1# ----------------------------------------------------------------------------
2# - Open3D: www.open3d.org -
3# ----------------------------------------------------------------------------
4# Copyright (c) 2018-2023 www.open3d.org
5# SPDX-License-Identifier: MIT
6# ----------------------------------------------------------------------------
7
8import numpy as np
9import open3d as o3d
10
11if __name__ == "__main__":
12
13 print("Load two aligned point clouds.")
14 demo_data = o3d.data.DemoFeatureMatchingPointClouds()
15 pcd0 = o3d.io.read_point_cloud(demo_data.point_cloud_paths[0])
16 pcd1 = o3d.io.read_point_cloud(demo_data.point_cloud_paths[1])
17
18 pcd0.paint_uniform_color([1, 0.706, 0])
19 pcd1.paint_uniform_color([0, 0.651, 0.929])
20 o3d.visualization.draw_geometries([pcd0, pcd1])
21 print("Load their FPFH feature and evaluate.")
22 print("Black : matching distance > 0.2")
23 print("White : matching distance = 0")
24 feature0 = o3d.io.read_feature(demo_data.fpfh_feature_paths[0])
25 feature1 = o3d.io.read_feature(demo_data.fpfh_feature_paths[1])
26
27 fpfh_tree = o3d.geometry.KDTreeFlann(feature1)
28 for i in range(len(pcd0.points)):
29 [_, idx, _] = fpfh_tree.search_knn_vector_xd(feature0.data[:, i], 1)
30 dis = np.linalg.norm(pcd0.points[i] - pcd1.points[idx[0]])
31 c = (0.2 - np.fmin(dis, 0.2)) / 0.2
32 pcd0.colors[i] = [c, c, c]
33 o3d.visualization.draw_geometries([pcd0])
34 print("")
35
36 print("Load their L32D feature and evaluate.")
37 print("Black : matching distance > 0.2")
38 print("White : matching distance = 0")
39 feature0 = o3d.io.read_feature(demo_data.l32d_feature_paths[0])
40 feature1 = o3d.io.read_feature(demo_data.l32d_feature_paths[1])
41
42 fpfh_tree = o3d.geometry.KDTreeFlann(feature1)
43 for i in range(len(pcd0.points)):
44 [_, idx, _] = fpfh_tree.search_knn_vector_xd(feature0.data[:, i], 1)
45 dis = np.linalg.norm(pcd0.points[i] - pcd1.points[idx[0]])
46 c = (0.2 - np.fmin(dis, 0.2)) / 0.2
47 pcd0.colors[i] = [c, c, c]
48 o3d.visualization.draw_geometries([pcd0])
49 print("")