├── .github └── workflows │ └── ci.yml ├── .gitignore ├── LICENSE ├── README.md ├── pointcloud2pgm_slicer ├── __init__.py ├── config.py ├── controller.py ├── loader.py ├── main.py ├── model.py └── view.py ├── pytest.ini ├── requirements.txt ├── setup.py └── test └── test_model.py /.github/workflows/ci.yml: -------------------------------------------------------------------------------- 1 | name: CI 2 | 3 | on: 4 | push: 5 | branches: [ main, develop ] 6 | pull_request: 7 | branches: [ main ] 8 | 9 | jobs: 10 | test: 11 | runs-on: ubuntu-latest 12 | services: 13 | xvfb: 14 | image: "selenium/standalone-chrome" 15 | options: --privileged 16 | steps: 17 | - uses: actions/checkout@v3 18 | - name: Set up Python 19 | uses: actions/setup-python@v4 20 | with: 21 | python-version: '3.9' 22 | - name: Install dependencies 23 | run: | 24 | python3 -m pip install --upgrade pip 25 | pip install -r requirements.txt 26 | pip install -e . 27 | - name: Run tests 28 | run: | 29 | # ヘッドレスモードでGUIテストを実行するために xvfb-run を利用 30 | xvfb-run --auto-servernum pytest --maxfail=1 --disable-warnings -q 31 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | **/__pycache__/ 2 | pointcloud2pgm_slicer/pointcloud2pgm_slicer.egg-info/ 3 | .pytest_cache/ -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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-------------------------------------------------------------------------------- 1 | # pointcloud2pgm_slicer 2 | 3 | ## 概要 4 | これは点群データ（.pcdまたは.ply形式）からPGM画像を生成するプログラムです。 \ 5 | 点群データをユーザが指定する高さ（z軸方向）範囲で抽出し、XY平面に投影して二値化することでPGM画像を生成します。 \ 6 | 加えて、画像に対応するパラメータ（解像度や原点、閾値など）を記述したYAMLファイルも生成します。 7 | 8 | ## デモ動画 9 | [![](https://img.youtube.com/vi/gKtSeKtFF_E/0.jpg)](https://www.youtube.com/watch?v=gKtSeKtFF_E&ab_channel=caffeline) 10 | 11 | ## 依存ライブラリ 12 | - Python 3.x 13 | - [numpy](https://numpy.org/) 14 | - [matplotlib](https://matplotlib.org/) 15 | - [open3d](http://www.open3d.org/) 16 | - [pyvista](https://docs.pyvista.org/) 17 | - [PyQt5](https://pypi.org/project/PyQt5/) 18 | - [pyvistaqt](https://pypi.org/project/pyvistaqt/) 19 | 20 | ## インストールと実行方法 21 | このツールは、以下の2通りの方法で実行できます。 22 | 23 | ### 1. パッケージとしてインストールして実行する方法 24 | 1. 依存関係のインストール 25 | ```bash 26 | pip install -r requirements.txt 27 | ``` 28 | 2. パッケージのインストール 29 | ```bash 30 | pip install -e . 31 | ``` 32 | 3. 実行 33 | ```bash 34 | python3 -m pointcloud2pgm_slicer.main 35 | ``` 36 | ### 2. 直接実行する方法 37 | 1. 依存関係のインストール 38 | ```bash 39 | pip install -r requirements.txt 40 | ``` 41 | 2. 実行 42 | ```bash 43 | python3 pointcloud2pgm_slicer/main.py 44 | ``` 45 | 46 | ## **GUIの操作** 47 | プログラム起動後、ウィンドウが表示されます。 48 | - **Min Z / Max Z スライダーおよび数値入力**: 点群データ内のz軸の抽出範囲を設定します。 49 | - **Reset ボタン**: z軸の設定を全範囲にリセットします。 50 | - **Set Output File Name ボタン**: 出力PGMファイルのファイル名を変更します。 51 | - **Set Resolution ボタン**: 1ピクセルあたりの実空間距離（m/px）を設定します。 52 | - **Convert to PGM ボタン**: 現在の設定に基づき、点群データをPGM画像およびYAMLファイルに変換して出力します。 53 | 54 | ## 設定の変更 55 | - **設定ファイル:** [pointcloud2pgm_slicer/config.py](pointcloud2pgm_slicer/config.py) 56 | 57 | - VOXEL_SIZE 58 | - 描画用の点群のダウンサンプリングに使用するボクセルサイズ 59 | 60 | - MIN_OCCUPIED_POINTS 61 | - PGM画像生成時に各ピクセル内の点群数を基準に占有判定を行うための閾値 62 | - 各ピクセルに含まれる点の数が MIN_OCCUPIED_POINTS 以上であれば、そのピクセルは占有と判定 63 | - 未満の場合は未占有 64 | 65 | ## ライセンス 66 | [Apache License 2.0](LICENSE) 67 | -------------------------------------------------------------------------------- /pointcloud2pgm_slicer/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cafeline/pointcloud2pgm_slicer/11e5c84ea4d0c6ee58f6f6c246dd2b0745b90323/pointcloud2pgm_slicer/__init__.py -------------------------------------------------------------------------------- /pointcloud2pgm_slicer/config.