5일차 과제

[고찬영]

#과제1: 포인트 클라우드 평행이동

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import open3d as o3d

import numpy as np

import copy

filepath = "datafile/cropped_pcd.ply"

pcd1 = o3d.io.read_point_cloud(filepath)

pcd2 = copy.deepcopy(pcd1)

center = pcd1.get_center()

pcd2.translate(-center)

axis_frame =o3d.geometry.TriangleMesh.create_coordinate_frame(size=1,

    origin=[0, 0, 0])

o3d.visualization.draw_geometries([pcd1,pcd2,axis_frame],

width=500, height=500)

#과제2: 회전변환

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import open3d as o3d

import numpy as np

import copy

mesh_cylinder = o3d.geometry.TriangleMesh.create_cylinder(radius=0.1,height=1)

mesh_cylinder.translate([0,0,0])

mesh_cylinder.compute_vertex_normals()

mesh_cylinder.paint_uniform_color([0.1, 0.9, 0.1])

mesh_cylinder.scale(0.5,center = mesh_cylinder.get_center())

R = mesh_cylinder.get_rotation_matrix_from_xyz((np.pi/2,0,0))

mesh_cylinder.rotate(R,center=mesh_cylinder.get_center())

mesh_cylinder2 = o3d.geometry.TriangleMesh.create_cylinder(radius=0.1,height=1)

mesh_cylinder2.translate([0,0,0])

mesh_cylinder2.compute_vertex_normals()

mesh_cylinder2.paint_uniform_color([0, 0, 1])

mesh_cylinder2.scale(0.5,center = mesh_cylinder.get_center())

mesh_cylinder3 = o3d.geometry.TriangleMesh.create_cylinder(radius=0.1,height=1)

mesh_cylinder3.translate([0,0,0])

mesh_cylinder3.compute_vertex_normals()

mesh_cylinder3.paint_uniform_color([1,0,0])

mesh_cylinder3.scale(0.5,center = mesh_cylinder.get_center())

R2 = mesh_cylinder3.get_rotation_matrix_from_xyz((0,np.pi /2,0))

mesh_cylinder3.rotate(R2,center = mesh_cylinder3.get_center())

axis_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=1.0)

o3d.visualization.draw_geometries([mesh_cylinder, mesh_cylinder3, mesh_cylinder2, axis_frame], width=500,

height=500)

#과제3: 회전변환 + 평행이동

""""""

import open3d as o3d

import numpy as np

import copy

mesh_cylinder = o3d.geometry.TriangleMesh.create_cylinder(radius=0.1,height=1)

mesh_cylinder.translate([0,0,0])

mesh_cylinder.compute_vertex_normals()

mesh_cylinder.paint_uniform_color([0,0,1])

mesh_cylinder.scale(0.5,center = mesh_cylinder.get_center())

pts = copy.deepcopy(mesh_cylinder)

pts.paint_uniform_color([0.1,0.9,0.1])

R = pts.get_rotation_matrix_from_xyz((np.pi/2,0,0))

pts.rotate(R,center= pts.get_center())

pts.translate([0.5,0,0])

axis_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=1.0)

o3d.visualization.draw_geometries([mesh_cylinder, pts, axis_frame], width=500,

height=500)

#과제4: 일반변환

import open3d as o3d

import numpy as np

import copy

filepath = "datafile/cropped_pcd.ply"

pcd1 = o3d.io.read_point_cloud(filepath)

pcd2 = copy.deepcopy(pcd1)

center = pcd2.get_center()

T = np.array([

    [1,0,0,-2.5],

    [0,1,0,-2],

    [0,0,1,-1.45],

    [0,0,0,1]

])

pcd2.transform(T)

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)

import open3d as o3d

import numpy as np

import copy

mesh_cylinder1 = o3d.geometry.TriangleMesh.create_cylinder(radius = 0.08,height = 0.8)

mesh_cylinder1.compute_vertex_normals()

mesh_cylinder1.paint_uniform_color([0.1, 0.9, 0.1])

mesh_cylinder2 = copy.deepcopy(mesh_cylinder1)

mesh_cylinder2.compute_vertex_normals()

mesh_cylinder2.paint_uniform_color([0.9, 0.1, 0.1])

mesh_cylinder3 = copy.deepcopy(mesh_cylinder2)

mesh_cylinder3.compute_vertex_normals()

mesh_cylinder3.paint_uniform_color([0.1, 0.1, 0.9])

center1 = mesh_cylinder1.get_center()

center2 = mesh_cylinder2.get_center()

center3 = mesh_cylinder3.get_center()

T1 = np.eye(4)

T1[:3, :3] = o3d.geometry.get_rotation_matrix_from_xyz(((np.pi/2), 0, 0))

T1[0, 3] = -center1[0]

T1[1, 3] = -center1[1]

T1[2, 3] = -center1[2]

T2 = np.eye(4)

T2[:3, :3] = o3d.geometry.get_rotation_matrix_from_xyz((0, (np.pi/2), 0))

T2[0, 3] = -center2[0]

T2[1, 3] = -center2[1]

T2[2, 3] = -center2[2]

T3 = np.eye(4)

T3[:3, :3] = o3d.geometry.get_rotation_matrix_from_xyz((0, 0, (np.pi/2)))

T3[0, 3] = -center3[0]

T3[1, 3] = -center3[1]

T3[2, 3] = -center3[2]

print(T1, "\n", T2, "\n", T3)

mesh_cylinder1.transform(T1)

mesh_cylinder2.transform(T2)

mesh_cylinder3.transform(T3)

mesh_frame= o3d.geometry.TriangleMesh.create_coordinate_frame(size = 1, origin = [0, 0, 0])

o3d.visualization.draw_geometries([mesh_cylinder1, mesh_cylinder2, mesh_cylinder3, mesh_frame],width = 500, height = 500)

import open3d as o3d

import numpy as np

import copy

mesh_cylinder1 = o3d.geometry.TriangleMesh.create_cylinder(radius = 0.08,height = 0.8)

mesh_cylinder1.compute_vertex_normals()

mesh_cylinder1.paint_uniform_color([0.1, 0.9, 0.1])

mesh_cylinder2 = copy.deepcopy(mesh_cylinder1)

mesh_cylinder2.compute_vertex_normals()

mesh_cylinder2.paint_uniform_color([0.1, 0.1, 0.9])

center1 = mesh_cylinder1.get_center()

center2 = mesh_cylinder2.get_center()

T1 = np.eye(4)

T1[:3, :3] = o3d.geometry.get_rotation_matrix_from_xyz(((np.pi/2), 0, 0))

T1[0, 3] = -center1[0] + 0.6

T1[1, 3] = -center1[1]

T1[2, 3] = -center1[2]

T2 = np.eye(4)

T2[:3, :3] = o3d.geometry.get_rotation_matrix_from_xyz((0, 0, (np.pi/2)))

T2[0, 3] = -center2[0]

T2[1, 3] = -center2[1]

T2[2, 3] = -center2[2]

mesh_cylinder1.transform(T1)

mesh_cylinder2.transform(T2)

print(T1, "\n", T2)

mesh_frame= o3d.geometry.TriangleMesh.create_coordinate_frame(size = 1, origin = [0, 0, 0])

o3d.visualization.draw_geometries([mesh_cylinder1, mesh_cylinder2, mesh_frame],width = 500, height = 500)