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RSDK-857 - add pcd docs #202

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Merged
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Jan 17, 2023
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RSDK-857 - add pcd docs #202

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14 changes: 14 additions & 0 deletions src/viam/components/camera/camera.py
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Expand Up @@ -52,6 +52,20 @@ async def get_point_cloud(self, *, timeout: Optional[float] = None, **kwargs) ->
should encode the bytes into the formatted suggested
by the mimetype.

To deserialize the returned information into a numpy array, use the Open3D library.
::

import numpy as np
import open3d as o3d

data, _ = await camera.get_point_cloud()

# write the point cloud into a temporary file
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You can probably use a BytesIO buffer rather than writing out to a file in case there are permissions issues with writing to disk

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unfortunately the api only takes file name as input arg isl-org/Open3D#1146

with open("/tmp/pointcloud_data.pcd", "wb") as f:
f.write(data)
pcd = o3d.io.read_point_cloud("/tmp/pointcloud_data.pcd")
points = np.asarray(pcd.points)

Returns:
bytes: The pointcloud data.
str: The mimetype of the pointcloud (e.g. PCD).
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14 changes: 14 additions & 0 deletions src/viam/services/vision.py
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Expand Up @@ -341,6 +341,20 @@ async def get_object_point_clouds(
Returns a list of the 3D point cloud objects and associated metadata in the latest
picture obtained from the specified 3D camera (using the specified segmenter).

To deserialize the returned information into a numpy array, use the Open3D library.
::

import numpy as np
import open3d as o3d

object_point_clouds = await vision.get_object_point_clouds(camera_name, segmenter_name)

# write the first object point cloud into a temporary file
with open("/tmp/pointcloud_data.pcd", "wb") as f:
f.write(object_point_clouds[0].point_cloud)
pcd = o3d.io.read_point_cloud("/tmp/pointcloud_data.pcd")
points = np.asarray(pcd.points)

Args:
camera_name (str): The name of the camera
segmenter_name (str): The name of the segmenter
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