{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "# conda activate vision\n",
    "# cd build\n",
    "# cmake -DCMAKE_BUILD_TYPE=Release ..\n",
    "# make\n",
    "# ./FRICP ./data/bottle/tea_gt_filtered.ply ./data/bottle/tea_noisy_filtered.ply ./data/bottle/res/ 3"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Source PCD"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "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",
      "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: noisy_filtered.ply\u001b[0;m\n",
      "Source shape: (67981, 3)\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "RPly: Unexpected end of file\n",
      "RPly: Error reading 'view_px' of 'camera' number 0\n"
     ]
    }
   ],
   "source": [
    "import open3d as o3d\n",
    "import numpy as np\n",
    "\n",
    "source_path = \"noisy_filtered.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": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "RPly: Unexpected end of file\n",
      "RPly: Error reading 'view_px' of 'camera' number 0\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: (104934, 3)\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": null,
   "metadata": {},
   "outputs": [
    {
     "ename": "NameError",
     "evalue": "name 'o3d' is not defined",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mNameError\u001b[0m                                 Traceback (most recent call last)",
      "Cell \u001b[0;32mIn[1], line 2\u001b[0m\n\u001b[1;32m      1\u001b[0m transformed_path \u001b[38;5;241m=\u001b[39m \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mres_2/m3reg_pc.ply\u001b[39m\u001b[38;5;124m\"\u001b[39m\n\u001b[0;32m----> 2\u001b[0m transformed_pcd \u001b[38;5;241m=\u001b[39m \u001b[43mo3d\u001b[49m\u001b[38;5;241m.\u001b[39mio\u001b[38;5;241m.\u001b[39mread_point_cloud(transformed_path)\n\u001b[1;32m      4\u001b[0m transformed_pcd_array \u001b[38;5;241m=\u001b[39m np\u001b[38;5;241m.\u001b[39masarray(transformed_pcd\u001b[38;5;241m.\u001b[39mpoints)\n\u001b[1;32m      5\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mTransformed shape:\u001b[39m\u001b[38;5;124m\"\u001b[39m, transformed_pcd_array\u001b[38;5;241m.\u001b[39mshape)\n",
      "\u001b[0;31mNameError\u001b[0m: name 'o3d' is not defined"
     ]
    }
   ],
   "source": [
    "transformed_path = \"res_3/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": 5,
   "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": 6,
   "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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   "file_extension": ".py",
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