open3D 07

[김위제]

07

과제1

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import open3d as o3d import numpy as np import copy filepath = "cropped_pcd.ply" pcd1 = o3d.io.read_point_cloud(filepath) pcd2 = copy.deepcopy(pcd1)   center = [0,0,0] #center = pcd2.get_center()   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) Colored by Color Scripter

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과제2

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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=0.3) mesh_cylinder1.compute_vertex_normals() mesh_cylinder1.paint_uniform_color([0.1, 0.1, 0.9])   mesh_cylinder2 =copy.deepcopy(mesh_cylinder1) mesh_cylinder2.paint_uniform_color([0.1, 0.9, 0.1])   mesh_cylinder3 =copy.deepcopy(mesh_cylinder1) mesh_cylinder3.paint_uniform_color([0.9, 0.1, 0.1])     R1 = mesh_cylinder2.get_rotation_matrix_from_xyz((np.pi / 2, 0 ,0 )) mesh_cylinder2.rotate(R1, center=[0,0,0])   R2 = mesh_cylinder3.get_rotation_matrix_from_xyz((0,np.pi / 2 ,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)   Colored by Color Scripter

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과제3

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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=0.3) mesh_cylinder1.compute_vertex_normals() mesh_cylinder1.paint_uniform_color([0.1, 0.1, 0.9])   mesh_cylinder2 =copy.deepcopy(mesh_cylinder1) mesh_cylinder2.paint_uniform_color([0.1, 0.9, 0.1])   mesh_cylinder3 =copy.deepcopy(mesh_cylinder1) mesh_cylinder3.paint_uniform_color([0.9, 0.1, 0.1])     R1 = mesh_cylinder2.get_rotation_matrix_from_xyz((np.pi / 2, 0 ,0 )) mesh_cylinder2.rotate(R1, center=[0,0,0])   R2 = mesh_cylinder3.get_rotation_matrix_from_xyz((0,np.pi / 2 ,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)   Colored by Color Scripter

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과제4
4-1

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import open3d as o3d import numpy as np import copy filepath = "cropped_pcd.ply" pcd1 = o3d.io.read_point_cloud(filepath) pcd2 = copy.deepcopy(pcd1)     center = pcd2.get_center()   T = np.eye(4) T[:3, 3] = -center print("Trans:\n", T)     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)   Colored by Color Scripter

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4-2

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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=0.3) mesh_cylinder1.compute_vertex_normals() mesh_cylinder1.paint_uniform_color([0.1, 0.1, 0.9])   mesh_cylinder2 =copy.deepcopy(mesh_cylinder1) mesh_cylinder2.paint_uniform_color([0.1, 0.9, 0.1])   mesh_cylinder3 =copy.deepcopy(mesh_cylinder1) mesh_cylinder3.paint_uniform_color([0.9, 0.1, 0.1])     R1 = mesh_cylinder2.get_rotation_matrix_from_xyz((np.pi / 2, 0, 0))  # x축 회전 T1 = np.eye(4) T1[:3, :3] = R1 mesh_cylinder2.transform(T1) print("mesh_cylinder2 회전행렬:\n", T1) R2 = mesh_cylinder3.get_rotation_matrix_from_xyz((0, np.pi / 2, 0))  # y축 회전 T2 = np.eye(4) T2[:3, :3] = R2 mesh_cylinder3.transform(T2) print("mesh_cylinder3 회전행렬:\n", T2) 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) Colored by Color Scripter

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4-3

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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=0.3) mesh_cylinder1.compute_vertex_normals() mesh_cylinder1.paint_uniform_color([0.1, 0.1, 0.9])   mesh_cylinder2 = copy.deepcopy(mesh_cylinder1) mesh_cylinder2.paint_uniform_color([0.1, 0.9, 0.1])   mesh_cylinder3 = copy.deepcopy(mesh_cylinder1) mesh_cylinder3.paint_uniform_color([0.9, 0.1, 0.1])   R1 = mesh_cylinder2.get_rotation_matrix_from_xyz((np.pi / 2, 0, 0)) T1 = np.eye(4) T1[:3, :3] = R1 T1[0, 3] = 0.3     print("cylinder2:\n", T1) mesh_cylinder2.transform(T1)   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) Colored by Color Scripter

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