def mesh_generator():
"""Yields meshes
Yields:
open3d.geometry.TriangleMesh: yielded mesh
"""
yield meshes.armadillo()
yield meshes.bunny()
def mesh_generator():
mesh = o3d.geometry.TriangleMesh.create_box()
mesh.rotate((0.3, 0.5, 0.1))
yield "rotated box mesh", mesh
yield "rotated box pcd", mesh.sample_points_uniformly(500)
mesh = meshes.armadillo()
yield "armadillo mesh", mesh
yield "armadillo pcd", mesh.sample_points_uniformly(500)
def problem2():
mesh = meshes.armadillo()
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 problem_generator():
o3d.utility.set_verbosity_level(o3d.utility.Debug)
points = []
normals = []
for _ in range(4):
for _ in range(4):
pt = (np.random.uniform(-2, 2), np.random.uniform(-2, 2), 0)
points.append(pt)
normals.append((0, 0, 1))
points = np.array(points, dtype=np.float64)
normals = np.array(normals, dtype=np.float64)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(points)
pcd.normals = o3d.utility.Vector3dVector(normals)
radii = [1, 2]
yield pcd, radii
o3d.utility.set_verbosity_level(o3d.utility.Info)
gt_mesh = o3d.geometry.TriangleMesh.create_sphere()
gt_mesh.compute_vertex_normals()
pcd = gt_mesh.sample_points_poisson_disk(100)
radii = [0.5, 1, 2]
yield pcd, radii
gt_mesh = meshes.bunny()
gt_mesh.compute_vertex_normals()
pcd = gt_mesh.sample_points_poisson_disk(2000)
radii = [0.005, 0.01, 0.02, 0.04]
yield pcd, radii
gt_mesh = meshes.armadillo()
gt_mesh.compute_vertex_normals()
pcd = gt_mesh.sample_points_poisson_disk(2000)
radii = [5, 10]
yield pcd, radii
def mesh_generator():
yield o3d.geometry.TriangleMesh.create_sphere()
yield meshes.knot()
yield meshes.bunny()
yield meshes.armadillo()
yield "armadillo mesh", mesh
yield "armadillo pcd", mesh.sample_points_uniformly(500)
if __name__ == "__main__":
for name, geom in mesh_generator():
aabox = geom.get_axis_aligned_bounding_box()
print("%s has an axis aligned box volume of %f" %
(name, aabox.volume()))
obox = geom.get_oriented_bounding_box()
print("%s has an oriented box volume of %f" % (name, obox.volume()))
aabox.color = [1, 0, 0]
obox.color = [0, 1, 0]
o3d.visualization.draw_geometries([geom, aabox, obox])
mesh = meshes.armadillo()
bbox = o3d.geometry.AxisAlignedBoundingBox()
bbox.min_bound = (-30, 0, -10)
bbox.max_bound = (10, 20, 10)
o3d.visualization.draw_geometries([mesh, bbox])
o3d.visualization.draw_geometries([mesh.crop(bbox), bbox])
bbox = o3d.geometry.OrientedBoundingBox()
bbox.center = (-10, 10, 0)
bbox.R = bbox.get_rotation_matrix_from_xyz((2, 1, 0))
bbox.extent = (40, 20, 20)
o3d.visualization.draw_geometries([mesh, bbox])
o3d.visualization.draw_geometries([mesh.crop(bbox), bbox])
pcd = mesh.sample_points_uniformly(500000)
def mesh_generator():
yield o3d.geometry.create_mesh_box()
yield o3d.geometry.create_mesh_sphere()
yield meshes.knot()
yield meshes.bunny()
yield meshes.armadillo()
