1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
|
// ----------------------------------------------------------------------------
// - 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(" > ViewDistances source_file [options]");
utility::LogInfo(" View color coded distances of 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(" --max_distance d : Set max distance. Must be positive.");
utility::LogInfo(" --mahalanobis_distance : Compute the Mahalanobis distance.");
utility::LogInfo(" --nn_distance : Compute the NN distance.");
utility::LogInfo(" --write_color_back : Write color back to source_file.");
utility::LogInfo(" --without_gui : Without GUI.");
// 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;
}
int verbose = utility::GetProgramOptionAsInt(argc, argv, "--verbose", 5);
utility::SetVerbosityLevel((utility::VerbosityLevel)verbose);
double max_distance = utility::GetProgramOptionAsDouble(
argc, argv, "--max_distance", 0.0);
auto pcd = io::CreatePointCloudFromFile(argv[1]);
if (pcd->IsEmpty()) {
utility::LogWarning("Empty point cloud.");
return 1;
}
std::string binname =
utility::filesystem::GetFileNameWithoutExtension(argv[1]) + ".bin";
std::vector<double> distances(pcd->points_.size());
if (utility::ProgramOptionExists(argc, argv, "--mahalanobis_distance")) {
distances = pcd->ComputeMahalanobisDistance();
FILE *f = utility::filesystem::FOpen(binname, "wb");
fwrite(distances.data(), sizeof(double), distances.size(), f);
fclose(f);
} else if (utility::ProgramOptionExists(argc, argv, "--nn_distance")) {
distances = pcd->ComputeNearestNeighborDistance();
FILE *f = utility::filesystem::FOpen(binname, "wb");
fwrite(distances.data(), sizeof(double), distances.size(), f);
fclose(f);
} else {
FILE *f = utility::filesystem::FOpen(binname, "rb");
if (f == NULL) {
utility::LogWarning("Cannot open bin file.");
return 1;
}
if (fread(distances.data(), sizeof(double), pcd->points_.size(), f) !=
pcd->points_.size()) {
utility::LogWarning("Cannot open bin file.");
return 1;
}
}
if (max_distance <= 0.0) {
utility::LogWarning("Max distance must be a positive value.");
return 1;
}
pcd->colors_.resize(pcd->points_.size());
visualization::ColorMapHot colormap;
for (size_t i = 0; i < pcd->points_.size(); i++) {
pcd->colors_[i] = colormap.GetColor(distances[i] / max_distance);
}
if (utility::ProgramOptionExists(argc, argv, "--write_color_back")) {
io::WritePointCloud(argv[1], *pcd);
}
if (!utility::ProgramOptionExists(argc, argv, "--without_gui")) {
visualization::DrawGeometries({pcd}, "Point Cloud", 1920, 1080);
}
return 0;
}
|
