5일차 과제

[조수호]

과제1: 포인트 클라우드 평행이동 / 과제 4-1

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40

import open3d as o3d import numpy as np import copy np.set_printoptions(precision=3, suppress=True) # 소수점 출력 자리수 3자리    filepath = "cropped_pcd.ply" pcd1 = o3d.io.read_point_cloud(filepath)   # 1번 pcd2 = copy.deepcopy(pcd1)   center = [0,0,0] #center = pcd2.get_center() # print("pcd1 center : ", pcd1.get_center() )  # pcd1 center :  [2.40370066 2.08801868 1.28584008]    xyz = pcd1.get_center() # print(type(xyz)) type : <class 'numpy.ndarray'> pcd2.translate(xyz * -1)     axis_frame= o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.5,  origin=[0, 0, 0]) o3d.visualization.draw_geometries([pcd1,pcd2,axis_frame],  width=500, height=500)         # 4번 - 1 pcd3 = copy.deepcopy(pcd1) T = np.eye(4) for i in range(3):     T[i, 3] = -pcd1.get_center()[i] print("과제 1 동차변환 행렬\n", T) pcd3.transform(T) axis_frame= o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.5,  origin=[0, 0, 0]) o3d.visualization.draw_geometries([pcd1,pcd3,axis_frame],  width=500, height=500) Colored by Color Scripter

cs

1	4 - 1

center 좌표에 음수(-)로 평행이동

과제2: 회전변환 / 과제 4-2

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49

import open3d as o3d import numpy as np import copy np.set_printoptions(precision=3, suppress=True) # 소수점 출력 자리수 3자리    mesh_cylinder= o3d.geometry.TriangleMesh.create_cylinder(radius=0.2,height=2.0) mesh_cylinder.translate([0,0,0]) mesh_cylinder.compute_vertex_normals() mesh_cylinder.paint_uniform_color([0.1, 0.1, 0.9])     # 2번 mesh_cylinder_y = copy.deepcopy(mesh_cylinder) R = mesh_cylinder.get_rotation_matrix_from_xyz((0, np.pi / 2, 0)) mesh_cylinder_y.rotate(R, mesh_cylinder_y.get_center()) mesh_cylinder_y.paint_uniform_color([0.9, 0.1, 0.1])   mesh_cylinder_x = copy.deepcopy(mesh_cylinder) R = mesh_cylinder.get_rotation_matrix_from_xyz((np.pi / 2, 0, 0)) mesh_cylinder_x.rotate(R, mesh_cylinder_x.get_center()) mesh_cylinder_x.paint_uniform_color([0.1, 0.9, 0.1])     axis_frame= o3d.geometry.TriangleMesh.create_coordinate_frame(size=3,  origin=[0, 0, 0]) o3d.visualization.draw_geometries([axis_frame, mesh_cylinder,                                     mesh_cylinder_y, mesh_cylinder_x],width=500,height=500)     # 4번 - 2 mesh_cylinder_y = copy.deepcopy(mesh_cylinder) Ty = np.eye(4) Ty[:3, :3] = o3d.geometry.get_rotation_matrix_from_xyz((0, np.pi / 2,0)) print("과제 2 y축 회전 동차변환 행렬\n", Ty) mesh_cylinder_y.transform(Ty) mesh_cylinder_y.paint_uniform_color([0.9, 0.1, 0.1])   mesh_cylinder_x = copy.deepcopy(mesh_cylinder) Tx = np.eye(4) Tx[:3, :3] = o3d.geometry.get_rotation_matrix_from_xyz((np.pi / 2, 0,0)) print("과제 2 x축 회전 동차변환 행렬\n",Tx) mesh_cylinder_x.transform(Tx) mesh_cylinder_x.paint_uniform_color([0.1, 0.9, 0.1])     axis_frame= o3d.geometry.TriangleMesh.create_coordinate_frame(size=3,  origin=[0, 0, 0]) o3d.visualization.draw_geometries([axis_frame, mesh_cylinder,                                     mesh_cylinder_y, mesh_cylinder_x],width=500,height=500)

cs

2	4 - 2

파란색 원기둥을 y축을 기준으로 pi/2 회전 -> 빨간색

파란색 원기둥을 x축을 기준으로 pi/2 회전 -> 초록색

과제3: 회전변환+평행이동 / 과제 4-3

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40

import open3d as o3d import numpy as np import copy np.set_printoptions(precision=3, suppress=True) # 소수점 출력 자리수 3자리    mesh_cylinder= o3d.geometry.TriangleMesh.create_cylinder(radius=0.2,height=2.0) mesh_cylinder.translate([0,0,0]) mesh_cylinder.compute_vertex_normals() mesh_cylinder.paint_uniform_color([0.1, 0.1, 0.9])     # 3번 mesh_cylinder_move = copy.deepcopy(mesh_cylinder) R = mesh_cylinder.get_rotation_matrix_from_xyz((np.pi / 2, 0, 0)) mesh_cylinder_move.rotate(R, mesh_cylinder_move.get_center()) mesh_cylinder_move.translate((2,0,0)) mesh_cylinder_move.paint_uniform_color([0.1, 0.9, 0.1])     axis_frame= o3d.geometry.TriangleMesh.create_coordinate_frame(size=3,  origin=[0, 0, 0]) o3d.visualization.draw_geometries([axis_frame, mesh_cylinder,                                     mesh_cylinder_move,],width=500,height=500)     # 4번 - 3 mesh_cylinder_move = copy.deepcopy(mesh_cylinder) T = np.eye(4) T[:3, :3] = o3d.geometry.get_rotation_matrix_from_xyz((np.pi / 2, 0, 0)) T[0, 3] = 2 T[1, 3] = 0 T[2, 3] = 0 print("과제 3 회전 동차변환 행렬\n", T) mesh_cylinder_move.transform(T) mesh_cylinder_move.paint_uniform_color([0.1, 0.9, 0.1])   axis_frame= o3d.geometry.TriangleMesh.create_coordinate_frame(size=3,  origin=[0, 0, 0]) o3d.visualization.draw_geometries([axis_frame, mesh_cylinder,                                     mesh_cylinder_move,],width=500,height=500)

cs

3	4-3

파란색 원기둥을 z축으로 pi/2 회전 변환 + (2, 0 , 0)평행 이동 -> 초록색