def actions():
SOURCE_NAME = "Source"
RESULT_NAME = "Result (Poisson reconstruction)"
TRUTH_NAME = "Ground truth"
bunny = o3dtut.get_bunny_mesh()
bunny.paint_uniform_color((1, 0.75, 0))
bunny.compute_vertex_normals()
cloud = o3d.geometry.PointCloud()
cloud.points = bunny.vertices
cloud.normals = bunny.vertex_normals
def make_mesh(o3dvis):
# TODO: call o3dvis.get_geometry instead of using bunny
mesh, _ = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(
cloud)
mesh.paint_uniform_color((1, 1, 1))
mesh.compute_vertex_normals()
o3dvis.add_geometry({"name": RESULT_NAME, "geometry": mesh})
o3dvis.show_geometry(SOURCE_NAME, False)
def toggle_result(o3dvis):
truth_vis = o3dvis.get_geometry(TRUTH_NAME).is_visible
o3dvis.show_geometry(TRUTH_NAME, not truth_vis)
o3dvis.show_geometry(RESULT_NAME, truth_vis)
vis.draw([{
"name": SOURCE_NAME,
"geometry": cloud
}, {
"name": TRUTH_NAME,
"geometry": bunny,
"is_visible": False
}],
actions=[("Create Mesh", make_mesh),
("Toggle truth/result", toggle_result)])
def multi_objects():
pc_rad = 1.0
pc_nocolor = make_point_cloud(100, (0, -2, 0), pc_rad, False)
pc_color = make_point_cloud(100, (3, -2, 0), pc_rad, True)
r = 0.4
sphere_unlit = o3d.geometry.TriangleMesh.create_sphere(r)
sphere_unlit.translate((0, 1, 0))
sphere_colored_unlit = o3d.geometry.TriangleMesh.create_sphere(r)
sphere_colored_unlit.paint_uniform_color((1.0, 0.0, 0.0))
sphere_colored_unlit.translate((2, 1, 0))
sphere_lit = o3d.geometry.TriangleMesh.create_sphere(r)
sphere_lit.compute_vertex_normals()
sphere_lit.translate((4, 1, 0))
sphere_colored_lit = o3d.geometry.TriangleMesh.create_sphere(r)
sphere_colored_lit.compute_vertex_normals()
sphere_colored_lit.paint_uniform_color((0.0, 1.0, 0.0))
sphere_colored_lit.translate((6, 1, 0))
big_bbox = o3d.geometry.AxisAlignedBoundingBox((-pc_rad, -3, -pc_rad),
(6.0 + r, 1.0 + r, pc_rad))
big_bbox.color = (0.0, 0.0, 0.0)
sphere_bbox = sphere_unlit.get_axis_aligned_bounding_box()
sphere_bbox.color = (1.0, 0.5, 0.0)
lines = o3d.geometry.LineSet.create_from_axis_aligned_bounding_box(
sphere_lit.get_axis_aligned_bounding_box())
lines.paint_uniform_color((0.0, 1.0, 0.0))
lines_colored = o3d.geometry.LineSet.create_from_axis_aligned_bounding_box(
sphere_colored_lit.get_axis_aligned_bounding_box())
lines_colored.paint_uniform_color((0.0, 0.0, 1.0))
vis.draw([
pc_nocolor, pc_color, sphere_unlit, sphere_colored_unlit, sphere_lit,
sphere_colored_lit, big_bbox, sphere_bbox, lines, lines_colored
])
def groups():
building_mat = vis.rendering.MaterialRecord()
building_mat.shader = "defaultLit"
building_mat.base_color = (1.0, .90, .75, 1.0)
building_mat.base_reflectance = 0.1
midrise_mat = vis.rendering.MaterialRecord()
midrise_mat.shader = "defaultLit"
midrise_mat.base_color = (.475, .450, .425, 1.0)
midrise_mat.base_reflectance = 0.1
skyscraper_mat = vis.rendering.MaterialRecord()
skyscraper_mat.shader = "defaultLit"
skyscraper_mat.base_color = (.05, .20, .55, 1.0)
skyscraper_mat.base_reflectance = 0.9
skyscraper_mat.base_roughness = 0.01
buildings = []
size = 10.0
half = size / 2.0
min_height = 1.0
max_height = 20.0
for z in range(0, 10):
for x in range(0, 10):
max_h = max_height * (1.0 - abs(half - x) / half) * (
1.0 - abs(half - z) / half)
h = random.uniform(min_height, max(max_h, min_height + 1.0))
box = o3d.geometry.TriangleMesh.create_box(0.9, h, 0.9)
box.compute_triangle_normals()
box.translate((x + 0.05, 0.0, z + 0.05))
if h > 0.333 * max_height:
mat = skyscraper_mat
elif h > 0.1 * max_height:
mat = midrise_mat
else:
mat = building_mat
buildings.append({
"name": "building_" + str(x) + "_" + str(z),
"geometry": box,
"material": mat,
"group": "buildings"
})
haze = make_point_cloud(5000, (half, 0.333 * max_height, half),
1.414 * half, False)
haze.paint_uniform_color((0.8, 0.8, 0.8))
smog = make_point_cloud(10000, (half, 0.25 * max_height, half), 1.2 * half,
False)
smog.paint_uniform_color((0.95, 0.85, 0.75))
vis.draw(buildings + [{
"name": "haze",
"geometry": haze,
"group": "haze"
}, {
"name": "smog",
"geometry": smog,
"group": "smog"
}])
def selections():
source = o3d.io.read_point_cloud(SCRIPTDIR +
"/../../test_data/ICP/cloud_bin_0.pcd")
target = o3d.io.read_point_cloud(SCRIPTDIR +
"/../../test_data/ICP/cloud_bin_2.pcd")
source.paint_uniform_color([1, 0.706, 0])
target.paint_uniform_color([0, 0.651, 0.929])
source_name = "Source (yellow)"
target_name = "Target (blue)"
def do_icp_one_set(o3dvis):
