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// ----------------------------------------------------------------------------
// - 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.
// ----------------------------------------------------------------------------
#include <Eigen/Dense>
#include <iostream>
#include <memory>
#include "open3d/Open3D.h"
void PrintHelp() {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo("> CameraPoseTrajectory [trajectory_file]");
// clang-format on
utility::LogInfo("");
}
int main(int argc, char *argv[]) {
using namespace open3d;
utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
if (argc == 1 ||
utility::ProgramOptionExistsAny(argc, argv, {"-h", "--help"}) ||
argc != 2) {
PrintHelp();
return 1;
}
const int NUM_OF_COLOR_PALETTE = 5;
Eigen::Vector3d color_palette[NUM_OF_COLOR_PALETTE] = {
Eigen::Vector3d(255, 180, 0) / 255.0,
Eigen::Vector3d(0, 166, 237) / 255.0,
Eigen::Vector3d(246, 81, 29) / 255.0,
Eigen::Vector3d(127, 184, 0) / 255.0,
Eigen::Vector3d(13, 44, 84) / 255.0,
};
camera::PinholeCameraTrajectory trajectory;
io::ReadPinholeCameraTrajectory(argv[1], trajectory);
data::DemoICPPointClouds sample_icp_data;
std::vector<std::shared_ptr<const geometry::Geometry>> pcds;
for (size_t i = 0; i < 3; i++) {
if (utility::filesystem::FileExists(sample_icp_data.GetPaths()[i])) {
auto pcd =
io::CreatePointCloudFromFile(sample_icp_data.GetPaths()[i]);
pcd->Transform(trajectory.parameters_[i].extrinsic_);
pcd->colors_.clear();
if ((int)i < NUM_OF_COLOR_PALETTE) {
pcd->colors_.resize(pcd->points_.size(), color_palette[i]);
} else {
pcd->colors_.resize(pcd->points_.size(),
(Eigen::Vector3d::Random() +
Eigen::Vector3d::Constant(1.0)) *
0.5);
}
pcds.push_back(pcd);
}
}
visualization::DrawGeometriesWithCustomAnimation(pcds);
return 0;
}
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