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2025 Ryo Funai 2 | # SPDX-License-Identifier: Apache-2.0 3 | 4 | VOXEL_SIZE: float = 0.2 # 点群のダウンサンプリングに使用するボクセルサイズ[m] (描画の軽量化のみに使用し、pgmには影響しない) 5 | MIN_OCCUPIED_POINTS: int = 1 # 各ピクセルの点数がこの値以上なら占有と判断 -------------------------------------------------------------------------------- /pointcloud2pgm_slicer/controller.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2025 Ryo Funai 2 | # SPDX-License-Identifier: Apache-2.0 3 | 4 | """ 5 | ModelとViewの仲介および各種ロジック処理 6 | """ 7 | import sys 8 | import numpy as np 9 | from PyQt5 import QtWidgets, QtCore 10 | from model import IPointCloudModel 11 | from view import IPointCloudView 12 | 13 | class PointCloudController: 14 | def __init__( 15 | self, 16 | model: IPointCloudModel, 17 | view: IPointCloudView, 18 | loader, 19 | output_dir: str, 20 | ) -> None: 21 | self.model = model 22 | self.view = view 23 | self.loader = loader 24 | self.output_dir = output_dir 25 | 26 | self.timer_interval = 10 # [ms] 27 | self.update_timer = QtCore.QTimer() 28 | self.update_timer.setSingleShot(True) 29 | self.update_timer.timeout.connect(self.update_filter) 30 | 31 | self._connect_signals() 32 | 33 | # LoaderスレッドのシグナルをControllerのコールバックに接続して起動 34 | self.loader.loaded.connect(self.on_point_cloud_loaded) 35 | self.loader.error.connect(self.on_point_cloud_error) 36 | self.loader.start() 37 | 38 | def _connect_signals(self) -> None: 39 | self.view.zmin_spin.valueChanged.connect(self.on_zmin_changed) 40 | self.view.zmin_slider.valueChanged.connect(self.on_zmin_slider_changed) 41 | self.view.zmax_spin.valueChanged.connect(self.on_zmax_changed) 42 | self.view.zmax_slider.valueChanged.connect(self.on_zmax_slider_changed) 43 | self.view.reset_button.clicked.connect(self.on_reset) 44 | self.view.convert_button.clicked.connect(self.on_convert) 45 | self.view.set_output_filename_button.clicked.connect(self.on_set_output_filename) 46 | self.view.set_resolution_button.clicked.connect(self.on_set_resolution) 47 | 48 | def on_point_cloud_loaded(self, pcd) -> None: 49 | try: 50 | self.model.set_point_cloud_data(pcd) 51 | except ValueError as e: 52 | QtWidgets.QMessageBox.critical(self.view, "Error", str(e)) 53 | sys.exit(1) 54 | 55 | overall_min = self.model.overall_z_min 56 | overall_max = self.model.overall_z_max 57 | current_min = self.model.current_min_z 58 | current_max = self.model.current_max_z 59 | 60 | self.view.zmin_spin.setRange(overall_min, overall_max) 61 | self.view.zmin_spin.setValue(current_min) 62 | self.view.zmin_slider.setMinimum(int(overall_min * self.view.slider_multiplier)) 63 | self.view.zmin_slider.setMaximum(int(overall_max * self.view.slider_multiplier)) 64 | self.view.zmin_slider.setValue(int(current_min * self.view.slider_multiplier)) 65 | 66 | self.view.zmax_spin.setRange(overall_min, overall_max) 67 | self.view.zmax_spin.setValue(current_max) 68 | self.view.zmax_slider.setMinimum(int(overall_min * self.view.slider_multiplier)) 69 | self.view.zmax_slider.setMaximum(int(overall_max * self.view.slider_multiplier)) 70 | self.view.zmax_slider.setValue(int(current_max * self.view.slider_multiplier)) 71 | 72 | # 初期表示：モデルの全点群データを描画 73 | full_poly = self.model.display_cloud 74 | self.view.plotter.clear() 75 | self.view.actor = self.view.plotter.add_mesh( 76 | full_poly, 77 | scalars="z", 78 | cmap="nipy_spectral", 79 | point_size=2, 80 | render_points_as_spheres=False, 81 | show_scalar_bar=True, 82 | scalar_bar_args={ 83 | "title": "Z Value", 84 | "vertical": True, 85 | "position_x": 0.9, 86 | "position_y": 0.1, 87 | "width": 0.02, 88 | "height": 0.8, 89 | "title_font_size": 14, 90 | "label_font_size": 12, 91 | }, 92 | reset_camera=True 93 | ) 94 | self.view.cloud_mesh = full_poly 95 | self.view.plotter.reset_camera() 96 | self.view.plotter.show_axes() 97 | self.view.plotter.render() 98 | 99 | if hasattr(self.view, "splash") and