f"Error during visualization: {e}") root = tk.Tk() root.title("Point Cloud Visualizer") root.geometry('600x400') open_button = tk.Button(root, text="Open CSV", command=open_csv) open_button.pack(pady=10) frame = tk.Frame(root) frame.pack(padx=10, pady=10, fill=tk.BOTH, expand=True) canvas = tk.Canvas(frame) canvas.pack(side=tk.LEFT, fill=tk.BOTH, expand=True) scrollbar = tk.Scrollbar(frame, orient=tk.VERTICAL, command=canvas.yview) scrollbar.pack(side=tk.RIGHT, fill=tk.Y) canvas.configure(yscrollcommand=scrollbar.set) text_box = tk.Text(canvas, wrap=tk.WORD) text_box.pack(side=tk.LEFT, fill=tk.BOTH, expand=True) canvas.create_window((0, 0), window=text_box, anchor=tk.NW) def on_frame_configure(event): canvas.configure(scrollregion=canvas.bbox("all")) text_box.bind("", on_frame_configure) root.mainloop() # Main Entry Point if __name__ == "__main__": main_gui()