ADD-WIP: cloud to mesh distance (to plane)

Author: 9and3

src/diffCheck.hh

@@ -1,6 +1,8 @@
 #pragma once
 
 #include <open3d/Open3D.h>
+#include <open3d/t/geometry/RaycastingScene.h>
+
 #include <loguru.hpp>
 
 // diffCheck includes

src/diffCheckApp.cc

@@ -3,6 +3,8 @@
 #include <iostream>
 #include <fstream>
 
+#include <open3d/Open3D.h>
+// #include <open3d/t/geometry/RaycastingScene.h>
 
 int main()
 {
@@ -13,38 +15,88 @@ int main()
       = std::make_shared<diffCheck::geometry::DFMesh>();
 
   // create a sphere from o3d
-  std::string pathCloud = R"(C:\andre\Downloads\moved_04.ply)";
+  std::string pathCloud = R"(C:\Users\andre\Downloads\moved_04.ply)";
   std::string pathMesh = R"(C:\Users\andre\Downloads\meshtest.ply)";
 
-  // dfPointCloudPtr->LoadFromPLY(pathCloud);
+  dfPointCloudPtr->LoadFromPLY(pathCloud);
   dfMeshPtr->LoadFromPLY(pathMesh);
 
   open3d::geometry::TriangleMesh meshO3d = *dfMeshPtr->Cvt2O3DTriangleMesh();
+  open3d::geometry::PointCloud pointCloudO3d = *dfPointCloudPtr->Cvt2O3DPointCloud();
 
+  auto rayCastingScene = open3d::t::geometry::RaycastingScene();
+  // Get the vertices of the mesh
+  std::vector<Eigen::Vector3d> vertices = meshO3d.vertices_;
 
-  // convert the sphere to a diffCheck point cloud
-  // auto o3dPointCloud = meshO3d.SamplePointsUniformly(1000);
+  // Convert the vertices to a tensor
+  std::vector<float> verticesPosition;
+  for (const auto& vertex : vertices) {
+      verticesPosition.insert(verticesPosition.end(), vertex.data(), vertex.data() + 3);
+  }
+  open3d::core::Tensor verticesPositionTensor(verticesPosition.data(), {static_cast<int64_t>(vertices.size()), 3}, open3d::core::Dtype::Float32);
+
+  std::vector<uint32_t> triangles;
+  for (int i = 0; i < meshO3d.triangles_.size(); i++) {
+      triangles.push_back(static_cast<uint32_t>(meshO3d.triangles_[i].x()));
+      triangles.push_back(static_cast<uint32_t>(meshO3d.triangles_[i].y()));
+      triangles.push_back(static_cast<uint32_t>(meshO3d.triangles_[i].z()));
+  }
+  open3d::core::Tensor trianglesTensor(triangles.data(), {static_cast<int64_t>(meshO3d.triangles_.size()), 3}, open3d::core::Dtype::UInt32);
+  
+  rayCastingScene.AddTriangles(verticesPositionTensor, trianglesTensor);
+
+  // compute the cloud to mesh signed distance
+  std::vector<float> cloudPoints;
+  for (const auto& point : pointCloudO3d.points_) {
+      cloudPoints.insert(cloudPoints.end(), point.data(), point.data() + 3);
+  }
+  open3d::core::Tensor cloudPointsTensor(cloudPoints.data(), {static_cast<int64_t>(pointCloudO3d.points_.size()), 3}, open3d::core::Dtype::Float32);
+
+
+  open3d::core::Tensor sdf = rayCastingScene.ComputeSignedDistance(cloudPointsTensor);
+
+  // if true, get the absolute value of the sdf
+  if (true) {
+      sdf = sdf.Abs();
+  }
+
+  // convert sdf to a vector
+  std::vector<float> sdfVector(sdf.GetDataPtr<float>(), sdf.GetDataPtr<float>() + sdf.NumElements());
 
-  std::shared_ptr<open3d::geometry::PointCloud> tightBBOX = std::make_shared<open3d::geometry::PointCloud>();
 
-  // compute the bounding box
-  open3d::geometry::OrientedBoundingBox bbox = meshO3d.GetMinimalOrientedBoundingBox();
-  std::vector<Eigen::Vector3d> bboxPts = bbox.GetBoxPoints();
-  for (auto &pt : bboxPts)
+  // >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+  // compute point cloud to point cloud distance
+  auto distances = dfPointCloudPtr->ComputeP2PDistance(dfPointCloudPtr);
+  for (auto &dist : distances)
   {
-    tightBBOX->points_.push_back(pt);
+    std::cout << dist << std::endl;
   }
 
 
-  dfPointCloudPtr->Cvt2DFPointCloud(tightBBOX);
+
+  // // convert the sphere to a diffCheck point cloud
+  // // auto o3dPointCloud = meshO3d.SamplePointsUniformly(1000);
+
+  // std::shared_ptr<open3d::geometry::PointCloud> tightBBOX = std::make_shared<open3d::geometry::PointCloud>();
+
+  // // compute the bounding box
+  // open3d::geometry::OrientedBoundingBox bbox = meshO3d.GetMinimalOrientedBoundingBox();
+  // std::vector<Eigen::Vector3d> bboxPts = bbox.GetBoxPoints();
+  // for (auto &pt : bboxPts)
+  // {
+  //   tightBBOX->points_.push_back(pt);
+  // }
+
+
+  // dfPointCloudPtr->Cvt2DFPointCloud(tightBBOX);
 
 
 
 
-  std::shared_ptr<diffCheck::visualizer::Visualizer> vis = std::make_shared<diffCheck::visualizer::Visualizer>();
-  vis->AddPointCloud(dfPointCloudPtr);
-  // vis->AddMesh(dfMeshPtr);
-  vis->Run();
+  // std::shared_ptr<diffCheck::visualizer::Visualizer> vis = std::make_shared<diffCheck::visualizer::Visualizer>();
+  // vis->AddPointCloud(dfPointCloudPtr);
+  // // vis->AddMesh(dfMeshPtr);
+  // vis->Run();
 
 
   return 0;