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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"
using namespace open3d;
void PrintVoxelGridInformation(const geometry::VoxelGrid& voxel_grid) {
utility::LogInfo("geometry::VoxelGrid with {:d} voxels",
voxel_grid.voxels_.size());
utility::LogInfo(" origin: [{:f} {:f} {:f}]",
voxel_grid.origin_(0), voxel_grid.origin_(1),
voxel_grid.origin_(2));
utility::LogInfo(" voxel_size: {:f}", voxel_grid.voxel_size_);
return;
}
void PrintHelp() {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > Voxelization [pointcloud_filename] [voxel_filename_ply]");
// clang-format on
utility::LogInfo("");
}
int main(int argc, char* argv[]) {
using namespace open3d;
utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
if (argc != 3 ||
utility::ProgramOptionExistsAny(argc, argv, {"-h", "--help"})) {
PrintHelp();
return 1;
}
auto pcd = io::CreatePointCloudFromFile(argv[1]);
auto voxel = geometry::VoxelGrid::CreateFromPointCloud(*pcd, 0.05);
PrintVoxelGridInformation(*voxel);
visualization::DrawGeometries({pcd, voxel});
io::WriteVoxelGrid(argv[2], *voxel, true);
auto voxel_read = io::CreateVoxelGridFromFile(argv[2]);
PrintVoxelGridInformation(*voxel_read);
visualization::DrawGeometries({pcd, voxel_read});
}
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