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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include <chrono>
#include <iostream>
#include "open3d/Open3D.h"
int main(int argc, char **argv) {
using namespace open3d;
utility::SetVerbosityLevel(utility::VerbosityLevel::Info);
if (argc < 2) {
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > PlanarPatchDetection [filename]");
utility::LogInfo(" The program will :");
utility::LogInfo(" 1. load the point cloud in [filename].");
utility::LogInfo(" 2. estimate planar patches within point cloud");
utility::LogInfo(" 3. visualize those planar patches");
// clang-format on
return 1;
}
auto cloud_ptr = std::make_shared<geometry::PointCloud>();
if (io::ReadPointCloud(argv[1], *cloud_ptr)) {
utility::LogInfo("Successfully read {}\n", argv[1]);
} else {
utility::LogWarning("Failed to read {}\n\n", argv[1]);
return 1;
}
auto t1 = std::chrono::high_resolution_clock::now();
static constexpr int nrNeighbors = 100;
const geometry::KDTreeSearchParam &normals_search_param =
geometry::KDTreeSearchParamKNN(nrNeighbors);
cloud_ptr->EstimateNormals(normals_search_param);
cloud_ptr->OrientNormalsTowardsCameraLocation();
std::cout << "EstimateNormals: "
<< std::chrono::duration_cast<std::chrono::duration<double>>(
std::chrono::high_resolution_clock::now() - t1)
.count()
<< " seconds" << std::endl;
static constexpr double radius = 1;
static constexpr int max_nn = 100;
const geometry::KDTreeSearchParam &search_param =
geometry::KDTreeSearchParamHybrid(radius, max_nn);
// set parameters
constexpr double normal_variance_threshold_deg = 60;
constexpr double coplanarity_deg = 75;
constexpr double outlier_ratio = 0.75;
constexpr double min_plane_edge_length = 0.0;
constexpr size_t min_num_points = 30;
t1 = std::chrono::high_resolution_clock::now();
const std::vector<std::shared_ptr<geometry::OrientedBoundingBox>> patches =
cloud_ptr->DetectPlanarPatches(normal_variance_threshold_deg,
coplanarity_deg, outlier_ratio,
min_plane_edge_length,
min_num_points, search_param);
std::cout << "DetectPlanarPatches: " << patches.size() << " in "
<< std::chrono::duration_cast<std::chrono::duration<double>>(
std::chrono::high_resolution_clock::now() - t1)
.count()
<< " seconds" << std::endl;
cloud_ptr->PaintUniformColor(Eigen::Vector3d(0.8, 0.8, 0.8));
// for const-correctness
std::vector<std::shared_ptr<const geometry::Geometry>> geometries;
geometries.reserve(patches.size());
for (const auto &obox : patches) {
std::vector<size_t> idxs =
obox->GetPointIndicesWithinBoundingBox(cloud_ptr->points_);
for (size_t j = 0; j < idxs.size(); ++j) {
cloud_ptr->colors_[idxs[j]] = obox->color_;
}
geometries.push_back(obox);
// turn bounding box into a plane
auto mesh = geometry::TriangleMesh::CreateFromOrientedBoundingBox(
*obox, Eigen::Vector3d(1, 1, 0.0001));
mesh->PaintUniformColor(obox->color_);
geometries.push_back(mesh);
}
// visualize point cloud, too
geometries.push_back(cloud_ptr);
visualization::DrawGeometries(geometries, "Visualize", 1600, 900);
return 0;
}
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