# sets: [name: [{ "index": int, "order": int, "point": (x, y, z)}, ...],
# ...]
sets = o3dvis.get_selection_sets()
source_picked = sorted(list(sets[0][source_name]),
key=lambda x: x.order)
target_picked = sorted(list(sets[0][target_name]),
key=lambda x: x.order)
source_indices = [idx.index for idx in source_picked]
target_indices = [idx.index for idx in target_picked]
t = get_icp_transform(source, target, source_indices, target_indices)
source.transform(t)
# Update the source geometry
o3dvis.remove_geometry(source_name)
o3dvis.add_geometry({"name": source_name, "geometry": source})
def do_icp_two_sets(o3dvis):
sets = o3dvis.get_selection_sets()
source_set = sets[0][source_name]
target_set = sets[1][target_name]
source_picked = sorted(list(source_set), key=lambda x: x.order)
target_picked = sorted(list(target_set), key=lambda x: x.order)
source_indices = [idx.index for idx in source_picked]
target_indices = [idx.index for idx in target_picked]
t = get_icp_transform(source, target, source_indices, target_indices)
source.transform(t)
# Update the source geometry
o3dvis.remove_geometry(source_name)
o3dvis.add_geometry({"name": source_name, "geometry": source})
vis.draw([{
"name": source_name,
"geometry": source
}, {
"name": target_name,
"geometry": target
}],
actions=[("ICP Registration (one set)", do_icp_one_set),
("ICP Registration (two sets)", do_icp_two_sets)],
show_ui=True)
def remove():
def make_sphere(name, center, color, group, time):
sphere = o3d.geometry.TriangleMesh.create_sphere(0.5)
sphere.compute_vertex_normals()
sphere.translate(center)
mat = vis.rendering.Material()
mat.shader = "defaultLit"
mat.base_color = color
return {
"name": name,
"geometry": sphere,
"material": mat,
"group": group,
"time": time
}
red = make_sphere("red", (0, 0, 0), (1.0, 0.0, 0.0, 1.0), "spheres", 0)
green = make_sphere("green", (2, 0, 0), (0.0, 1.0, 0.0, 1.0), "spheres", 0)
blue = make_sphere("blue", (4, 0, 0), (0.0, 0.0, 1.0, 1.0), "spheres", 0)
yellow = make_sphere("yellow", (0, 0, 0), (1.0, 1.0, 0.0, 1.0), "spheres",
1)
bbox = {
"name": "bbox",
"geometry": red["geometry"].get_axis_aligned_bounding_box()
}
def remove_green(visdraw):
visdraw.remove_geometry("green")
def remove_yellow(visdraw):
visdraw.remove_geometry("yellow")
def remove_bbox(visdraw):
visdraw.remove_geometry("bbox")
vis.draw([red, green, blue, yellow, bbox],
actions=[("Remove Green", remove_green),
("Remove Yellow", remove_yellow),
("Remove Bounds", remove_bbox)])
def time_animation():
orig = make_point_cloud(200, (0, 0, 0), 1.0, True)
clouds = [{"name": "t=0", "geometry": orig, "time": 0}]
drift_dir = (1.0, 0.0, 0.0)
expand = 1.0
n = 20
for i in range(1, n):
amount = float(i) / float(n - 1)
cloud = o3d.geometry.PointCloud()
pts = np.asarray(orig.points)
pts = pts * (1.0 + amount * expand) + [amount * v for v in drift_dir]
cloud.points = o3d.utility.Vector3dVector(pts)
cloud.colors = orig.colors
clouds.append({
"name": "points at t=" + str(i),
"geometry": cloud,
"time": i
})
vis.draw(clouds)
def single_object():
# No colors, no normals, should appear unlit black
cube = o3d.geometry.TriangleMesh.create_box(1, 2, 4)
vis.draw(cube)
"name": "cube",
"geometry": a_cube
}, {
"name": "cylinder",
"geometry": a_cylinder
}, {
"name": "ico",
"geometry": a_ico
}, {
"name": "sphere",
"geometry": a_sphere
}]
# Load the helmet
for part in helmet_parts:
name = part.mesh_name
tgeom = o3d.t.geometry.TriangleMesh.from_legacy(part.mesh)
tgeom.material = convert_material_record(
helmet.materials[part.material_idx])
geoms.append({"name": name, "geometry": tgeom})
return geoms
if __name__ == "__main__":
check_for_required_assets()
geoms = create_scene()
vis.draw(geoms,
bg_color=(0.8, 0.9, 0.9, 1.0),
show_ui=True,
width=1920,
height=1080)
"geometry": ground_plane
}, {
"name": "cube",
"geometry": a_cube
}, {
"name": "monkey",
"geometry": monkey
}, {
"name": "cylinder",
"geometry": a_cylinder
}, {
"name": "ico",
"geometry": a_ico
}, {
"name": "sphere",
"geometry": a_sphere
}]
return geoms
if __name__ == "__main__":
check_for_required_assets()
geoms = create_scene()
vis.draw(geoms,
bg_color=(0.8, 0.9, 0.9, 1.0),
show_ui=True,
width=1920,
height=1080,
ibl="default",
ibl_intensity=37500)
