# ---------------------------------------------------------------------------- # - Open3D: www.open3d.org - # ---------------------------------------------------------------------------- # The MIT License (MIT) # # Copyright (c) 2018-2021 www.open3d.org # # Permission is hereby granted, free of charge, to any person obtaining a copy # of this software and associated documentation files (the "Software"), to deal # in the Software without restriction, including without limitation the rights # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell # copies of the Software, and to permit persons to whom the Software is # furnished to do so, subject to the following conditions: # # The above copyright notice and this permission notice shall be included in # all copies or substantial portions of the Software. # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING # FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS # IN THE SOFTWARE. # ---------------------------------------------------------------------------- import math import numpy as np import open3d as o3d import open3d.visualization as vis import os import random pyexample_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) test_data_path = os.path.join(os.path.dirname(pyexample_path), 'test_data') def normalize(v): a = 1.0 / math.sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]) return (a * v[0], a * v[1], a * v[2]) def make_point_cloud(npts, center, radius, colorize): pts = np.random.uniform(-radius, radius, size=[npts, 3]) + center cloud = o3d.geometry.PointCloud() cloud.points = o3d.utility.Vector3dVector(pts) if colorize: colors = np.random.uniform(0.0, 1.0, size=[npts, 3]) cloud.colors = o3d.utility.Vector3dVector(colors) return cloud def single_object(): # No colors, no normals, should appear unlit black cube = o3d.geometry.TriangleMesh.create_box(1, 2, 4) vis.draw(cube) def multi_objects(): pc_rad = 1.0 pc_nocolor = make_point_cloud(100, (0, -2, 0), pc_rad, False) pc_color = make_point_cloud(100, (3, -2, 0), pc_rad, True) r = 0.4 sphere_unlit = o3d.geometry.TriangleMesh.create_sphere(r) sphere_unlit.translate((0, 1, 0)) sphere_colored_unlit = o3d.geometry.TriangleMesh.create_sphere(r) sphere_colored_unlit.paint_uniform_color((1.0, 0.0, 0.0)) sphere_colored_unlit.translate((2, 1, 0)) sphere_lit = o3d.geometry.TriangleMesh.create_sphere(r) sphere_lit.compute_vertex_normals() sphere_lit.translate((4, 1, 0)) sphere_colored_lit = o3d.geometry.TriangleMesh.create_sphere(r) sphere_colored_lit.compute_vertex_normals() sphere_colored_lit.paint_uniform_color((0.0, 1.0, 0.0)) sphere_colored_lit.translate((6, 1, 0)) big_bbox = o3d.geometry.AxisAlignedBoundingBox((-pc_rad, -3, -pc_rad), (6.0 + r, 1.0 + r, pc_rad)) big_bbox.color = (0.0, 0.0, 0.0) sphere_bbox = sphere_unlit.get_axis_aligned_bounding_box() sphere_bbox.color = (1.0, 0.5, 0.0) lines = o3d.geometry.LineSet.create_from_axis_aligned_bounding_box( sphere_lit.get_axis_aligned_bounding_box()) lines.paint_uniform_color((0.0, 1.0, 0.0)) lines_colored = o3d.geometry.LineSet.create_from_axis_aligned_bounding_box( sphere_colored_lit.get_axis_aligned_bounding_box()) lines_colored.paint_uniform_color((0.0, 0.0, 1.0)) vis.draw([ pc_nocolor, pc_color, sphere_unlit, sphere_colored_unlit, sphere_lit, sphere_colored_lit, big_bbox, sphere_bbox, lines, lines_colored ]) def actions(): SOURCE_NAME = "Source" RESULT_NAME = "Result (Poisson reconstruction)" TRUTH_NAME = "Ground truth" bunny = o3d.data.BunnyMesh() bunny_mesh = o3d.io.read_triangle_mesh(bunny.path) bunny_mesh.compute_vertex_normals() bunny_mesh.paint_uniform_color((1, 0.75, 0)) bunny_mesh.compute_vertex_normals() cloud = o3d.geometry.PointCloud() cloud.points = bunny_mesh.vertices cloud.normals = bunny_mesh.vertex_normals def make_mesh(o3dvis): # TODO: call o3dvis.get_geometry instead of using bunny_mesh mesh, _ = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson( cloud) mesh.paint_uniform_color((1, 1, 1)) mesh.compute_vertex_normals() o3dvis.add_geometry({"name": RESULT_NAME, "geometry": mesh}) o3dvis.show_geometry(SOURCE_NAME, False) def toggle_result(o3dvis): truth_vis = o3dvis.get_geometry(TRUTH_NAME).is_visible o3dvis.show_geometry(TRUTH_NAME, not truth_vis) o3dvis.show_geometry(RESULT_NAME, truth_vis) vis.draw([{ "name": SOURCE_NAME, "geometry": cloud }, { "name": TRUTH_NAME, "geometry": bunny_mesh, "is_visible": False }], actions=[("Create Mesh", make_mesh), ("Toggle truth/result", toggle_result)]) def get_icp_transform(source, target, source_indices, target_indices): corr = np.zeros((len(source_indices), 2)) corr[:, 0] = source_indices corr[:, 1] = target_indices # Estimate rough transformation using correspondences p2p = o3d.pipelines.registration.TransformationEstimationPointToPoint() trans_init = p2p.compute_transformation(source, target, o3d.utility.Vector2iVector(corr)) # Point-to-point ICP for refinement threshold = 0.03 # 3cm distance threshold reg_p2p = o3d.pipelines.registration.registration_icp( source, target, threshold, trans_init, o3d.pipelines.registration.TransformationEstimationPointToPoint()) return reg_p2p.transformation def selections(): pcd_fragments_data = o3d.data.DemoICPPointClouds() source = o3d.io.read_point_cloud(pcd_fragments_data.paths[0]) target = o3d.io.read_point_cloud(pcd_fragments_data.paths[1]) source.paint_uniform_color([1, 0.706, 0]) target.paint_uniform_color([0, 0.651, 0.929]) source_name = "Source (yellow)" target_name = "Target (blue)" def do_icp_one_set(o3dvis): # sets: [name: [{ "index": int, "order": int, "point": (x, y, z)}, ...], # ...] sets = o3dvis.get_selection_sets() source_picked = sorted(list(sets[0][source_name]), key=lambda x: x.order) target_picked = sorted(list(sets[0][target_name]), key=lambda x: x.order) source_indices = [idx.index for idx in source_picked] target_indices = [idx.index for idx in target_picked] t = get_icp_transform(source, target, source_indices, target_indices) source.transform(t) # Update the source geometry o3dvis.remove_geometry(source_name) o3dvis.add_geometry({"name": source_name, "geometry": source}) def do_icp_two_sets(o3dvis): sets = o3dvis.get_selection_sets() source_set = sets[0][source_name] target_set = sets[1][target_name] source_picked = sorted(list(source_set), key=lambda x: x.order) target_picked = sorted(list(target_set), key=lambda x: x.order) source_indices = [idx.index for idx in source_picked] target_indices = [idx.index for idx in target_picked] t = get_icp_transform(source, target, source_indices, target_indices) source.transform(t) # Update the source geometry o3dvis.remove_geometry(source_name) o3dvis.add_geometry({"name": source_name, "geometry": source}) vis.draw([{ "name": source_name, "geometry": source }, { "name": target_name, "geometry": target }], actions=[("ICP