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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 "open3d/Open3D.h"
void PrintHelp() {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > TrimMeshBasedOnPointCloud [options]");
utility::LogInfo(" Trim a mesh based on distance to a point cloud.");
utility::LogInfo("");
utility::LogInfo("Basic options:");
utility::LogInfo(" --help, -h : Print help information.");
utility::LogInfo(" --verbose n : Set verbose level (0-4). Default: 2.");
utility::LogInfo(" --in_mesh mesh_file : Input mesh file. MUST HAVE.");
utility::LogInfo(" --out_mesh mesh_file : Output mesh file. MUST HAVE.");
utility::LogInfo(" --pointcloud pcd_file : Reference pointcloud file. MUST HAVE.");
utility::LogInfo(" --distance d : Maximum distance. MUST HAVE.");
// clang-format onZ
utility::LogInfo("");
}
int main(int argc, char* argv[]) {
using namespace open3d;
if (argc < 4 ||
utility::ProgramOptionExistsAny(argc, argv, {"-h", "--help"}) ) {
PrintHelp();
return 1;
}
int verbose = utility::GetProgramOptionAsInt(argc, argv, "--verbose", 5);
utility::SetVerbosityLevel((utility::VerbosityLevel)verbose);
auto in_mesh_file =
utility::GetProgramOptionAsString(argc, argv, "--in_mesh");
auto out_mesh_file =
utility::GetProgramOptionAsString(argc, argv, "--out_mesh");
auto pcd_file =
utility::GetProgramOptionAsString(argc, argv, "--pointcloud");
auto distance = utility::GetProgramOptionAsDouble(argc, argv, "--distance");
if (distance <= 0.0) {
utility::LogWarning("Illegal distance.");
return 1;
}
if (in_mesh_file.empty() || out_mesh_file.empty() || pcd_file.empty()) {
utility::LogWarning("Missing file names.");
return 1;
}
auto mesh = io::CreateMeshFromFile(in_mesh_file);
auto pcd = io::CreatePointCloudFromFile(pcd_file);
if (mesh->IsEmpty() || pcd->IsEmpty()) {
utility::LogWarning("Empty geometry.");
return 1;
}
geometry::KDTreeFlann kdtree;
kdtree.SetGeometry(*pcd);
std::vector<bool> remove_vertex_mask(mesh->vertices_.size(), false);
utility::ProgressBar progress_bar(mesh->vertices_.size(),
"Prune vetices: ");
#pragma omp parallel for schedule(static) num_threads(utility::EstimateMaxThreads())
for (int i = 0; i < (int)mesh->vertices_.size(); i++) {
std::vector<int> indices(1);
std::vector<double> dists(1);
int k = kdtree.SearchKNN(mesh->vertices_[i], 1, indices, dists);
if (k == 0 || dists[0] > distance * distance) {
remove_vertex_mask[i] = true;
}
#pragma omp critical
{ ++progress_bar; }
}
std::vector<int> index_old_to_new(mesh->vertices_.size());
bool has_vert_normal = mesh->HasVertexNormals();
bool has_vert_color = mesh->HasVertexColors();
size_t old_vertex_num = mesh->vertices_.size();
size_t k = 0; // new index
bool has_tri_normal = mesh->HasTriangleNormals();
size_t old_triangle_num = mesh->triangles_.size();
size_t kt = 0;
for (size_t i = 0; i < old_vertex_num; i++) { // old index
if (!remove_vertex_mask[i]) {
mesh->vertices_[k] = mesh->vertices_[i];
if (has_vert_normal)
mesh->vertex_normals_[k] = mesh->vertex_normals_[i];
if (has_vert_color)
mesh->vertex_colors_[k] = mesh->vertex_colors_[i];
index_old_to_new[i] = (int)k;
k++;
} else {
index_old_to_new[i] = -1;
}
}
mesh->vertices_.resize(k);
if (has_vert_normal) mesh->vertex_normals_.resize(k);
if (has_vert_color) mesh->vertex_colors_.resize(k);
if (k < old_vertex_num) {
for (size_t i = 0; i < old_triangle_num; i++) {
auto &triangle = mesh->triangles_[i];
triangle(0) = index_old_to_new[triangle(0)];
triangle(1) = index_old_to_new[triangle(1)];
triangle(2) = index_old_to_new[triangle(2)];
if (triangle(0) != -1 && triangle(1) != -1 && triangle(2) != -1) {
mesh->triangles_[kt] = mesh->triangles_[i];
if (has_tri_normal)
mesh->triangle_normals_[kt] = mesh->triangle_normals_[i];
kt++;
}
}
mesh->triangles_.resize(kt);
if (has_tri_normal) mesh->triangle_normals_.resize(kt);
}
utility::LogInfo(
"[TrimMeshBasedOnPointCloud] {:d} vertices and {:d} triangles have "
"been removed.",
old_vertex_num - k, old_triangle_num - kt);
io::WriteTriangleMesh(out_mesh_file, *mesh);
return 0;
}
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