self.view.splash: 100 | self.view.splash.finish(self.view) 101 | self.view.show() 102 | 103 | def on_point_cloud_error(self, error_msg: str) -> None: 104 | QtWidgets.QMessageBox.critical(self.view, "Error", f"点群データの読み込みに失敗しました:\n{error_msg}") 105 | sys.exit(1) 106 | 107 | def on_zmin_changed(self, value: float) -> None: 108 | self.model.current_min_z = value 109 | self.view.update_slider_value(self.view.zmin_slider, value) 110 | if self.model.current_min_z > self.model.current_max_z: 111 | self.model.current_max_z = self.model.current_min_z 112 | self.view.update_spin_value(self.view.zmax_spin, self.model.current_max_z) 113 | self.view.update_slider_value(self.view.zmax_slider, self.model.current_max_z) 114 | self.update_timer.start(self.timer_interval) 115 | 116 | def on_zmax_changed(self, value: float) -> None: 117 | self.model.current_max_z = value 118 | self.view.update_slider_value(self.view.zmax_slider, value) 119 | if self.model.current_max_z < self.model.current_min_z: 120 | self.model.current_min_z = self.model.current_max_z 121 | self.view.update_spin_value(self.view.zmin_spin, self.model.current_min_z) 122 | self.view.update_slider_value(self.view.zmin_slider, self.model.current_min_z) 123 | self.update_timer.start(self.timer_interval) 124 | 125 | def on_zmin_slider_changed(self, slider_value: int) -> None: 126 | new_value = slider_value / self.view.slider_multiplier 127 | self.view.update_spin_value(self.view.zmin_spin, new_value) 128 | self.model.current_min_z = new_value 129 | self.update_timer.start(self.timer_interval) 130 | 131 | def on_zmax_slider_changed(self, slider_value: int) -> None: 132 | new_value = slider_value / self.view.slider_multiplier 133 | self.view.update_spin_value(self.view.zmax_spin, new_value) 134 | self.model.current_max_z = new_value 135 | self.update_timer.start(self.timer_interval) 136 | 137 | def on_reset(self) -> None: 138 | self.model.current_min_z = self.model.overall_z_min 139 | self.model.current_max_z = self.model.overall_z_max 140 | self.view.update_spin_value(self.view.zmin_spin, self.model.current_min_z) 141 | self.view.update_spin_value(self.view.zmax_spin, self.model.current_max_z) 142 | self.view.update_slider_value(self.view.zmin_slider, self.model.current_min_z) 143 | self.view.update_slider_value(self.view.zmax_slider, self.model.current_max_z) 144 | self.update_timer.start(self.timer_interval) 145 | 146 | def update_filter(self) -> None: 147 | polydata = self.model.get_polydata(self.model.current_min_z, self.model.current_max_z) 148 | if polydata is None: 149 | if self.view.actor is not None: 150 | self.view.plotter.remove_actor(self.view.actor) 151 | self.view.actor = None 152 | self.view.cloud_mesh = None 153 | self.view.plotter.render() 154 | return 155 | 156 | if self.view.actor is not None and self.view.cloud_mesh is not None: 157 | if self.view.cloud_mesh.n_points == polydata.n_points: 158 | np.copyto(self.view.cloud_mesh.points, polydata.points) 159 | self.view.cloud_mesh["z"] = polydata["z"] 160 | self.view.cloud_mesh.Modified() 161 | else: 162 | new_mesh = polydata 163 | mapper = self.view.actor.GetMapper() 164 | mapper.SetInputData(new_mesh) 165 | self.view.cloud_mesh = new_mesh 166 | else: 167 | self.view.actor = self.view.plotter.add_mesh( 168 | polydata, 169 | scalars="z", 170 | cmap="nipy_spectral", 171 | point_size=2, 172 | render_points_as_spheres=False, 173 | show_scalar_bar=True, 174 | scalar_bar_args={ 175 | "title": "Z Value", 176 | "vertical": True, 177 | "position_x": 0.9, 178 | "position_y": 0.1, 179 | "width": 0.02, 180 | "height": 0.8, 181 | "title_font_size": 14, 182 | "label_font_size": 12, 183 | }, 184 | reset_camera=False 185 | ) 186 | self.view.cloud_mesh = polydata 187 | self.view.plotter.render() 188 | 189 | def on_set_output_filename(self) -> None: 190 | text, ok = QtWidgets.QInputDialog.getText( 191 | self.view, 192 | "Output File Name", 193 | "出力PGMファイル名:", 194 | text=self.view.user_output_filename 195 | ) 196 | if ok and text.strip(): 197 | self.view.user_output_filename = text.strip() 198 | self.view.output_file_label.setText("Output File Name: " + self.view.user_output_filename) 199 | self.view.plotter.render() 200 | 201 | def on_set_resolution(self) -> None: 202 | dialog = QtWidgets.QInputDialog(self.view) 203 | dialog.setInputMode(QtWidgets.QInputDialog.DoubleInput) 204 | dialog.setWindowTitle("Set Resolution") 205 | dialog.setLabelText("解像度[m/px] を入力してください:") 206 | dialog.setDoubleValue(self.view.user_resolution) 207 | dialog.setDoubleDecimals(3) 208 | 209 | spin_box = dialog.findChild(QtWidgets.QDoubleSpinBox) 210 | if spin_box is not None: 211 | spin_box.setSingleStep(0.05) 212 | 213 | if dialog.exec_() == QtWidgets.QDialog.Accepted: 214 | self.view.user_resolution = dialog.doubleValue() 215 | self.view.resolution_label.setText("Resolution: {:.3f} [m/px]".format(self.view.user_resolution)) 216 | self.view.plotter.render() 217 | 218 | def on_convert(self) -> None: 219 | try: 220 | pgm_path, yaml_path = self.model.convert_to_pgm( 221 | self.model.current_min_z, 222 | self.model.current_max_z, 223 | self.view.user_resolution, 224 | self.output_dir, 225 | self.view.user_output_filename 226 | ) 227 | except Exception as e: 228 | QtWidgets.QMessageBox.critical(self.view, "Error", f"PGM/YAML出力時にエラーが発生しました: {e}") 229 | return 230 | 231 | message = f"PGMファイルを出力しました: {pgm_path}\nYAMLファイルを出力しました: {yaml_path}" 232 | QtWidgets.QMessageBox.information(self.view, "Success", message) 233 | self.view.show_pgm_image(pgm_path) 234 | -------------------------------------------------------------------------------- /pointcloud2pgm_slicer/loader.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2025 Ryo Funai 2 | # SPDX-License-Identifier: Apache-2.0 3 | 4 | """ 5 | バックグラウンドで点群を読み込む 6 | """ 7 | from PyQt5 import QtCore 8 | import open3d as o3d 9 | 10 | class PointCloudLoaderThread(QtCore.QThread): 11 | loaded = QtCore.pyqtSignal(object) 12 | error = QtCore.pyqtSignal(str) 13 | 14 | def __init__(self, input_file: str, parent=None) -> None: 15 | super().__init__(parent) 16 | self.input_file = input_file 17 | 18 | def run(self) -> None: 19 | try: 20 | pcd = o3d.io.read_point_cloud(self.input_file) 21 | if not pcd.has_points(): 22 | self.error.emit(f"点群が存在しません: {self.input_file}") 23 | return 24 | # 生の点群をそのままemit（描画用のダウンサンプリングはModel側で実施） 25 | self.loaded.emit(pcd) 26 | except Exception as e: 27 | self.error.emit(str(e)) 28 | -------------------------------------------------------------------------------- /pointcloud2pgm_slicer/main.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2025 Ryo Funai 2 | # SPDX-License-Identifier: Apache-2.0 3 | 4 | import sys 5 | import argparse 6 | from PyQt5 import QtWidgets, QtCore, QtGui 7 | from model import PointCloudModel 8 | from view import PointCloudView 9 | from controller import PointCloudController 10 | from loader import PointCloudLoaderThread 11 | 12 | def main() -> None: 13 | parser = argparse.ArgumentParser() 14 | parser.add_argument("input_file", help="入力点群ファイル (.pcd または .ply)") 15 | parser.add_argument("output_dir", help="出力先ディレクトリ") 16 | args = parser.parse_args() 17 | 18 | app = QtWidgets.QApplication(sys.argv) 19 | 20 | # スプラッシュスクリーンの設定 21 | pixmap = QtGui.QPixmap(400, 300) 22 | pixmap.fill(QtCore.Qt.gray) 23 | splash = QtWidgets.QSplashScreen(pixmap, QtCore.Qt.WindowStaysOnTopHint) 24 | splash.showMessage("Loading point cloud...", QtCore.Qt.AlignCenter | QtCore.Qt.AlignBottom, QtCore.Qt.white) 25 | splash.show() 26 | 27 | # DI（依存性注入） 28 | model = PointCloudModel() 29 | view = PointCloudView() 30 | view.splash = splash # スプラッシュスクリーンをViewに注入 31 | loader = PointCloudLoaderThread(args.input_file) 32 | output_dir = args.output_dir 33 | 34 | # Controllerに各コンポーネントを注入 35 | _ = PointCloudController(model, view, loader, output_dir) 36 | 37 | sys.exit(app.exec_()) 38 | 39 | if __name__ == "__main__": 40 | main() 41 | -------------------------------------------------------------------------------- /pointcloud2pgm_slicer/model.