open3D 07

[신민서]

07. Transformation

과제: 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)   pcd2.translate([0, 0, 0], False)   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)

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과제: 회전변환

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import open3d as o3d import numpy as np import copy   mesh_cylinder1 = o3d.geometry.TriangleMesh.create_cylinder(radius=0.05, height = 0.5) mesh_cylinder1.compute_vertex_normals() mesh_cylinder1.paint_uniform_color([0.1, 0.1, 0.7])   mesh_cylinder2 = copy.deepcopy(mesh_cylinder1) mesh_cylinder3 = copy.deepcopy(mesh_cylinder1)   mesh_cylinder2.paint_uniform_color([0.7, 0.1, 0.1]) mesh_cylinder3.paint_uniform_color([0.1, 0.7, 0.1])   R1 = mesh_cylinder2.get_rotation_matrix_from_xyz((0, np.pi / 2, 0)) mesh_cylinder2.rotate(R1, center=[0, 0, 0])   R2 = mesh_cylinder3.get_rotation_matrix_from_xyz((np.pi / 2, 0, 0)) mesh_cylinder3.rotate(R2, center=[0, 0, 0])   axis_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.5, origin=[0, 0, 0]) o3d.visualization.draw_geometries([mesh_cylinder1, mesh_cylinder2, mesh_cylinder3, axis_frame], width=500, height=500)

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과제: 회전변환 + 평행이동

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import open3d as o3d import numpy as np import copy   mesh_cylinder1 = o3d.geometry.TriangleMesh.create_cylinder(radius=0.05, height = 0.5) mesh_cylinder1.compute_vertex_normals() mesh_cylinder1.paint_uniform_color([0.1, 0.1, 0.7])   mesh_cylinder3 = copy.deepcopy(mesh_cylinder1) mesh_cylinder3.paint_uniform_color([0.1, 0.7, 0.1])   R2 = mesh_cylinder3.get_rotation_matrix_from_xyz((np.pi / 2, 0, 0)) mesh_cylinder3.rotate(R2, center=[0, 0, 0])   T = np.eye(4) T[0, 3] = 0.3   mesh_cylinder3.transform(T)   axis_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.5, origin=[0, 0, 0]) o3d.visualization.draw_geometries([mesh_cylinder1, mesh_cylinder3, axis_frame], width=500, height=500)

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과제: 일반변환

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import open3d as o3d import numpy as np import copy     ########################### 과제 1번   filepath = "datafile/cropped_pcd.ply" pcd1 = o3d.io.read_point_cloud(filepath) pcd2 = copy.deepcopy(pcd1)   center = pcd1.get_center()   # 변환 행렬 T1 = np.eye(4) T1[:3, 3] = -center print("변환행렬:\n", T1)   pcd2.transform(T1)   axis_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.5) o3d.visualization.draw_geometries([pcd1, pcd2, axis_frame], width=500, height=500)     ########################### 과제 2번   mesh_cylinder1 = o3d.geometry.TriangleMesh.create_cylinder(radius=0.05, height=0.5) mesh_cylinder1.compute_vertex_normals() mesh_cylinder1.paint_uniform_color([0.1, 0.1, 0.7])   mesh_cylinder2 = copy.deepcopy(mesh_cylinder1) mesh_cylinder3 = copy.deepcopy(mesh_cylinder1)   mesh_cylinder2.paint_uniform_color([0.7, 0.1, 0.1]) mesh_cylinder3.paint_uniform_color([0.1, 0.7, 0.1])   R_y = o3d.geometry.get_rotation_matrix_from_xyz((0, np.pi / 2, 0)) R_x = o3d.geometry.get_rotation_matrix_from_xyz((np.pi / 2, 0, 0))   T2 = np.eye(4) T2[:3, :3] = R_y print("mesh_cylinder2 회전행렬:\n", T2) mesh_cylinder2.transform(T2)   T3 = np.eye(4) T3[:3, :3] = R_x print("mesh_cylinder3 회전행렬:\n", T3) mesh_cylinder3.transform(T3)   axis_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.5) o3d.visualization.draw_geometries([mesh_cylinder1, mesh_cylinder2, mesh_cylinder3, axis_frame], width=500, height=500)     ########################### 과제 3번   mesh_cylinder1 = o3d.geometry.TriangleMesh.create_cylinder(radius=0.05, height=0.5) mesh_cylinder1.compute_vertex_normals() mesh_cylinder1.paint_uniform_color([0.1, 0.1, 0.7])   mesh_cylinder3 = copy.deepcopy(mesh_cylinder1) mesh_cylinder3.paint_uniform_color([0.1, 0.7, 0.1])   R_x = o3d.geometry.get_rotation_matrix_from_xyz((np.pi / 2, 0, 0)) T = np.eye(4) T[:3, :3] = R_x T[0, 3] = 0.3  # x방향 이동   print("회전+이동 행렬:\n", T)   mesh_cylinder3.transform(T)   axis_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.5) o3d.visualization.draw_geometries([mesh_cylinder1, mesh_cylinder3, axis_frame], width=500, height=500)   Colored by Color Scripter

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