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{
"cells": [
{
"cell_type": "code",
"execution_count": 1,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Jupyter environment detected. Enabling Open3D WebVisualizer.\n",
"[Open3D INFO] WebRTC GUI backend enabled.\n",
"[Open3D INFO] WebRTCWindowSystem: HTTP handshake server disabled.\n",
"(50, 3)\n"
]
}
],
"source": [
"import open3d as o3d\n",
"import numpy as np\n",
"\n",
"GT = False\n",
"\n",
"if GT: ply_path = \"source.ply\"\n",
"else: ply_path = \"target.ply\"\n",
"pcd = o3d.io.read_point_cloud(ply_path)\n",
"\n",
"pcd_array = np.asarray(pcd.points)\n",
"print(pcd_array.shape)\n",
"\n",
"o3d.visualization.draw_geometries([pcd])"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {},
"outputs": [],
"source": [
"CHECK_PERTURB = not GT\n",
"\n",
"def random_rotation_matrix():\n",
" \"\"\"\n",
" Generate a random 3x3 rotation matrix (SO(3) matrix).\n",
" \n",
" Uses the method described by James Arvo in \"Fast Random Rotation Matrices\" (1992):\n",
" 1. Generate a random unit vector for rotation axis\n",
" 2. Generate a random angle\n",
" 3. Create rotation matrix using Rodriguez rotation formula\n",
" \n",
" Returns:\n",
" numpy.ndarray: A 3x3 random rotation matrix\n",
" \"\"\"\n",
" # Generate random angle between 0 and 2π\n",
" theta = np.random.uniform(0.5 * np.pi, np.pi)/5\n",
" \n",
" # Generate random unit vector for rotation axis\n",
" phi = np.random.uniform(0, 2 * np.pi)/5\n",
" cos_theta = np.random.uniform(-1, 1)\n",
" sin_theta = np.sqrt(1 - cos_theta**2)\n",
" \n",
" axis = np.array([\n",
" sin_theta * np.cos(phi),\n",
" sin_theta * np.sin(phi),\n",
" cos_theta\n",
" ])\n",
" \n",
" # Normalize to ensure it's a unit vector\n",
" axis = axis / np.linalg.norm(axis)\n",
" \n",
" # Create the cross-product matrix K\n",
" K = np.array([\n",
" [0, -axis[2], axis[1]],\n",
" [axis[2], 0, -axis[0]],\n",
" [-axis[1], axis[0], 0]\n",
" ])\n",
" \n",
" # Rodriguez rotation formula: R = I + sin(θ)K + (1-cos(θ))K²\n",
" R = (np.eye(3) + \n",
" np.sin(theta) * K + \n",
" (1 - np.cos(theta)) * np.dot(K, K))\n",
" \n",
" return R\n",
"\n",
"if CHECK_PERTURB:\n",
" R_pert = random_rotation_matrix()\n",
" t_pert = np.random.rand(3, 1)*3 #* 10\n",
" perturbed_pcd_array = np.dot(R_pert, pcd_array.T).T + t_pert.T\n",
"\n",
" perturbed_pcd = o3d.geometry.PointCloud()\n",
" perturbed_pcd.points = o3d.utility.Vector3dVector(perturbed_pcd_array)\n",
"\n",
" o3d.visualization.draw_geometries([perturbed_pcd])"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"True\n"
]
}
],
"source": [
"def write_ply(points, output_path):\n",
" \"\"\"\n",
" Write points and parameters to a PLY file\n",
" \n",
" Parameters:\n",
" points: numpy array of shape (N, 3) containing point coordinates\n",
" output_path: path to save the PLY file\n",
" \"\"\"\n",
" with open(output_path, 'w') as f:\n",
" # Write header\n",
" f.write(\"ply\\n\")\n",
" f.write(\"format ascii 1.0\\n\")\n",
" \n",
" # Write vertex element\n",
" f.write(f\"element vertex {len(points)}\\n\")\n",
" f.write(\"property float x\\n\")\n",
" f.write(\"property float y\\n\")\n",
" f.write(\"property float z\\n\")\n",
" \n",
" # Write camera element\n",
" f.write(\"element camera 1\\n\")\n",
" f.write(\"property float view_px\\n\")\n",
" f.write(\"property float view_py\\n\")\n",
" f.write(\"property float view_pz\\n\")\n",
" f.write(\"property float x_axisx\\n\")\n",
" f.write(\"property float x_axisy\\n\")\n",
" f.write(\"property float x_axisz\\n\")\n",
" f.write(\"property float y_axisx\\n\")\n",
" f.write(\"property float y_axisy\\n\")\n",
" f.write(\"property float y_axisz\\n\")\n",
" f.write(\"property float z_axisx\\n\")\n",
" f.write(\"property float z_axisy\\n\")\n",
" f.write(\"property float z_axisz\\n\")\n",
" \n",
" # Write phoxi frame parameters\n",
" f.write(\"element phoxi_frame_params 1\\n\")\n",
" f.write(\"property uint32 frame_width\\n\")\n",
" f.write(\"property uint32 frame_height\\n\")\n",
" f.write(\"property uint32 frame_index\\n\")\n",
" f.write(\"property float frame_start_time\\n\")\n",
" f.write(\"property float frame_duration\\n\")\n",
" f.write(\"property float frame_computation_duration\\n\")\n",
" f.write(\"property float frame_transfer_duration\\n\")\n",
" f.write(\"property int32 total_scan_count\\n\")\n",
" \n",
" # Write camera matrix\n",
" f.write(\"element camera_matrix 1\\n\")\n",
" for i in range(9):\n",
" f.write(f\"property float cm{i}\\n\")\n",
" \n",
" # Write distortion matrix\n",
" f.write(\"element distortion_matrix 1\\n\")\n",
" for i in range(14):\n",
" f.write(f\"property float dm{i}\\n\")\n",
" \n",
" # Write camera resolution\n",
" f.write(\"element camera_resolution 1\\n\")\n",
" f.write(\"property float width\\n\")\n",
" f.write(\"property float height\\n\")\n",
" \n",
" # Write frame binning\n",
" f.write(\"element frame_binning 1\\n\")\n",
" f.write(\"property float horizontal\\n\")\n",
" f.write(\"property float vertical\\n\")\n",
" \n",
" # End header\n",
" f.write(\"end_header\\n\")\n",
" \n",
" # Write vertex data\n",
" for point in points:\n",
" f.write(f\"{point[0]} {point[1]} {point[2]}\\n\")\n",
"\n",
" print(True)\n",
"\n",
"if GT: write_ply(pcd_array, \"gt_filtered.ply\")\n",
"else: write_ply(perturbed_pcd_array, \"noisy_filtered.ply\")"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
}
],
"metadata": {
"kernelspec": {
"display_name": "vision",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.9.20"
}
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"nbformat": 4,
"nbformat_minor": 2
}
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