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)])
import open3d_tutorial as o3dtut
import open3d as o3d
import numpy as np
import matplotlib.pyplot as plt
# Alpha shapes
mesh = o3dtut.get_bunny_mesh()
pcd = mesh.sample_points_poisson_disk(750)
#o3d.visualization.draw_geometries([pcd])
alpha = 0.03
print(f"alpha={alpha:.3f}")
mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_alpha_shape(
pcd, alpha)
mesh.compute_vertex_normals()
#o3d.visualization.draw_geometries([mesh], mesh_show_back_face=True)
tetra_mesh, pt_map = o3d.geometry.TetraMesh.create_from_point_cloud(pcd)
for alpha in np.logspace(np.log10(0.5), np.log10(0.01), num=4):
print(f"alpha={alpha:.3f}")
mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_alpha_shape(
pcd, alpha, tetra_mesh, pt_map)
mesh.compute_vertex_normals()
#o3d.visualization.draw_geometries([mesh], mesh_show_back_face=True)
# Ball pivoting
gt_mesh = o3dtut.get_bunny_mesh()
gt_mesh.compute_vertex_normals()
pcd = gt_mesh.sample_points_poisson_disk(3000)
#o3d.visualization.draw_geometries([pcd])
radii = [0.005, 0.01, 0.02, 0.04]
# 5.Paint point cloud
print("Paint chair")
chair.paint_uniform_color(
[1, 0.706, 0]
) # paints all the points to a uniform color. The color is in RGB space, [0, 1] range.
#o3d.visualization.draw_geometries([chair])
# 6.Bounding volumes
aabb = chair.get_axis_aligned_bounding_box()
aabb.color = (1, 0, 0)
obb = chair.get_oriented_bounding_box()
obb.color = (0, 1, 0)
#o3d.visualization.draw_geometries([chair, aabb, obb])
# 7.Convex hull
pcl = o3dtut.get_bunny_mesh().sample_points_poisson_disk(number_of_points=2000)
hull, _ = pcl.compute_convex_hull()
hull_ls = o3d.geometry.LineSet.create_from_triangle_mesh(hull)
hull_ls.paint_uniform_color((1, 0, 0))
#o3d.visualization.draw_geometries([pcl, hull_ls])
# 8.DBSCAN clustering
with o3d.utility.VerbosityContextManager(
o3d.utility.VerbosityLevel.Debug) as cm:
labels = np.array(
pcd.cluster_dbscan(eps=0.02, min_points=10, print_progress=True))
max_label = labels.max()
print(f"point cloud has {max_label + 1} clusters")
colors = plt.get_cmap("tab20")(labels / (max_label if max_label > 0 else 1))
colors[labels < 0] = 0
pcd.colors = o3d.utility.Vector3dVector(colors[:, :3])