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2025 Ryo Funai 2 | # SPDX-License-Identifier: Apache-2.0 3 | 4 | """ 5 | 点群データの保持、処理、およびPGM/YAML変換を行う 6 | """ 7 | from abc import ABC, abstractmethod 8 | import os 9 | import numpy as np 10 | import open3d as o3d 11 | import pyvista as pv 12 | from typing import Optional, Tuple 13 | from config import MIN_OCCUPIED_POINTS, VOXEL_SIZE 14 | 15 | class IPointCloudModel(ABC): 16 | @abstractmethod 17 | def set_point_cloud_data(self, pcd: o3d.geometry.PointCloud) -> None: 18 | """点群データの読み込み後の初期化""" 19 | pass 20 | 21 | @abstractmethod 22 | def get_polydata(self, min_z: float, max_z: float) -> Optional[pv.PolyData]: 23 | """指定Z範囲におけるフィルタ済みの描画用PolyDataを返す""" 24 | pass 25 | 26 | @abstractmethod 27 | def convert_to_pgm( 28 | self, 29 | min_z: float, 30 | max_z: float, 31 | resolution: float, 32 | output_dir: str, 33 | output_filename: str, 34 | occupied_thresh: float, 35 | free_thresh: float, 36 | negate: int, 37 | ) -> Tuple[str, str]: 38 | """PGM/YAML変換を行い、生成ファイルのパスを返す""" 39 | pass 40 | 41 | class PointCloudModel(IPointCloudModel): 42 | def __init__(self) -> None: 43 | # 生データ（PGM変換用） 44 | self.raw_points: Optional[np.ndarray] = None 45 | self.raw_z: Optional[np.ndarray] = None 46 | # 描画用（ダウンサンプリング済み） 47 | self.display_cloud: Optional[pv.PolyData] = None 48 | 49 | self.overall_z_min: Optional[float] = None 50 | self.overall_z_max: Optional[float] = None 51 | self.current_min_z: Optional[float] = None 52 | self.current_max_z: Optional[float] = None 53 | 54 | def set_point_cloud_data(self, pcd: o3d.geometry.PointCloud) -> None: 55 | self.raw_points = np.asarray(pcd.points) 56 | if self.raw_points.size == 0: 57 | raise ValueError("生の点群が存在しません。") 58 | self.raw_z = self.raw_points[:, 2] 59 | self.overall_z_min = float(np.min(self.raw_z)) 60 | self.overall_z_max = float(np.max(self.raw_z)) 61 | self.current_min_z = self.overall_z_min 62 | self.current_max_z = self.overall_z_max 63 | 64 | # ダウンサンプリング 65 | pcd_down = pcd.voxel_down_sample(VOXEL_SIZE) 66 | down_points = np.asarray(pcd_down.points) 67 | if down_points.size == 0: 68 | self.display_cloud = None 69 | else: 70 | down_z = down_points[:, 2] 71 | self.display_cloud = pv.PolyData(down_points) 72 | self.display_cloud["z"] = down_z 73 | 74 | def get_polydata(self, min_z: float, max_z: float) -> Optional[pv.PolyData]: 75 | # 描画用のダウンサンプリング済みデータからフィルタ 76 | if self.display_cloud is None: 77 | return None 78 | points = self.display_cloud.points 79 | z = self.display_cloud["z"] 80 | mask = (z >= min_z) & (z <= max_z) 81 | filtered_points = points[mask] 82 | if filtered_points.size == 0: 83 | return None 84 | filtered_z = z[mask] 85 | polydata = pv.PolyData(filtered_points) 86 | polydata["z"] = filtered_z 87 | return polydata 88 | 89 | def convert_to_pgm( 90 | self, 91 | min_z: float, 92 | max_z: float, 93 | resolution: float, 94 | output_dir: str, 95 | output_filename: str, 96 | occupied_thresh: float = 0.65, 97 | free_thresh: float = 0.2, 98 | negate: int = 0, 99 | ) -> Tuple[str, str]: 100 | # 生データを用いてPGM/YAML変換を実施 101 | if self.raw_points is None or self.raw_z is None: 102 | raise ValueError("生の点群データが未初期化です。") 103 | mask = (self.raw_z >= min_z) & (self.raw_z <= max_z) 104 | filtered_points = self.raw_points[mask] 105 | if filtered_points.size == 0: 106 | raise ValueError("指定されたZ範囲内に生の点群が存在しません。") 