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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2024 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------
# Helpers and monkey patches for ipynb tutorials
import open3d as o3d
import numpy as np
import PIL.Image
import IPython.display
interactive = True
def jupyter_draw_geometries(
geoms,
window_name="Open3D",
width=1920,
height=1080,
left=50,
top=50,
point_show_normal=False,
mesh_show_wireframe=False,
mesh_show_back_face=False,
lookat=None,
up=None,
front=None,
zoom=None,
):
vis = o3d.visualization.Visualizer()
vis.create_window(
window_name=window_name,
width=width,
height=height,
left=left,
top=top,
visible=True, # If false, capture_screen_float_buffer() won't work.
)
vis.get_render_option().point_show_normal = point_show_normal
vis.get_render_option().mesh_show_wireframe = mesh_show_wireframe
vis.get_render_option().mesh_show_back_face = mesh_show_back_face
for geom in geoms:
vis.add_geometry(geom)
if lookat is not None:
vis.get_view_control().set_lookat(lookat)
if up is not None:
vis.get_view_control().set_up(up)
if front is not None:
vis.get_view_control().set_front(front)
if zoom is not None:
vis.get_view_control().set_zoom(zoom)
if interactive:
vis.run()
else:
for geom in geoms:
vis.update_geometry(geom)
vis.poll_events()
vis.update_renderer()
im = vis.capture_screen_float_buffer()
vis.destroy_window()
im = (255 * np.asarray(im)).astype(np.uint8)
IPython.display.display(PIL.Image.fromarray(im, "RGB"))
o3d.visualization.draw_geometries = jupyter_draw_geometries
# o3d.visualization.draw = jupyter_draw_geometries
def edges_to_lineset(mesh, edges, color):
ls = o3d.geometry.LineSet()
ls.points = mesh.vertices
ls.lines = edges
colors = np.empty((np.asarray(edges).shape[0], 3))
colors[:] = color
ls.colors = o3d.utility.Vector3dVector(colors)
return ls
def get_non_manifold_edge_mesh():
verts = np.array(
[[-1, 0, 0], [0, 1, 0], [1, 0, 0], [0, -1, 0], [0, 0, 1]],
dtype=np.float64,
)
triangles = np.array([[0, 1, 3], [1, 2, 3], [1, 3, 4]])
mesh = o3d.geometry.TriangleMesh()
mesh.vertices = o3d.utility.Vector3dVector(verts)
mesh.triangles = o3d.utility.Vector3iVector(triangles)
mesh.compute_vertex_normals()
mesh.rotate(
mesh.get_rotation_matrix_from_xyz((np.pi / 4, 0, np.pi / 4)),
center=mesh.get_center(),
)
return mesh
def get_non_manifold_vertex_mesh():
verts = np.array(
[
[-1, 0, -1],
[1, 0, -1],
[0, 1, -1],
[0, 0, 0],
[-1, 0, 1],
[1, 0, 1],
[0, 1, 1],
],
dtype=np.float64,
)
triangles = np.array([
[0, 1, 2],
[0, 1, 3],
[1, 2, 3],
[2, 0, 3],
[4, 5, 6],
[4, 5, 3],
[5, 6, 3],
[4, 6, 3],
])
mesh = o3d.geometry.TriangleMesh()
mesh.vertices = o3d.utility.Vector3dVector(verts)
mesh.triangles = o3d.utility.Vector3iVector(triangles)
mesh.compute_vertex_normals()
mesh.rotate(
mesh.get_rotation_matrix_from_xyz((np.pi / 4, 0, np.pi / 4)),
center=mesh.get_center(),
)
return mesh
def get_open_box_mesh():
mesh = o3d.geometry.TriangleMesh.create_box()
mesh.triangles = o3d.utility.Vector3iVector(np.asarray(mesh.triangles)[:-2])
mesh.compute_vertex_normals()
mesh.rotate(
mesh.get_rotation_matrix_from_xyz((0.8 * np.pi, 0, 0.66 * np.pi)),
center=mesh.get_center(),
)
return mesh
def get_intersecting_boxes_mesh():
mesh0 = o3d.geometry.TriangleMesh.create_box()
T = np.eye(4)
T[:, 3] += (0.5, 0.5, 0.5, 0)
mesh1 = o3d.geometry.TriangleMesh.create_box()
mesh1.transform(T)
mesh = mesh0 + mesh1
mesh.compute_vertex_normals()
mesh.rotate(
mesh.get_rotation_matrix_from_xyz((0.7 * np.pi, 0, 0.6 * np.pi)),
center=mesh.get_center(),
)
return mesh
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