feat: initial commit - massive-cloud point cloud processing system

2026-05-27 09:51:42 +00:00
commit 16811100d1
391 changed files with 78338 additions and 0 deletions
--- a/alg/point_porj/visualization.py
+++ b/alg/point_porj/visualization.py
@@ -0,0 +1,97 @@
+from __future__ import annotations
+
+import copy
+
+import numpy as np
+import open3d as o3d
+
+from preprocessing.plane import PlaneResult
+
+
+class Visualizer:
+    """Open3D visualization utilities."""
+
+    def show_registration(
+        self,
+        source: o3d.geometry.PointCloud,
+        target: o3d.geometry.PointCloud,
+        recovered: o3d.geometry.PointCloud,
+    ) -> None:
+        source_colored = copy.deepcopy(source)
+        target_colored = copy.deepcopy(target)
+        recovered_colored = copy.deepcopy(recovered)
+        source_colored.paint_uniform_color([0, 0, 1])
+        target_colored.paint_uniform_color([0, 1, 0])
+        recovered_colored.paint_uniform_color([1, 0, 0])
+
+        o3d.visualization.draw_geometries(
+            [source_colored, target_colored],
+            window_name="Before Registration (Blue: Source, Green: Target)",
+            width=1024,
+            height=768,
+        )
+        o3d.visualization.draw_geometries(
+            [recovered_colored, target_colored],
+            window_name="After Registration (Red: Recovered, Green: Target)",
+            width=1024,
+            height=768,
+        )
+
+    def show_denoise(
+        self,
+        clean: o3d.geometry.PointCloud,
+        noisy: o3d.geometry.PointCloud,
+        filtered: o3d.geometry.PointCloud | None = None,
+        filter_name: str = "Filtered",
+    ) -> None:
+        clean_colored = copy.deepcopy(clean)
+        noisy_colored = copy.deepcopy(noisy)
+        clean_colored.paint_uniform_color([0, 0, 1])
+        noisy_colored.paint_uniform_color([1.0, 0.7, 0.5])
+        o3d.visualization.draw_geometries(
+            [clean_colored, noisy_colored],
+            window_name=f"Clean (Blue, {len(clean.points)}) vs Noisy (Orange, {len(noisy.points)})",
+        )
+
+        if filtered is not None:
+            filtered_colored = copy.deepcopy(filtered)
+            filtered_colored.paint_uniform_color([0, 1, 0])
+            o3d.visualization.draw_geometries(
+                [clean_colored, filtered_colored],
+                window_name=f"{filter_name}: Clean (Blue) vs Filtered (Green)",
+            )
+
+    def show_curvature(self, pointcloud: o3d.geometry.PointCloud, window_name: str = "Curvature Visualization") -> None:
+        o3d.visualization.draw_geometries([pointcloud], window_name=window_name)
+
+    def show_plane(self, plane_result: PlaneResult) -> None:
+        pointcloud = copy.deepcopy(plane_result.pointcloud)
+        pointcloud.paint_uniform_color([0.2, 0.4, 1.0])
+        inlier_cloud = pointcloud.select_by_index(plane_result.inliers)
+        inlier_cloud.paint_uniform_color([1.0, 0.2, 0.2])
+
+        plane_mesh = self._create_plane_mesh(plane_result.model)
+        o3d.visualization.draw_geometries(
+            [pointcloud, inlier_cloud, plane_mesh],
+            window_name="Plane Fitting",
+            width=1024,
+            height=768,
+        )
+
+    def _create_plane_mesh(self, plane_model: tuple[float, float, float, float]) -> o3d.geometry.TriangleMesh:
+        a, b, c, d = plane_model
+        size = 1.0
+        xx, yy = np.meshgrid(np.linspace(-size, size, 2), np.linspace(-size, size, 2))
+        if abs(c) < 1e-12:
+            zz = np.zeros_like(xx)
+        else:
+            zz = -(a * xx + b * yy + d) / c
+
+        vertices = np.column_stack([xx.ravel(), yy.ravel(), zz.ravel()])
+        triangles = np.array([[0, 1, 2], [1, 3, 2]])
+        mesh = o3d.geometry.TriangleMesh()
+        mesh.vertices = o3d.utility.Vector3dVector(vertices)
+        mesh.triangles = o3d.utility.Vector3iVector(triangles)
+        mesh.paint_uniform_color([0.1, 0.9, 0.1])
+        mesh.compute_vertex_normals()
+        return mesh