Updated Read Me & Changed Convert Voxel location

DepthVisualizer/DepthVisualizer.py

@@ -229,6 +229,35 @@ def convert_objects_to_kitti_format(objects):
 
         return converted_objects
 
+    @staticmethod
+    def convert_points_to_voxel_map(points, voxel_map_center, voxel_map_size, voxel_size):
+        '''
+        Converts points that are inside specified 3D box into voxels
+        :param points: List of points where each point has following format [x, y, z, r, g, b]
+        :param voxel_map_center: Center coordinates of the area that will be voxellized in format [x, y, z]
+        :param voxel_map_size: Size of the area that will be voxellized in format [width, height, length]
+        :param voxel_size: Size of the each voxel
+        :return: A 3D array in x-y-z format where each element is list of size 3 that represents color
+        '''
+
+        voxel_map_size = np.asarray(np.ceil(np.array(voxel_map_size) / voxel_size), np.int32)
+        center_x, center_y, center_z = voxel_map_center
+
+        x_begin, x_end = [center_x + sign * 0.5 * voxel_map_size[0] * voxel_size for sign in [-1, 1]]
+        y_begin, y_end = [center_y + sign * 0.5 * voxel_map_size[1] * voxel_size for sign in [-1, 1]]
+        z_begin, z_end = [center_z + sign * 0.5 * voxel_map_size[2] * voxel_size for sign in [-1, 1]]
+
+        voxel_map = np.zeros(shape=(*voxel_map_size, 4))
+        for point in points:
+            x, y, z, r, g, b = point
+
+            if x_begin < x < x_end and y_begin < y < y_end and z_begin < z < z_end:
+                voxel_map[math.floor((x - x_begin) / voxel_size), math.floor((y - y_begin) / voxel_size),
+                          math.floor((z - z_begin) / voxel_size)] += [r, g, b, 1]
+
+        voxel_map = voxel_map[:, :, :, :3] / np.expand_dims(np.clip(voxel_map[:, :, :, 3], 1, None), axis=3)
+        return voxel_map
+
     @staticmethod
     def read_kitti_3d_object(path, convert_format=True):
         '''
@@ -806,34 +835,6 @@ def add_voxel_map(self, voxel_map, voxel_map_center, voxel_size, filter_black_vo
 
         self.add_voxels(voxel_data.flatten())
 
-    def convert_points_to_voxel_map(self, points, voxel_map_center, voxel_map_size, voxel_size):
-        '''
-        Converts points that are inside specified 3D box into voxels
-        :param points: List of points where each point has following format [x, y, z, r, g, b]
-        :param voxel_map_center: Center coordinates of the area that will be voxellized in format [x, y, z]
-        :param voxel_map_size: Size of the area that will be voxellized in format [width, height, length]
-        :param voxel_size: Size of the each voxel
-        :return: A 3D array in x-y-z format where each element is list of size 3 that represents color
-        '''
-
-        voxel_map_size = np.asarray(np.ceil(np.array(voxel_map_size) / voxel_size), np.int32)
-        center_x, center_y, center_z = voxel_map_center
-
-        x_begin, x_end = [center_x + sign * 0.5 * voxel_map_size[0] * voxel_size for sign in [-1, 1]]
-        y_begin, y_end = [center_y + sign * 0.5 * voxel_map_size[1] * voxel_size for sign in [-1, 1]]
-        z_begin, z_end = [center_z + sign * 0.5 * voxel_map_size[2] * voxel_size for sign in [-1, 1]]
-
-        voxel_map = np.zeros(shape=(*voxel_map_size, 4))
-        for point in points:
-            x, y, z, r, g, b = point
-
-            if x_begin < x < x_end and y_begin < y < y_end and z_begin < z < z_end:
-                voxel_map[math.floor((x - x_begin) / voxel_size), math.floor((y - y_begin) / voxel_size),
-                          math.floor((z - z_begin) / voxel_size)] += [r, g, b, 1]
-
-        voxel_map = voxel_map[:, :, :, :3] / np.expand_dims(np.clip(voxel_map[:, :, :, 3], 1, None), axis=3)
-        return voxel_map
-
     def render(self, enable_controls=False):
         '''
         Renders existing points, lines and voxels to frame

README.md

@@ -20,3 +20,22 @@ pip install DepthVisualizer
 Please refer to following repository for usage examples
 https://github.com/Navhkrin/DepthVisualizer-Examples
 
+#### Keyboard Controls
+| Key        | Action           |
+|:-------------:|:-------------:|
+| W            | Move Forward |
+| A            |  Move Left      |
+| S            | Move Right      |
+| D            | Move Back       |
+| Left-Shift   | Move Up (+z)    |
+| Left-Control | Move Down (-z)  |
+| Arrow Up     | Turn Up        |
+| Arrow Left  | Turn Left        |
+| Arrow Right   | Turn Right       |
+| Arrow Down   | Turn Down   |
+| 1 | Enable Point Rendering   |
+| 2 | Disable Point Rendering      |
+| 3 | Enable Line Rendering      |
+| 4 | Disable Line Rendering      |
+| 5 | Enable Voxel Rendering      |
+| 6 | Disable Voxel Rendering      |

setup.py

@@ -2,7 +2,7 @@
 setup(
     name="DepthVisualizer",
     packages=["DepthVisualizer"],
-    version='0.13',
+    version='0.14',
     license="MIT",
     description="Point Cloud & Depth Map visualization library",
     author="Eren Balatkan",