107 | # XY平面への投影と範囲計算 108 | min_x = float(filtered_points[:, 0].min()) 109 | max_x = float(filtered_points[:, 0].max()) 110 | min_y = float(filtered_points[:, 1].min()) 111 | max_y = float(filtered_points[:, 1].max()) 112 | res_x = int(np.ceil((max_x - min_x) / resolution)) 113 | res_y = int(np.ceil((max_y - min_y) / resolution)) 114 | 115 | x_coords = filtered_points[:, 0] 116 | y_coords = filtered_points[:, 1] 117 | hist, _, _ = np.histogram2d( 118 | x_coords, y_coords, bins=[res_x, res_y], range=[[min_x, max_x], [min_y, max_y]] 119 | ) 120 | accum = np.flipud(hist.T).astype(np.int32) 121 | image = np.where(accum >= MIN_OCCUPIED_POINTS, 0, 255).astype(np.uint8) 122 | 123 | # PGMファイルの生成 124 | output_pgm = os.path.join(output_dir, output_filename) 125 | self._save_pgm(output_pgm, image, res_x, res_y) 126 | # YAMLファイルの生成 127 | yaml_name = os.path.splitext(output_pgm)[0] + ".yaml" 128 | self._save_yaml(yaml_name, os.path.basename(output_pgm), min_x, min_y, resolution, occupied_thresh, free_thresh, negate) 129 | return output_pgm, yaml_name 130 | 131 | def _save_pgm(self, filename: str, image: np.ndarray, width: int, height: int) -> None: 132 | with open(filename, "w") as f: 133 | f.write("P2\n") 134 | f.write(f"{width} {height}\n") 135 | f.write("255\n") 136 | for row in image: 137 | f.write(" ".join(map(str, row)) + "\n") 138 | 139 | def _save_yaml( 140 | self, 141 | filename: str, 142 | pgm_file: str, 143 | min_x: float, 144 | min_y: float, 145 | resolution: float, 146 | occupied_thresh: float, 147 | free_thresh: float, 148 | negate: int, 149 | ) -> None: 150 | with open(filename, "w") as f: 151 | f.write(f"image: {pgm_file}\n") 152 | f.write(f"resolution: {resolution}\n") 153 | f.write(f"origin: [{min_x}, {min_y}, 0.0]\n") 154 | f.write(f"occupied_thresh: {occupied_thresh}\n") 155 | f.write(f"free_thresh: {free_thresh}\n") 156 | f.write(f"negate: {negate}\n") 157 | -------------------------------------------------------------------------------- /pointcloud2pgm_slicer/view.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2025 Ryo Funai 2 | # SPDX-License-Identifier: Apache-2.0 3 | 4 | """ 5 | GUIの構築と更新を行う 6 | """ 7 | from abc import ABC, ABCMeta, abstractmethod 8 | from PyQt5 import QtWidgets, QtCore 9 | from pyvistaqt import QtInteractor 10 | import matplotlib 11 | import matplotlib.pyplot as plt 12 | import numpy as np 13 | 14 | class IPointCloudView(ABC): 15 | @abstractmethod 16 | def update_spin_value(self, spin: QtWidgets.QDoubleSpinBox, value: float) -> None: 17 | pass 18 | 19 | @abstractmethod 20 | def update_slider_value(self, slider: QtWidgets.QSlider, value: float) -> None: 21 | pass 22 | 23 | @abstractmethod 24 | def show_pgm_image(self, pgm_file: str) -> None: 25 | pass 26 | 27 | 28 | class MetaQWidgetABC(type(QtWidgets.QMainWindow), ABCMeta): 29 | pass 30 | 31 | class PointCloudView(QtWidgets.QMainWindow, IPointCloudView, metaclass=MetaQWidgetABC): 32 | def __init__(self, parent=None) -> None: 33 | super().__init__(parent) 34 | self.setWindowTitle("Map Editor") 35 | self.slider_multiplier = 1000 36 | 37 | # ユーザ設定の初期値 38 | self.user_output_filename = "output_map.pgm" 39 | self.user_resolution = 0.2 40 | 41 | # 描画関連の属性 42 | self.actor = None 43 | self.cloud_mesh = None 44 | 45 | # コントロールパネル用ウィジェット 46 | self.zmin_spin = None 47 | self.zmin_slider = None 48 | self.zmax_spin = None 49 | self.zmax_slider = None 50 | self.output_file_label = None 51 | self.resolution_label = None 52 | 53 | # PyVista描画エリアのセットアップ 54 | self.plotter = QtInteractor(self) 55 | self.plotter.add_text("Loading point cloud...", position='upper_left', font_size=24) 56 | self.plotter.show_axes() 57 | self.setCentralWidget(self.plotter) 58 | 59 | self._setup_control_panel() 60 | 61 | def _setup_control_panel(self) -> None: 62 | dock = QtWidgets.QDockWidget("", self) 63 | self.addDockWidget(QtCore.Qt.RightDockWidgetArea, dock) 64 | control_widget = QtWidgets.QWidget() 65 | dock.setWidget(control_widget) 66 | 67 | layout = QtWidgets.QVBoxLayout(control_widget) 68 | sliders_container = QtWidgets.QWidget() 69 | sliders_layout = QtWidgets.QHBoxLayout(sliders_container) 70 | sliders_layout.setContentsMargins(0, 0, 0, 0) 71 | 72 | # 仮の初期値（後で更新） 73 | dummy_min, dummy_max, dummy_val = 0.0, 1.0, 0.0 74 | 75 | # min zグループ 76 | min_group = QtWidgets.QWidget() 77 | min_layout = QtWidgets.QVBoxLayout(min_group) 78 | min_layout.setContentsMargins(0, 0, 0, 0) 79 | min_label = QtWidgets.QLabel("min z:") 80 | min_label.setAlignment(QtCore.Qt.AlignCenter) 81 | min_layout.addWidget(min_label) 82 | min_control, self.zmin_spin, self.zmin_slider = self._create_slider_control(dummy_min, dummy_max, dummy_val) 83 | min_layout.addWidget(min_control) 84 | sliders_layout.addWidget(min_group) 85 | 86 | # max zグループ 87 | max_group = QtWidgets.QWidget() 88 | max_layout = QtWidgets.QVBoxLayout(max_group) 89 | max_layout.setContentsMargins(0, 0, 0, 0) 90 | max_label = QtWidgets.QLabel("max z:") 91 | max_label.setAlignment(QtCore.Qt.AlignCenter) 92 | max_layout.addWidget(max_label) 93 | max_control, self.zmax_spin, self.zmax_slider = self._create_slider_control(dummy_min, dummy_max, dummy_val) 94 | max_layout.addWidget(max_control) 95 | sliders_layout.addWidget(max_group) 96 | 97 | layout.addWidget(sliders_container) 98 | 99 | # ボタン群の作成 100 | self.reset_button = self._create_button("Reset") 101 | self.convert_button = self._create_button("Convert to PGM") 102 | self.set_output_filename_button = self._create_button("Set Output File Name") 103 | self.set_resolution_button = self._create_button("Set Resolution[m/px]") 104 | 105 | layout.addWidget(self.reset_button) 106 | layout.addWidget(self.convert_button) 107 | layout.addWidget(self.set_output_filename_button) 108 | layout.addWidget(self.set_resolution_button) 109 | 110 | self.output_file_label = QtWidgets.QLabel("Output File Name: " + self.user_output_filename) 111 | self.resolution_label = QtWidgets.QLabel("Resolution: {:.3f} [m/px]".format(self.user_resolution)) 112 | layout.addWidget(self.output_file_label) 113 | layout.addWidget(self.resolution_label) 114 | layout.addStretch() 115 | 116 | def _create_slider_control(self, min_val: float, max_val: float, initial_val: float): 117 | container = QtWidgets.QWidget() 118 | v_layout = QtWidgets.QVBoxLayout(container) 119 | spin = QtWidgets.QDoubleSpinBox() 120 | spin.setRange(min_val, max_val) 121 | spin.setValue(initial_val) 122 | spin.setDecimals(3) 123 | v_layout.addWidget(spin) 124 | slider = QtWidgets.QSlider(QtCore.Qt.Vertical) 125 | slider.setMinimum(int(min_val * self.slider_multiplier)) 126 | slider.setMaximum(int(max_val * self.slider_multiplier)) 127 | slider.setValue(int(initial_val * self.slider_multiplier)) 128 | slider.setTickPosition(QtWidgets.QSlider.NoTicks) 129 | v_layout.addWidget(slider, alignment=QtCore.Qt.AlignHCenter) 130 | return container, spin, slider 131 | 132 | def _create_button(self, text: str) -> QtWidgets.QPushButton: 133 | return QtWidgets.QPushButton(text) 134 | 135 | def update_spin_value(self, spin: QtWidgets.QDoubleSpinBox, value: float) -> None: 136 | spin.blockSignals(True) 137 | spin.setValue(value) 138 | spin.blockSignals(False) 139 | 140 | def update_slider_value(self, slider: QtWidgets.QSlider, value: float) -> None: 141 | slider.blockSignals(True) 142 | slider.setValue(int(value * self.slider_multiplier)) 143 | slider.blockSignals(False) 144 | 145 | def show_pgm_image(self, pgm_file: str) -> None: 146 | try: 147 | with open(pgm_file, "r") as f: 148 | header = f.readline().strip() 149 | if header != "P2": 150 | QtWidgets.QMessageBox.warning(self, "Error", "不明なPGM形式です。") 