def problem2():
mesh = o3dex.get_armadillo_mesh()
vertices = np.asarray(mesh.vertices)
static_ids = [idx for idx in np.where(vertices[:, 1] < -30)[0]]
static_positions = []
for id in static_ids:
static_positions.append(vertices[id])
handle_ids = [2490]
handle_positions = [vertices[2490] + np.array((-40, -40, -40))]
return mesh, static_ids + handle_ids, static_positions + handle_positions
def scale():
pcd = o3dex.get_armadillo_mesh().sample_points_poisson_disk(5000)
pcd_s = copy.deepcopy(pcd).translate((200, 0, 0))
pcd_s.scale(0.5, center=pcd_s.get_center())
print('Displaying original and scaled geometries ...')
o3d.visualization.draw([{
"name": "Original Geometry",
"geometry": pcd
}, {
"name": "Scaled Geometry",
"geometry": pcd_s
}],
show_ui=True)
def rotate():
pcd = o3dex.get_armadillo_mesh().sample_points_poisson_disk(5000)
pcd_r = copy.deepcopy(pcd).translate((200, 0, 0))
R = pcd.get_rotation_matrix_from_xyz((np.pi / 2, 0, np.pi / 4))
pcd_r.rotate(R)
print('Displaying original and rotated geometries ...')
o3d.visualization.draw([{
"name": "Original Geometry",
"geometry": pcd
}, {
"name": "Rotated Geometry",
"geometry": pcd_r
}],
show_ui=True)
def translate():
pcd = o3dex.get_armadillo_mesh().sample_points_poisson_disk(5000)
pcd_tx = copy.deepcopy(pcd).translate((150, 0, 0))
pcd_ty = copy.deepcopy(pcd).translate((0, 200, 0))
print('Displaying original and translated geometries ...')
o3d.visualization.draw([{
"name": "Original Geometry",
"geometry": pcd
}, {
"name": "Translated (in X) Geometry",
"geometry": pcd_tx
}, {
"name": "Translated (in Y) Geometry",
"geometry": pcd_ty
}],
show_ui=True)
def transform():
pcd = o3dex.get_armadillo_mesh().sample_points_poisson_disk(5000)
T = np.eye(4)
T[:3, :3] = pcd.get_rotation_matrix_from_xyz((0, np.pi / 3, np.pi / 2))
T[0, 3] = 150
T[1, 3] = 200
print(T)
pcd_t = copy.deepcopy(pcd).transform(T)
print('Displaying original and transformed geometries ...')
o3d.visualization.draw([{
"name": "Original Geometry",
"geometry": pcd
}, {
"name": "Transformed Geometry",
"geometry": pcd_t
}],
show_ui=True)
# IN THE SOFTWARE.
# ----------------------------------------------------------------------------
import open3d as o3d
import numpy as np
import os
import sys
pyexample_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
sys.path.append(pyexample_path)
import open3d_example as o3dex
if __name__ == "__main__":
N = 2000
pcd = o3dex.get_armadillo_mesh().sample_points_poisson_disk(N)
# Fit to unit cube.
pcd.scale(1 / np.max(pcd.get_max_bound() - pcd.get_min_bound()),
center=pcd.get_center())
pcd.colors = o3d.utility.Vector3dVector(np.random.uniform(0, 1,
size=(N, 3)))
print('Displaying input voxel grid ...')
voxel_grid = o3d.geometry.VoxelGrid.create_from_point_cloud(pcd,
voxel_size=0.05)
o3d.visualization.draw([voxel_grid])
octree = o3d.geometry.Octree(max_depth=4)
octree.create_from_voxel_grid(voxel_grid)
print('Displaying octree ..')
o3d.visualization.draw([octree])
# 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 os
import time
import sys
pyexample_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
sys.path.append(pyexample_path)
import open3d_example as o3dex
if __name__ == "__main__":
# Compute ISS Keypoints on armadillo pointcloud.
mesh = o3dex.get_armadillo_mesh()
pcd = o3d.geometry.PointCloud()
pcd.points = mesh.vertices
tic = time.time()
keypoints = o3d.geometry.keypoint.compute_iss_keypoints(pcd)
toc = 1000 * (time.time() - tic)
print("ISS Computation took {:.0f} [ms]".format(toc))
mesh.compute_vertex_normals()
mesh.paint_uniform_color([0.5, 0.5, 0.5])
keypoints.paint_uniform_color([1.0, 0.0, 0.0])
o3d.visualization.draw([keypoints, mesh], point_size=5)
