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
|
# ----------------------------------------------------------------------------
# - 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():
mesh = o3d.geometry.TriangleMesh.create_coordinate_frame()
mesh_tx = copy.deepcopy(mesh).translate((1.3, 0, 0))
mesh_ty = copy.deepcopy(mesh).translate((0, 1.3, 0))
print('Displaying original and translated geometries ...')
o3d.visualization.draw([{
"name": "Original Geometry",
"geometry": mesh
}, {
"name": "Translated (in X) Geometry",
"geometry": mesh_tx
}, {
"name": "Translated (in Y) Geometry",
"geometry": mesh_ty
}],
show_ui=True)
def rotate():
mesh = o3d.geometry.TriangleMesh.create_coordinate_frame()
mesh_r = copy.deepcopy(mesh)
R = mesh.get_rotation_matrix_from_xyz((np.pi / 2, 0, np.pi / 4))
mesh_r.rotate(R, center=(0, 0, 0))
print('Displaying original and rotated geometries ...')
o3d.visualization.draw([{
"name": "Original Geometry",
"geometry": mesh
}, {
"name": "Rotated Geometry",
"geometry": mesh_r
}],
show_ui=True)
def scale():
mesh = o3d.geometry.TriangleMesh.create_coordinate_frame()
mesh_s = copy.deepcopy(mesh).translate((2, 0, 0))
mesh_s.scale(0.5, center=mesh_s.get_center())
print('Displaying original and scaled geometries ...')
o3d.visualization.draw([{
"name": "Original Geometry",
"geometry": mesh
}, {
"name": "Scaled Geometry",
"geometry": mesh_s
}],
show_ui=True)
def transform():
mesh = o3d.geometry.TriangleMesh.create_coordinate_frame()
T = np.eye(4)
T[:3, :3] = mesh.get_rotation_matrix_from_xyz((0, np.pi / 3, np.pi / 2))
T[0, 3] = 1
T[1, 3] = 1.3
print(T)
mesh_t = copy.deepcopy(mesh).transform(T)
print('Displaying original and transformed geometries ...')
o3d.visualization.draw([{
"name": "Original Geometry",
"geometry": mesh
}, {
"name": "Transformed Geometry",
"geometry": mesh_t
}],
show_ui=True)
if __name__ == "__main__":
translate()
rotate()
scale()
transform()
|