151 | return 152 | dims = f.readline().strip().split() 153 | if len(dims) != 2: 154 | QtWidgets.QMessageBox.warning(self, "Error", "PGM画像のサイズ情報が不正です。") 155 | return 156 | width, height = int(dims[0]), int(dims[1]) 157 | _ = int(f.readline().strip()) 158 | data = np.array(f.read().split(), dtype=np.uint8) 159 | except Exception as e: 160 | QtWidgets.QMessageBox.critical(self, "Error", f"PGM画像読み込み時にエラーが発生しました: {e}") 161 | return 162 | 163 | try: 164 | image = data.reshape((height, width)) 165 | except Exception as e: 166 | QtWidgets.QMessageBox.critical(self, "Error", f"画像変換時にエラーが発生しました: {e}") 167 | return 168 | 169 | matplotlib.use("Qt5Agg") 170 | plt.figure("PGM Image") 171 | plt.imshow(image, cmap="gray", interpolation="nearest") 172 | plt.axis("off") 173 | plt.show(block=False) 174 | -------------------------------------------------------------------------------- /pytest.ini: -------------------------------------------------------------------------------- 1 | [pytest] 2 | qt_api = pyqt5 3 | -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | pytest 2 | pytest-qt 3 | PyQt5 4 | open3d 5 | pyvista 6 | pyvistaqt 7 | matplotlib 8 | -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import setup, find_packages 2 | 3 | setup( 4 | name="pointcloud2pgm_slicer", 5 | version="0.1", 6 | packages=find_packages(), 7 | install_requires=[ 8 | "pytest", 9 | "pytest-qt", 10 | "PyQt5", 11 | "open3d", 12 | "pyvista", 13 | "pyvistaqt", 14 | "matplotlib" 15 | ], 16 | ) 17 | -------------------------------------------------------------------------------- /test/test_model.py: -------------------------------------------------------------------------------- 1 | import os 2 | import numpy as np 3 | import open3d as o3d 4 | import pytest 5 | import sys 6 | sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "pointcloud2pgm_slicer"))) 7 | from model import PointCloudModel 8 | 9 | 10 | @pytest.fixture 11 | def sample_point_cloud(): 12 | # ダミーの点群データを生成する 13 | pcd = o3d.geometry.PointCloud() 14 | points = np.array([ 15 | [0.0, 0.0, 0.0], 16 | [1.0, 1.0, 1.0], 17 | [2.0, 2.0, 2.0], 18 | [3.0, 3.0, 3.0] 19 | ]) 20 | pcd.points = o3d.utility.Vector3dVector(points) 21 | return pcd 22 | 23 | def test_set_point_cloud_data(sample_point_cloud): 24 | model = PointCloudModel() 25 | model.set_point_cloud_data(sample_point_cloud) 26 | # overall_z_min, overall_z_max が正しく設定されるか 27 | assert model.overall_z_min == 0.0 28 | assert model.overall_z_max == 3.0 29 | # full_cloud に z 値が付与されているか 30 | assert "z" in model.display_cloud.array_names 31 | 32 | def test_get_polydata(sample_point_cloud): 33 | model = PointCloudModel() 34 | model.set_point_cloud_data(sample_point_cloud) 35 | # 1.0～2.0の範囲に該当する点は [1,1,1] と [2,2,2] の2点 36 | polydata = model.get_polydata(1.0, 2.0) 37 | assert polydata is not None 38 | np_points = polydata.points 39 | assert np_points.shape[0] == 2 40 | 41 | def test_convert_to_pgm(tmp_path, sample_point_cloud): 42 | model = PointCloudModel() 43 | model.set_point_cloud_data(sample_point_cloud) 44 | output_dir = tmp_path / "output" 45 | output_dir.mkdir() 46 | output_filename = "test_map.pgm" 47 | pgm_path, yaml_path = model.convert_to_pgm( 48 | min_z=0.0, 49 | max_z=3.0, 50 | resolution=1.0, 51 | output_dir=str(output_dir), 52 | output_filename=output_filename, 53 | occupied_thresh=0.65, 54 | free_thresh=0.2, 55 | negate=0 56 | ) 57 | # ファイルが出力されているか確認 58 | assert os.path.exists(pgm_path) 59 | assert os.path.exists(yaml_path) 60 | # PGMファイルの最初の行が "P2" となっているかチェック 61 | with open(pgm_path, "r") as f: 62 | header = f.readline().strip() 63 | assert header == "P2" 64 | --------------------------------------------------------------------------------