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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 <iostream>
#include "open3d/Open3D.h"
void PaintMesh(open3d::geometry::TriangleMesh &mesh,
const Eigen::Vector3d &color) {
mesh.vertex_colors_.resize(mesh.vertices_.size());
for (size_t i = 0; i < mesh.vertices_.size(); i++) {
mesh.vertex_colors_[i] = color;
}
}
void PrintHelp() {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > TriangleMesh sphere");
utility::LogInfo(" > TriangleMesh merge [file1] [file2]");
utility::LogInfo(" > TriangleMesh normal [file1] [file2]");
// 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"})) {
PrintHelp();
return 1;
}
std::string option(argv[1]);
if (option == "sphere") {
auto mesh = geometry::TriangleMesh::CreateSphere(0.05);
mesh->ComputeVertexNormals();
visualization::DrawGeometries({mesh});
io::WriteTriangleMesh("sphere.ply", *mesh, true, true);
} else if (option == "cylinder") {
auto mesh = geometry::TriangleMesh::CreateCylinder(0.5, 2.0);
mesh->ComputeVertexNormals();
visualization::DrawGeometries({mesh});
io::WriteTriangleMesh("cylinder.ply", *mesh, true, true);
} else if (option == "cone") {
auto mesh = geometry::TriangleMesh::CreateCone(0.5, 2.0, 20, 3);
mesh->ComputeVertexNormals();
visualization::DrawGeometries({mesh});
io::WriteTriangleMesh("cone.ply", *mesh, true, true);
} else if (option == "arrow") {
auto mesh = geometry::TriangleMesh::CreateArrow();
mesh->ComputeVertexNormals();
visualization::DrawGeometries({mesh});
io::WriteTriangleMesh("arrow.ply", *mesh, true, true);
} else if (option == "frame") {
if (argc < 3) {
auto mesh = geometry::TriangleMesh::CreateCoordinateFrame();
visualization::DrawGeometries({mesh});
io::WriteTriangleMesh("frame.ply", *mesh, true, true);
} else {
auto mesh = io::CreateMeshFromFile(argv[2]);
mesh->ComputeVertexNormals();
auto boundingbox = mesh->GetAxisAlignedBoundingBox();
auto mesh_frame = geometry::TriangleMesh::CreateCoordinateFrame(
boundingbox.GetMaxExtent() * 0.2, boundingbox.min_bound_);
visualization::DrawGeometries({mesh, mesh_frame});
}
} else if (option == "merge") {
auto mesh1 = io::CreateMeshFromFile(argv[2]);
auto mesh2 = io::CreateMeshFromFile(argv[3]);
utility::LogInfo("Mesh1 has {:d} vertices, {:d} triangles.",
mesh1->vertices_.size(), mesh1->triangles_.size());
utility::LogInfo("Mesh2 has {:d} vertices, {:d} triangles.",
mesh2->vertices_.size(), mesh2->triangles_.size());
*mesh1 += *mesh2;
utility::LogInfo(
"After merge, Mesh1 has {:d} vertices, {:d} triangles.",
mesh1->vertices_.size(), mesh1->triangles_.size());
mesh1->RemoveDuplicatedVertices();
mesh1->RemoveDuplicatedTriangles();
mesh1->RemoveDegenerateTriangles();
mesh1->RemoveUnreferencedVertices();
utility::LogInfo(
"After purge vertices, Mesh1 has {:d} vertices, {:d} "
"triangles.",
mesh1->vertices_.size(), mesh1->triangles_.size());
visualization::DrawGeometries({mesh1});
io::WriteTriangleMesh("temp.ply", *mesh1, true, true);
} else if (option == "normal") {
auto mesh = io::CreateMeshFromFile(argv[2]);
mesh->ComputeVertexNormals();
io::WriteTriangleMesh(argv[3], *mesh, true, true);
} else if (option == "scale") {
auto mesh = io::CreateMeshFromFile(argv[2]);
double scale = std::stod(argv[4]);
Eigen::Matrix4d trans = Eigen::Matrix4d::Identity();
trans(0, 0) = trans(1, 1) = trans(2, 2) = scale;
mesh->Transform(trans);
io::WriteTriangleMesh(argv[3], *mesh);
} else if (option == "unify") {
