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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.
# ----------------------------------------------------------------------------
import open3d as o3d
import numpy as np
import copy
def translate():
armadillo_data = o3d.data.ArmadilloMesh()
pcd = o3d.io.read_triangle_mesh(
armadillo_data.path).sample_points_poisson_disk(5000)
pcd_tx = copy.deepcopy(pcd).translate((150, 0, 0))
pcd_ty = copy.deepcopy(pcd).translate((0, 200, 0))
print('Displaying original and translated geometries ...')
o3d.visualization.draw([{
"name": "Original Geometry",
"geometry": pcd
}, {
"name": "Translated (in X) Geometry",
"geometry": pcd_tx
}, {
"name": "Translated (in Y) Geometry",
"geometry": pcd_ty
}],
show_ui=True)
def rotate():
armadillo_data = o3d.data.ArmadilloMesh()
pcd = o3d.io.read_triangle_mesh(
armadillo_data.path).sample_points_poisson_disk(5000)
pcd_r = copy.deepcopy(pcd).translate((200, 0, 0))
R = pcd.get_rotation_matrix_from_xyz((np.pi / 2, 0, np.pi / 4))
pcd_r.rotate(R)
print('Displaying original and rotated geometries ...')
o3d.visualization.draw([{
"name": "Original Geometry",
"geometry": pcd
}, {
"name": "Rotated Geometry",
"geometry": pcd_r
}],
show_ui=True)
def scale():
armadillo_data = o3d.data.ArmadilloMesh()
pcd = o3d.io.read_triangle_mesh(
armadillo_data.path).sample_points_poisson_disk(5000)
pcd_s = copy.deepcopy(pcd).translate((200, 0, 0))
pcd_s.scale(0.5, center=pcd_s.get_center())
print('Displaying original and scaled geometries ...')
o3d.visualization.draw([{
"name": "Original Geometry",
"geometry": pcd
}, {
"name": "Scaled Geometry",
"geometry": pcd_s
}],
show_ui=True)
def transform():
armadillo_data = o3d.data.ArmadilloMesh()
pcd = o3d.io.read_triangle_mesh(
armadillo_data.path).sample_points_poisson_disk(5000)
T = np.eye(4)
T[:3, :3] = pcd.get_rotation_matrix_from_xyz((0, np.pi / 3, np.pi / 2))
T[0, 3] = 150
T[1, 3] = 200
print(T)
pcd_t = copy.deepcopy(pcd).transform(T)
print('Displaying original and transformed geometries ...')
o3d.visualization.draw([{
"name": "Original Geometry",
"geometry": pcd
}, {
"name": "Transformed Geometry",
"geometry": pcd_t
}],
show_ui=True)
if __name__ == "__main__":
translate()
rotate()
scale()
transform()
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