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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 numpy as np
import open3d as o3d
import time
import os
import sys
pyexample_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
sys.path.append(pyexample_path)
import open3d_example as o3dex
def problem0():
mesh = o3dex.get_plane_mesh(height=1, width=1)
mesh = mesh.subdivide_midpoint(3)
vertices = np.asarray(mesh.vertices)
static_ids = [
1, 46, 47, 48, 16, 51, 49, 50, 6, 31, 33, 32, 11, 26, 27, 25, 0, 64, 65,
20, 66, 68, 67, 7, 69, 71, 70, 22, 72, 74, 73, 3, 15, 44, 43, 45, 5, 41,
40, 42, 13, 39, 37, 38, 2, 56, 55, 19, 61, 60, 59, 8, 76, 75, 77, 23
]
static_positions = []
for id in static_ids:
static_positions.append(vertices[id])
handle_ids = [4]
handle_positions = [vertices[4] + np.array((0, 0, 0.4))]
return mesh, static_ids + handle_ids, static_positions + handle_positions
def problem1():
mesh = o3dex.get_plane_mesh(height=1, width=1)
mesh = mesh.subdivide_midpoint(3)
vertices = np.asarray(mesh.vertices)
static_ids = [
1, 46, 15, 43, 5, 40, 13, 38, 2, 56, 37, 39, 42, 41, 45, 44, 48, 47
]
static_positions = []
for id in static_ids:
static_positions.append(vertices[id])
handle_ids = [21]
handle_positions = [vertices[21] + np.array((0, 0, 0.4))]
return mesh, static_ids + handle_ids, static_positions + handle_positions
def problem2():
armadillo_data = o3d.data.ArmadilloMesh()
mesh = o3d.io.read_triangle_mesh(armadillo_data.path)
vertices = np.asarray(mesh.vertices)
static_ids = [idx for idx in np.where(vertices[:, 1] < -30)[0]]
static_positions = []
for id in static_ids:
static_positions.append(vertices[id])
handle_ids = [2490]
handle_positions = [vertices[2490] + np.array((-40, -40, -40))]
return mesh, static_ids + handle_ids, static_positions + handle_positions
if __name__ == "__main__":
o3d.utility.set_verbosity_level(o3d.utility.Debug)
for mesh, constraint_ids, constraint_pos in [
problem0(), problem1(), problem2()
]:
constraint_ids = np.array(constraint_ids, dtype=np.int32)
constraint_pos = o3d.utility.Vector3dVector(constraint_pos)
tic = time.time()
mesh_prime = mesh.deform_as_rigid_as_possible(
o3d.utility.IntVector(constraint_ids), constraint_pos, max_iter=50)
print("deform took {}[s]".format(time.time() - tic))
mesh_prime.compute_vertex_normals()
mesh.paint_uniform_color((1, 0, 0))
handles = o3d.geometry.PointCloud()
handles.points = constraint_pos
handles.paint_uniform_color((0, 1, 0))
o3d.visualization.draw_geometries([mesh, mesh_prime, handles])
o3d.utility.set_verbosity_level(o3d.utility.Info)
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