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9and39and3
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MINOR: commented out dcapp
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‎src/diffCheckApp.cc‎

Lines changed: 83 additions & 83 deletions
Original file line numberDiff line numberDiff line change
@@ -1,104 +1,104 @@
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#include "diffCheck.hh"
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#include <iostream>
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#include <fstream>
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#include <open3d/Open3D.h>
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// #include <open3d/t/geometry/RaycastingScene.h>
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int main()
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{
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// import clouds
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std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloudPtr
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= std::make_shared<diffCheck::geometry::DFPointCloud>();
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std::shared_ptr<diffCheck::geometry::DFMesh> dfMeshPtr
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= std::make_shared<diffCheck::geometry::DFMesh>();
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// create a sphere from o3d
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std::string pathCloud = R"(C:\Users\andre\Downloads\moved_04.ply)";
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std::string pathMesh = R"(C:\Users\andre\Downloads\meshtest.ply)";
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dfPointCloudPtr->LoadFromPLY(pathCloud);
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dfMeshPtr->LoadFromPLY(pathMesh);
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// open3d::geometry::TriangleMesh meshO3d = *dfMeshPtr->Cvt2O3DTriangleMesh();
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// open3d::geometry::PointCloud pointCloudO3d = *dfPointCloudPtr->Cvt2O3DPointCloud();
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// auto rayCastingScene = open3d::t::geometry::RaycastingScene();
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// // Get the vertices of the mesh
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// std::vector<Eigen::Vector3d> vertices = meshO3d.vertices_;
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// // Convert the vertices to a tensor
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// std::vector<float> verticesPosition;
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// for (const auto& vertex : vertices) {
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// verticesPosition.insert(verticesPosition.end(), vertex.data(), vertex.data() + 3);
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// }
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// open3d::core::Tensor verticesPositionTensor(verticesPosition.data(), {static_cast<int64_t>(vertices.size()), 3}, open3d::core::Dtype::Float32);
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// std::vector<uint32_t> triangles;
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// for (int i = 0; i < meshO3d.triangles_.size(); i++) {
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// triangles.push_back(static_cast<uint32_t>(meshO3d.triangles_[i].x()));
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// triangles.push_back(static_cast<uint32_t>(meshO3d.triangles_[i].y()));
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// triangles.push_back(static_cast<uint32_t>(meshO3d.triangles_[i].z()));
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// }
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// open3d::core::Tensor trianglesTensor(triangles.data(), {static_cast<int64_t>(meshO3d.triangles_.size()), 3}, open3d::core::Dtype::UInt32);
1+
// #include "diffCheck.hh"
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// #include <iostream>
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// #include <fstream>
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// #include <open3d/Open3D.h>
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// // #include <open3d/t/geometry/RaycastingScene.h>
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// int main()
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// {
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// // import clouds
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// std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloudPtr
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// = std::make_shared<diffCheck::geometry::DFPointCloud>();
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// std::shared_ptr<diffCheck::geometry::DFMesh> dfMeshPtr
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// = std::make_shared<diffCheck::geometry::DFMesh>();
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// // create a sphere from o3d
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// std::string pathCloud = R"(C:\Users\andre\Downloads\moved_04.ply)";
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// std::string pathMesh = R"(C:\Users\andre\Downloads\meshtest.ply)";
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// dfPointCloudPtr->LoadFromPLY(pathCloud);
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// dfMeshPtr->LoadFromPLY(pathMesh);
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// // open3d::geometry::TriangleMesh meshO3d = *dfMeshPtr->Cvt2O3DTriangleMesh();
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// // open3d::geometry::PointCloud pointCloudO3d = *dfPointCloudPtr->Cvt2O3DPointCloud();
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// // auto rayCastingScene = open3d::t::geometry::RaycastingScene();
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// // // Get the vertices of the mesh
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// // std::vector<Eigen::Vector3d> vertices = meshO3d.vertices_;
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// // // Convert the vertices to a tensor
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// // std::vector<float> verticesPosition;
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// // for (const auto& vertex : vertices) {
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// // verticesPosition.insert(verticesPosition.end(), vertex.data(), vertex.data() + 3);
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// // }
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// // open3d::core::Tensor verticesPositionTensor(verticesPosition.data(), {static_cast<int64_t>(vertices.size()), 3}, open3d::core::Dtype::Float32);
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// // std::vector<uint32_t> triangles;
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// // for (int i = 0; i < meshO3d.triangles_.size(); i++) {
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// // triangles.push_back(static_cast<uint32_t>(meshO3d.triangles_[i].x()));
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// // triangles.push_back(static_cast<uint32_t>(meshO3d.triangles_[i].y()));
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// // triangles.push_back(static_cast<uint32_t>(meshO3d.triangles_[i].z()));
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// // }
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// // open3d::core::Tensor trianglesTensor(triangles.data(), {static_cast<int64_t>(meshO3d.triangles_.size()), 3}, open3d::core::Dtype::UInt32);
4545

46-
// rayCastingScene.AddTriangles(verticesPositionTensor, trianglesTensor);
46+
// // rayCastingScene.AddTriangles(verticesPositionTensor, trianglesTensor);
4747