Registration (one set)", do_icp_one_set), ("ICP Registration (two sets)", do_icp_two_sets)], show_ui=True) def time_animation(): orig = make_point_cloud(200, (0, 0, 0), 1.0, True) clouds = [{"name": "t=0", "geometry": orig, "time": 0}] drift_dir = (1.0, 0.0, 0.0) expand = 1.0 n = 20 for i in range(1, n): amount = float(i) / float(n - 1) cloud = o3d.geometry.PointCloud() pts = np.asarray(orig.points) pts = pts * (1.0 + amount * expand) + [amount * v for v in drift_dir] cloud.points = o3d.utility.Vector3dVector(pts) cloud.colors = orig.colors clouds.append({ "name": "points at t=" + str(i), "geometry": cloud, "time": i }) vis.draw(clouds) def groups(): building_mat = vis.rendering.MaterialRecord() building_mat.shader = "defaultLit" building_mat.base_color = (1.0, .90, .75, 1.0) building_mat.base_reflectance = 0.1 midrise_mat = vis.rendering.MaterialRecord() midrise_mat.shader = "defaultLit" midrise_mat.base_color = (.475, .450, .425, 1.0) midrise_mat.base_reflectance = 0.1 skyscraper_mat = vis.rendering.MaterialRecord() skyscraper_mat.shader = "defaultLit" skyscraper_mat.base_color = (.05, .20, .55, 1.0) skyscraper_mat.base_reflectance = 0.9 skyscraper_mat.base_roughness = 0.01 buildings = [] size = 10.0 half = size / 2.0 min_height = 1.0 max_height = 20.0 for z in range(0, 10): for x in range(0, 10): max_h = max_height * (1.0 - abs(half - x) / half) * ( 1.0 - abs(half - z) / half) h = random.uniform(min_height, max(max_h, min_height + 1.0)) box = o3d.geometry.TriangleMesh.create_box(0.9, h, 0.9) box.compute_triangle_normals() box.translate((x + 0.05, 0.0, z + 0.05)) if h > 0.333 * max_height: mat = skyscraper_mat elif h > 0.1 * max_height: mat = midrise_mat else: mat = building_mat buildings.append({ "name": "building_" + str(x) + "_" + str(z), "geometry": box, "material": mat, "group": "buildings" }) haze = make_point_cloud(5000, (half, 0.333 * max_height, half), 1.414 * half, False) haze.paint_uniform_color((0.8, 0.8, 0.8)) smog = make_point_cloud(10000, (half, 0.25 * max_height, half), 1.2 * half, False) smog.paint_uniform_color((0.95, 0.85, 0.75)) vis.draw(buildings + [{ "name": "haze", "geometry": haze, "group": "haze" }, { "name": "smog", "geometry": smog, "group": "smog" }]) def remove(): def make_sphere(name, center, color, group, time): sphere = o3d.geometry.TriangleMesh.create_sphere(0.5) sphere.compute_vertex_normals() sphere.translate(center) mat = vis.rendering.Material() mat.shader = "defaultLit" mat.base_color = color return { "name": name, "geometry": sphere, "material": mat, "group": group, "time": time } red = make_sphere("red", (0, 0, 0), (1.0, 0.0, 0.0, 1.0), "spheres", 0) green = make_sphere("green", (2, 0, 0), (0.0, 1.0, 0.0, 1.0), "spheres", 0) blue = make_sphere("blue", (4, 0, 0), (0.0, 0.0, 1.0, 1.0), "spheres", 0) yellow = make_sphere("yellow", (0, 0, 0), (1.0, 1.0, 0.0, 1.0), "spheres", 1) bbox = { "name": "bbox", "geometry": red["geometry"].get_axis_aligned_bounding_box() } def remove_green(visdraw): visdraw.remove_geometry("green") def remove_yellow(visdraw): visdraw.remove_geometry("yellow") def remove_bbox(visdraw): visdraw.remove_geometry("bbox") vis.draw([red, green, blue, yellow, bbox], actions=[("Remove Green", remove_green), ("Remove Yellow", remove_yellow), ("Remove Bounds", remove_bbox)]) def main(): single_object() multi_objects() actions() selections() if __name__ == "__main__": main()