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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include <cstdlib>
#include "open3d/Open3D.h"
using namespace open3d;
double GetRandom() { return double(std::rand()) / double(RAND_MAX); }
std::shared_ptr<geometry::PointCloud> MakePointCloud(
int npts, const Eigen::Vector3d center, double radius, bool colorize) {
auto cloud = std::make_shared<geometry::PointCloud>();
cloud->points_.reserve(npts);
for (int i = 0; i < npts; ++i) {
cloud->points_.push_back({radius * GetRandom() + center.x(),
radius * GetRandom() + center.y(),
radius * GetRandom() + center.z()});
}
if (colorize) {
cloud->colors_.reserve(npts);
for (int i = 0; i < npts; ++i) {
cloud->colors_.push_back({GetRandom(), GetRandom(), GetRandom()});
}
}
return cloud;
}
void SingleObject() {
// No colors, no normals, should appear unlit black
auto cube = geometry::TriangleMesh::CreateBox(1, 2, 4);
visualization::Draw({cube});
}
void MultiObjects() {
const double pc_rad = 1.0;
auto pc_nocolor = MakePointCloud(100, {0.0, -2.0, 0.0}, pc_rad, false);
auto pc_color = MakePointCloud(100, {3.0, -2.0, 0.0}, pc_rad, true);
const double r = 0.4;
auto sphere_unlit = geometry::TriangleMesh::CreateSphere(r);
sphere_unlit->Translate({0.0, 1.0, 0.0});
auto sphere_colored_unlit = geometry::TriangleMesh::CreateSphere(r);
sphere_colored_unlit->PaintUniformColor({1.0, 0.0, 0.0});
sphere_colored_unlit->Translate({2.0, 1.0, 0.0});
auto sphere_lit = geometry::TriangleMesh::CreateSphere(r);
sphere_lit->ComputeVertexNormals();
sphere_lit->Translate({4, 1, 0});
auto sphere_colored_lit = geometry::TriangleMesh::CreateSphere(r);
sphere_colored_lit->ComputeVertexNormals();
sphere_colored_lit->PaintUniformColor({0.0, 1.0, 0.0});
sphere_colored_lit->Translate({6, 1, 0});
auto big_bbox = std::make_shared<geometry::AxisAlignedBoundingBox>(
Eigen::Vector3d{-pc_rad, -3, -pc_rad},
Eigen::Vector3d{6.0 + r, 1.0 + r, pc_rad});
big_bbox->color_ = {0.0, 0.0, 0.0};
auto bbox = sphere_unlit->GetAxisAlignedBoundingBox();
auto sphere_bbox = std::make_shared<geometry::AxisAlignedBoundingBox>(
bbox.min_bound_, bbox.max_bound_);
sphere_bbox->color_ = {1.0, 0.5, 0.0};
auto lines = geometry::LineSet::CreateFromAxisAlignedBoundingBox(
sphere_lit->GetAxisAlignedBoundingBox());
lines->PaintUniformColor({0.0, 1.0, 0.0});
auto lines_colored = geometry::LineSet::CreateFromAxisAlignedBoundingBox(
sphere_colored_lit->GetAxisAlignedBoundingBox());
lines_colored->PaintUniformColor({0.0, 0.0, 1.0});
visualization::Draw({pc_nocolor, pc_color, sphere_unlit,
sphere_colored_unlit, sphere_lit, sphere_colored_lit,
big_bbox, sphere_bbox, lines, lines_colored});
}
void Actions() {
const char *SOURCE_NAME = "Source";
const char *RESULT_NAME = "Result (Poisson reconstruction)";
const char *TRUTH_NAME = "Ground truth";
data::BunnyMesh bunny_data;
auto bunny = std::make_shared<geometry::TriangleMesh>();
io::ReadTriangleMesh(bunny_data.GetPath(), *bunny);
bunny->PaintUniformColor({1, 0.75, 0});
bunny->ComputeVertexNormals();
auto cloud = std::make_shared<geometry::PointCloud>();
cloud->points_ = bunny->vertices_;
cloud->normals_ = bunny->vertex_normals_;
cloud->PaintUniformColor({0, 0.2, 1.0});
auto make_mesh = [SOURCE_NAME, RESULT_NAME](
visualization::visualizer::O3DVisualizer &o3dvis) {
std::shared_ptr<geometry::PointCloud> source =
std::dynamic_pointer_cast<geometry::PointCloud>(
o3dvis.GetGeometry(SOURCE_NAME).geometry);
auto mesh = std::get<0>(
geometry::TriangleMesh::CreateFromPointCloudPoisson(*source));
mesh->PaintUniformColor({1, 1, 1});
mesh->ComputeVertexNormals();
o3dvis.AddGeometry(RESULT_NAME, mesh);
o3dvis.ShowGeometry(SOURCE_NAME, false);
};
auto toggle_result =
[TRUTH_NAME,
RESULT_NAME](visualization::visualizer::O3DVisualizer &o3dvis) {
bool truth_vis = o3dvis.GetGeometry(TRUTH_NAME).is_visible;
o3dvis.ShowGeometry(TRUTH_NAME, !truth_vis);
o3dvis.ShowGeometry(RESULT_NAME, truth_vis);
};
visualization::Draw({visualization::DrawObject(SOURCE_NAME, cloud),
visualization::DrawObject(TRUTH_NAME, bunny, false)},
"Open3D: Draw Example: Actions", 1024, 768,
{{"Create Mesh", make_mesh},
{"Toggle truth/result", toggle_result}});
}
Eigen::Matrix4d_u GetICPTransform(
const geometry::PointCloud &source,
const geometry::PointCloud &target,
