Voxel Grid

voxel_grid_carving.py

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# ----------------------------------------------------------------------------
# -                        Open3D: www.open3d.org                            -
# ----------------------------------------------------------------------------
# The MIT License (MIT)
#
# Copyright (c) 2018-2021 www.open3d.org
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# 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 numpy as np


def xyz_spherical(xyz):
    x = xyz[0]
    y = xyz[1]
    z = xyz[2]
    r = np.sqrt(x * x + y * y + z * z)
    r_x = np.arccos(y / r)
    r_y = np.arctan2(z, x)
    return [r, r_x, r_y]


def get_rotation_matrix(r_x, r_y):
    rot_x = np.asarray([[1, 0, 0], [0, np.cos(r_x), -np.sin(r_x)],
                        [0, np.sin(r_x), np.cos(r_x)]])
    rot_y = np.asarray([[np.cos(r_y), 0, np.sin(r_y)], [0, 1, 0],
                        [-np.sin(r_y), 0, np.cos(r_y)]])
    return rot_y.dot(rot_x)


def get_extrinsic(xyz):
    rvec = xyz_spherical(xyz)
    r = get_rotation_matrix(rvec[1], rvec[2])
    t = np.asarray([0, 0, 2]).transpose()
    trans = np.eye(4)
    trans[:3, :3] = r
    trans[:3, 3] = t
    return trans


def preprocess(model):
    min_bound = model.get_min_bound()
    max_bound = model.get_max_bound()
    center = min_bound + (max_bound - min_bound) / 2.0
    scale = np.linalg.norm(max_bound - min_bound) / 2.0
    vertices = np.asarray(model.vertices)
    vertices -= center
    model.vertices = o3d.utility.Vector3dVector(vertices / scale)
    return model


def voxel_carving(mesh, cubic_size, voxel_resolution, w=300, h=300):
    mesh.compute_vertex_normals()
    camera_sphere = o3d.geometry.TriangleMesh.create_sphere(radius=1.0,
                                                            resolution=10)

    # Setup dense voxel grid.
    voxel_carving = o3d.geometry.VoxelGrid.create_dense(
        width=cubic_size,
        height=cubic_size,
        depth=cubic_size,
        voxel_size=cubic_size / voxel_resolution,
        origin=[-cubic_size / 2.0, -cubic_size / 2.0, -cubic_size / 2.0],
        color=[1.0, 0.7, 0.0])

    # Rescale geometry.
    camera_sphere = preprocess(camera_sphere)
    mesh = preprocess(mesh)

    # Setup visualizer to render depthmaps.
    vis = o3d.visualization.Visualizer()
    vis.create_window(width=w, height=h, visible=False)
    vis.add_geometry(mesh)
    vis.get_render_option().mesh_show_back_face = True
    ctr = vis.get_view_control()
    param = ctr.convert_to_pinhole_camera_parameters()

    # Carve voxel grid.
    centers_pts = np.zeros((len(camera_sphere.vertices), 3))
    for cid, xyz in enumerate(camera_sphere.vertices):
        # Get new camera pose.
        trans = get_extrinsic(xyz)
        param.extrinsic = trans
        c = np.linalg.inv(trans).dot(np.asarray([0, 0, 0, 1]).transpose())
        centers_pts[cid, :] = c[:3]
        ctr.convert_from_pinhole_camera_parameters(param)

        # Capture depth image and make a point cloud.
        vis.poll_events()
        vis.update_renderer()
        depth = vis.capture_depth_float_buffer(False)

        # Depth map carving method.
        voxel_carving.carve_depth_map(o3d.geometry.Image(depth), param)
        print("Carve view %03d/%03d" % (cid + 1, len(camera_sphere.vertices)))
    vis.destroy_window()

    return voxel_carving


if __name__ == "__main__":

    armadillo_data = o3d.data.ArmadilloMesh()
    mesh = o3d.io.read_triangle_mesh(armadillo_data.path)
    cubic_size = 2.0
    voxel_resolution = 128.0

    carved_voxels = voxel_carving(mesh, cubic_size, voxel_resolution)
    print("Carved voxels ...")
    print(carved_voxels)
    o3d.visualization.draw([carved_voxels])

voxel_grid_from_point_cloud.py

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# ----------------------------------------------------------------------------
# -                        Open3D: www.open3d.org                            -
# ----------------------------------------------------------------------------
# The MIT License (MIT)
#
# Copyright (c) 2018-2021 www.open3d.org
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# 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 numpy as np

if __name__ == "__main__":

    N = 2000
    armadillo_data = o3d.data.ArmadilloMesh()
    pcd = o3d.io.read_triangle_mesh(
        armadillo_data.path).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 point cloud ...')
    o3d.visualization.draw([pcd])

    print('Displaying voxel grid ...')
    voxel_grid = o3d.geometry.VoxelGrid.create_from_point_cloud(pcd,
                                                                voxel_size=0.05)
    o3d.visualization.draw([voxel_grid])

voxel_grid_from_triangle_mesh.py

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# ----------------------------------------------------------------------------
# -                        Open3D: www.open3d.org                            -
# ----------------------------------------------------------------------------
# The MIT License (MIT)
#
# Copyright (c) 2018-2021 www.open3d.org
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# 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 numpy as np

if __name__ == "__main__":
    bunny = o3d.data.BunnyMesh()
    mesh = o3d.io.read_triangle_mesh(bunny.path)
    mesh.compute_vertex_normals()

    # Fit to unit cube.
    mesh.scale(1 / np.max(mesh.get_max_bound() - mesh.get_min_bound()),
               center=mesh.get_center())
    print('Displaying input mesh ...')
    o3d.visualization.draw([mesh])

    voxel_grid = o3d.geometry.VoxelGrid.create_from_triangle_mesh(
        mesh, voxel_size=0.05)
    print('Displaying voxel grid ...')
    o3d.visualization.draw([voxel_grid])