// unify into (0, 0, 0) - (scale, scale, scale) box
auto mesh = io::CreateMeshFromFile(argv[2]);
auto bbox = mesh->GetAxisAlignedBoundingBox();
double scale1 = std::stod(argv[4]);
double scale2 = std::stod(argv[5]);
Eigen::Matrix4d trans = Eigen::Matrix4d::Identity();
trans(0, 0) = trans(1, 1) = trans(2, 2) = scale1 / bbox.GetMaxExtent();
mesh->Transform(trans);
trans.setIdentity();
trans.block<3, 1>(0, 3) =
Eigen::Vector3d(scale2 / 2.0, scale2 / 2.0, scale2 / 2.0) -
bbox.GetCenter() * scale1 / bbox.GetMaxExtent();
mesh->Transform(trans);
io::WriteTriangleMesh(argv[3], *mesh);
} else if (option == "distance") {
auto mesh1 = io::CreateMeshFromFile(argv[2]);
auto mesh2 = io::CreateMeshFromFile(argv[3]);
double scale = std::stod(argv[4]);
mesh1->vertex_colors_.resize(mesh1->vertices_.size());
geometry::KDTreeFlann kdtree;
kdtree.SetGeometry(*mesh2);
std::vector<int> indices(1);
std::vector<double> dists(1);
double r = 0.0;
for (size_t i = 0; i < mesh1->vertices_.size(); i++) {
kdtree.SearchKNN(mesh1->vertices_[i], 1, indices, dists);
double color = std::min(sqrt(dists[0]) / scale, 1.0);
mesh1->vertex_colors_[i] = Eigen::Vector3d(color, color, color);
r += sqrt(dists[0]);
}
utility::LogInfo("Average distance is {:.6f}.",
r / (double)mesh1->vertices_.size());
if (argc > 5) {
io::WriteTriangleMesh(argv[5], *mesh1);
}
visualization::DrawGeometries({mesh1});
} else if (option == "showboth") {
auto mesh1 = io::CreateMeshFromFile(argv[2]);
PaintMesh(*mesh1, Eigen::Vector3d(1.0, 0.75, 0.0));
auto mesh2 = io::CreateMeshFromFile(argv[3]);
PaintMesh(*mesh2, Eigen::Vector3d(0.25, 0.25, 1.0));
std::vector<std::shared_ptr<const geometry::Geometry>> meshes;
meshes.push_back(mesh1);
meshes.push_back(mesh2);
visualization::DrawGeometries(meshes);
} else if (option == "colormapping") {
auto mesh = io::CreateMeshFromFile(argv[2]);
mesh->ComputeVertexNormals();
camera::PinholeCameraTrajectory trajectory;
io::ReadIJsonConvertible(argv[3], trajectory);
if (!utility::filesystem::DirectoryExists("image")) {
utility::LogWarning("No image!");
return 0;
}
int idx = 3000;
std::vector<std::shared_ptr<const geometry::Geometry>> ptrs;
ptrs.push_back(mesh);
auto mesh_sphere = geometry::TriangleMesh::CreateSphere(0.05);
Eigen::Matrix4d trans;
trans.setIdentity();
trans.block<3, 1>(0, 3) = mesh->vertices_[idx];
mesh_sphere->Transform(trans);
mesh_sphere->ComputeVertexNormals();
ptrs.push_back(mesh_sphere);
visualization::DrawGeometries(ptrs);
for (size_t i = 0; i < trajectory.parameters_.size(); i += 10) {
std::string buffer =
fmt::format("image/image_{:06d}.png", (int)i + 1);
auto image = io::CreateImageFromFile(buffer);
auto fimage = image->CreateFloatImage();
Eigen::Vector4d pt_in_camera =
trajectory.parameters_[i].extrinsic_ *
Eigen::Vector4d(mesh->vertices_[idx](0),
mesh->vertices_[idx](1),
mesh->vertices_[idx](2), 1.0);
Eigen::Vector3d pt_in_plane =
trajectory.parameters_[i].intrinsic_.intrinsic_matrix_ *
pt_in_camera.block<3, 1>(0, 0);
Eigen::Vector3d uv = pt_in_plane / pt_in_plane(2);
std::cout << pt_in_camera << std::endl;
std::cout << pt_in_plane << std::endl;
std::cout << pt_in_plane / pt_in_plane(2) << std::endl;
auto result = fimage->FloatValueAt(uv(0), uv(1));
if (result.first) {
utility::LogInfo("{:.6f}", result.second);
}
visualization::DrawGeometries({fimage}, "Test", 1920, 1080);
}
}
return 0;
}
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