const std::vector<visualization::visualizer::O3DVisualizerSelections::
SelectedIndex> &source_picked,
const std::vector<visualization::visualizer::O3DVisualizerSelections::
SelectedIndex> &target_picked) {
std::vector<Eigen::Vector2i> indices;
for (size_t i = 0; i < source_picked.size(); ++i) {
indices.push_back({source_picked[i].index, target_picked[i].index});
}
// Estimate rough transformation using correspondences
pipelines::registration::TransformationEstimationPointToPoint p2p;
auto trans_init = p2p.ComputeTransformation(source, target, indices);
// Point-to-point ICP for refinement
const double max_dist = 0.03; // 3cm distance threshold
auto result = pipelines::registration::RegistrationICP(
source, target, max_dist, trans_init);
return result.transformation_;
}
void Selections() {
std::cout << "Selection example:" << std::endl;
std::cout << " One set: pick three points from the source (yellow), "
<< std::endl;
std::cout << " then pick the same three points in the target"
"(blue) cloud"
<< std::endl;
std::cout << " Two sets: pick three points from the source cloud, "
<< std::endl;
std::cout << " then create a new selection set, and pick the"
<< std::endl;
std::cout << " three points from the target." << std::endl;
data::DemoICPPointClouds demo_icp_pointclouds;
auto source = std::make_shared<geometry::PointCloud>();
io::ReadPointCloud(demo_icp_pointclouds.GetPaths(0), *source);
if (source->points_.empty()) {
utility::LogError("Could not open {}",
demo_icp_pointclouds.GetPaths(0));
return;
}
auto target = std::make_shared<geometry::PointCloud>();
io::ReadPointCloud(demo_icp_pointclouds.GetPaths(1), *target);
if (target->points_.empty()) {
utility::LogError("Could not open {}",
demo_icp_pointclouds.GetPaths(1));
return;
}
source->PaintUniformColor({1.000, 0.706, 0.000});
target->PaintUniformColor({0.000, 0.651, 0.929});
const char *source_name = "Source (yellow)";
const char *target_name = "Target (blue)";
auto DoICPOneSet =
[source, target, source_name,
target_name](visualization::visualizer::O3DVisualizer &o3dvis) {
auto sets = o3dvis.GetSelectionSets();
if (sets.empty()) {
utility::LogWarning(
"You must select points for correspondence before "
"running ICP!");
return;
}
auto &source_picked_set = sets[0][source_name];
auto &target_picked_set = sets[0][target_name];
std::vector<visualization::visualizer::O3DVisualizerSelections::
SelectedIndex>
source_picked(source_picked_set.begin(),
source_picked_set.end());
std::vector<visualization::visualizer::O3DVisualizerSelections::
SelectedIndex>
target_picked(target_picked_set.begin(),
target_picked_set.end());
std::sort(source_picked.begin(), source_picked.end());
std::sort(target_picked.begin(), target_picked.end());
auto t = GetICPTransform(*source, *target, source_picked,
target_picked);
source->Transform(t);
// Update the source geometry
o3dvis.RemoveGeometry(source_name);
o3dvis.AddGeometry(source_name, source);
};
auto DoICPTwoSets =
[source, target, source_name,
target_name](visualization::visualizer::O3DVisualizer &o3dvis) {
auto sets = o3dvis.GetSelectionSets();
if (sets.size() < 2) {
utility::LogWarning(
"You must have at least two sets of selected "
"points before running ICP!");
return;
}
auto &source_picked_set = sets[0][source_name];
auto &target_picked_set = sets[1][target_name];
std::vector<visualization::visualizer::O3DVisualizerSelections::
SelectedIndex>
source_picked(source_picked_set.begin(),
source_picked_set.end());
std::vector<visualization::visualizer::O3DVisualizerSelections::
SelectedIndex>
target_picked(target_picked_set.begin(),
target_picked_set.end());
std::sort(source_picked.begin(), source_picked.end());
std::sort(target_picked.begin(), target_picked.end());
auto t = GetICPTransform(*source, *target, source_picked,
target_picked);
source->Transform(t);
// Update the source geometry
o3dvis.RemoveGeometry(source_name);
o3dvis.AddGeometry(source_name, source);
};
visualization::Draw({visualization::DrawObject(source_name, source),
visualization::DrawObject(target_name, target)},
"Open3D: Draw example: Selection", 1024, 768,
{{"ICP Registration (one set)", DoICPOneSet},
{"ICP Registration (two sets)", DoICPTwoSets}});
}
int main(int argc, char **argv) {
SingleObject();
MultiObjects();
Actions();
Selections();
}
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