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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 matplotlib.pyplot as plt
import matplotlib.animation as anim
import sys
if __name__ == "__main__":
# Load mesh and convert to open3d.t.geometry.TriangleMesh .
armadillo_data = o3d.data.ArmadilloMesh()
mesh = o3d.io.read_triangle_mesh(armadillo_data.path)
mesh = o3d.t.geometry.TriangleMesh.from_legacy(mesh)
# Create a scene and add the triangle mesh.
scene = o3d.t.geometry.RaycastingScene()
scene.add_triangles(mesh)
min_bound = mesh.vertex.positions.min(0).numpy()
max_bound = mesh.vertex.positions.max(0).numpy()
xyz_range = np.linspace(min_bound, max_bound, num=64)
# Query_points is a [64,64,64,3] array.
query_points = np.stack(np.meshgrid(*xyz_range.T),
axis=-1).astype(np.float32)
# Signed distance is a [64,64,64] array.
signed_distance = scene.compute_signed_distance(query_points)
# We can visualize the slices of the distance field directly with matplotlib.
fig = plt.figure()
print("Visualizing sdf at each point for the armadillo mesh ...")
def show_slices(i=int):
print(f"Displaying slice no.: {i}")
if i >= 64:
sys.exit()
plt.imshow(signed_distance.numpy()[:, :, i % 64])
animator = anim.FuncAnimation(fig, show_slices, interval=100)
plt.show()
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