48-
// // compute the cloud to mesh signed distance
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// std::vector<float> cloudPoints;
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// for (const auto& point : pointCloudO3d.points_) {
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// cloudPoints.insert(cloudPoints.end(), point.data(), point.data() + 3);
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// }
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// open3d::core::Tensor cloudPointsTensor(cloudPoints.data(), {static_cast<int64_t>(pointCloudO3d.points_.size()), 3}, open3d::core::Dtype::Float32);
48+
// // // compute the cloud to mesh signed distance
49+
// // std::vector<float> cloudPoints;
50+
// // for (const auto& point : pointCloudO3d.points_) {
51+
// // cloudPoints.insert(cloudPoints.end(), point.data(), point.data() + 3);
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// // }
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// // open3d::core::Tensor cloudPointsTensor(cloudPoints.data(), {static_cast<int64_t>(pointCloudO3d.points_.size()), 3}, open3d::core::Dtype::Float32);
5454

5555

56-
// open3d::core::Tensor sdf = rayCastingScene.ComputeSignedDistance(cloudPointsTensor);
56+
// // open3d::core::Tensor sdf = rayCastingScene.ComputeSignedDistance(cloudPointsTensor);
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58-
// // FIXME: replace with bool parameter
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// // if true, get the absolute value of the sdf
60-
// if (true) {
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// sdf = sdf.Abs();
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// }
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// // // FIXME: replace with bool parameter
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// // // if true, get the absolute value of the sdf
60+
// // if (true) {
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// // sdf = sdf.Abs();
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// // }
6363

64-
// convert sdf to a vector
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std::vector<float> sdfVector = dfMeshPtr->ComputeDistance(*dfPointCloudPtr);
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// // convert sdf to a vector
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// std::vector<float> sdfVector = dfMeshPtr->ComputeDistance(*dfPointCloudPtr);
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6767

68-
// >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
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// compute point cloud to point cloud distance
70-
std::vector<double> distances = dfPointCloudPtr->ComputeDistance(*dfPointCloudPtr);
71-
// for (auto &dist : distances)
72-
// {
73-
// std::cout << dist << std::endl;
74-
// }
68+
// // >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
69+
// // compute point cloud to point cloud distance
70+
// std::vector<double> distances = dfPointCloudPtr->ComputeDistance(*dfPointCloudPtr);
71+
// // for (auto &dist : distances)
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// // {
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// // std::cout << dist << std::endl;
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// // }
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7676

7777

78-
// // convert the sphere to a diffCheck point cloud
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// // auto o3dPointCloud = meshO3d.SamplePointsUniformly(1000);
78+
// // // convert the sphere to a diffCheck point cloud
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// // // auto o3dPointCloud = meshO3d.SamplePointsUniformly(1000);
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81-
// std::shared_ptr<open3d::geometry::PointCloud> tightBBOX = std::make_shared<open3d::geometry::PointCloud>();
81+
// // std::shared_ptr<open3d::geometry::PointCloud> tightBBOX = std::make_shared<open3d::geometry::PointCloud>();
8282

83-
// // compute the bounding box
84-
// open3d::geometry::OrientedBoundingBox bbox = meshO3d.GetMinimalOrientedBoundingBox();
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// std::vector<Eigen::Vector3d> bboxPts = bbox.GetBoxPoints();
86-
// for (auto &pt : bboxPts)
87-
// {
88-
// tightBBOX->points_.push_back(pt);
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// }
83+
// // // compute the bounding box
84+
// // open3d::geometry::OrientedBoundingBox bbox = meshO3d.GetMinimalOrientedBoundingBox();
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// // std::vector<Eigen::Vector3d> bboxPts = bbox.GetBoxPoints();
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// // for (auto &pt : bboxPts)
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// // {
88+
// // tightBBOX->points_.push_back(pt);
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// // }
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// dfPointCloudPtr->Cvt2DFPointCloud(tightBBOX);
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// // dfPointCloudPtr->Cvt2DFPointCloud(tightBBOX);
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9595

9696

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// std::shared_ptr<diffCheck::visualizer::Visualizer> vis = std::make_shared<diffCheck::visualizer::Visualizer>();
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// vis->AddPointCloud(dfPointCloudPtr);
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// // vis->AddMesh(dfMeshPtr);
100-
// vis->Run();
97+
// // std::shared_ptr<diffCheck::visualizer::Visualizer> vis = std::make_shared<diffCheck::visualizer::Visualizer>();
98+
// // vis->AddPointCloud(dfPointCloudPtr);
99+
// // // vis->AddMesh(dfMeshPtr);
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// // vis->Run();
101101

102102

103-
return 0;
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}
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// return 0;
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// }

‎src/gh/diffCheck/diffCheck.egg-info/SOURCES.txt‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,6 @@ diffCheck/df_geometries.py
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diffCheck/df_joint_detector.py
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diffCheck/df_transformations.py
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diffCheck/df_util.py
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diffCheck/diffcheck_bindings.cp38-win_amd64.pyd
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diffCheck.egg-info/PKG-INFO
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diffCheck.egg-info/SOURCES.txt
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diffCheck.egg-info/dependency_links.txt

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