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110 | # ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2023 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------
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])
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