Simple point cloud visualization with pyntcloud library

point_cloud_viz.py

"""
Simple point cloud visualization with pyntcloud library

"""
import pyntcloud as pynt
import pandas as pd
import numpy as np


def show_cloud(xyz, rgb=None, initial_point_size=0.01):
    """ Show point cloud with PyNT native function
    """
    points = xyz_to_pynt(xyz, rgb=rgb)
    points.plot(return_scene=True, initial_point_size=initial_point_size)
    return


def show_cloud_pair(x1, x2, initial_point_size=0.01):
    rgb1 = np.zeros(x1.shape)
    rgb1[:, 1] = 255
    rgb2 = np.zeros(x2.shape)
    rgb2[:, 0] = 255
    rgb = np.vstack([rgb1, rgb2])

    show_cloud(np.concatenate([x1, x2]), rgb=rgb, initial_point_size=initial_point_size)
    return
  
def xyz_to_pynt(xyz, rgb=None):
    """ Convert numpy array with xyz coords to pynt cloud
    """
    if rgb is not None:
        points = pd.DataFrame(np.hstack([xyz, rgb]), columns=['x', 'y', 'z', 'red', 'green', 'blue'])
    else:
        points = pd.DataFrame(xyz, columns=['x', 'y', 'z'])

    points = pynt.PyntCloud(points)

    return points