{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# conda activate vision\n",
    "# cd build\n",
    "# cmake -DCMAKE_BUILD_TYPE=Release ..\n",
    "# make\n",
    "# ./FRICP ./data/lighter/gt_filtered.ply ./data/lighter/noisy_filtered_100_1.ply ./data/lighter/res/ 3"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Source PCD"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to open file: noisy_filtered_100_6.ply\u001b[0;m\n",
      "Source shape: (0, 3)\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "RPly: Unable to open file\n"
     ]
    }
   ],
   "source": [
    "import open3d as o3d\n",
    "import numpy as np\n",
    "filename = '100_6'\n",
    "source_path = f\"noisy_filtered_{filename}.ply\"\n",
    "source_pcd = o3d.io.read_point_cloud(source_path)\n",
    "\n",
    "source_pcd_array = np.asarray(source_pcd.points)\n",
    "print(\"Source shape:\", source_pcd_array.shape)\n",
    "\n",
    "o3d.visualization.draw_geometries([source_pcd])"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Target PCD"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "RPly: Unexpected end of file\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: gt_filtered.ply\u001b[0;m\n",
      "Target shape: (10000, 3)\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "RPly: Error reading 'view_px' of 'camera' number 0\n"
     ]
    }
   ],
   "source": [
    "target_path = \"gt_filtered.ply\"\n",
    "target_pcd = o3d.io.read_point_cloud(target_path)\n",
    "\n",
    "target_pcd_array = np.asarray(target_pcd.points)\n",
    "print(\"Target shape:\", target_pcd_array.shape)\n",
    "\n",
    "o3d.visualization.draw_geometries([target_pcd])"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Transformed Source PCD"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Transformed shape: (6215, 3)\n"
     ]
    }
   ],
   "source": [
    "transformed_path = \"res/m3reg_pc.ply\"\n",
    "transformed_pcd = o3d.io.read_point_cloud(transformed_path)\n",
    "\n",
    "transformed_pcd_array = np.asarray(transformed_pcd.points)\n",
    "print(\"Transformed shape:\", transformed_pcd_array.shape)\n",
    "\n",
    "o3d.visualization.draw_geometries([transformed_pcd])"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Source (Original) + Target"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [],
   "source": [
    "source_pcd.paint_uniform_color([1, 0, 0])\n",
    "target_pcd.paint_uniform_color([0, 1, 0])\n",
    "\n",
    "vis = o3d.visualization.Visualizer()\n",
    "vis.create_window(window_name=\"Point Cloud Viewer\", width=1200, height=800, visible=True)\n",
    "vis.add_geometry(source_pcd)\n",
    "vis.add_geometry(target_pcd)\n",
    "\n",
    "vis.run()\n",
    "vis.destroy_window()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Transformed + Target"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {},
   "outputs": [],
   "source": [
    "transformed_pcd.paint_uniform_color([1, 0, 0])\n",
    "target_pcd.paint_uniform_color([0, 1, 0])\n",
    "\n",
    "vis = o3d.visualization.Visualizer()\n",
    "vis.create_window(window_name=\"Point Cloud Viewer\", width=1200, height=800, visible=True)\n",
    "vis.add_geometry(transformed_pcd)\n",
    "vis.add_geometry(target_pcd)\n",
    "\n",
    "vis.run()\n",
    "vis.destroy_window()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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