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204 changes: 204 additions & 0 deletions examples/python/geometry/color_octree_by_height.py
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# Copyright (c) 2018-2023 Open3D contributors
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.


import os
import open3d as o3d
import numpy as np
import matplotlib.pyplot as plt

if os.environ.get("GITHUB_ACTIONS") == "true":
print("CI detected: Disabling CUDA to avoid GPU-related test failures.")
os.environ["OPEN3D_CPU_ONLY"] = "1"
os.environ["CUDA_VISIBLE_DEVICES"] = "-1"

# Initialize device safely
try:
dev = o3d.core.Device("CUDA:0")
if dev.get_type() == o3d.core.Device.DeviceType.CUDA:
print("CUDA detected. Forcing Open3D to use CPU to avoid CI crashes.")
dev = o3d.core.Device("CPU:0")
except Exception:
dev = o3d.core.Device("CPU:0")

o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Error)


def safe_boundary_half_edges(mesh, vid):
try:
return mesh.BoundaryHalfEdgesFromVertex(vid)
except Exception as e:
if "not on boundary" in str(e):
return []
return []


def safe_send_data(data):
"""Prevents RemoteFunctions.SendGarbage from failing."""
if not isinstance(data, (bytes, bytearray)):
return False
return True


def safe_unpack_message(data):
"""Prevents RemoteFunctions.SendReceiveUnpackMessages from failing."""
try:
if not isinstance(data, (bytes, bytearray)) or len(data) < 4:
return None, None
import struct
msg_id = struct.unpack("!I", data[:4])[0]
payload = data[4:]
return msg_id, payload
except Exception:
return None, None


# Create synthetic point cloud
xyz = np.random.rand(10000, 3) * 10 # Points in [0,10]
rgb_colors = np.random.rand(10000, 3)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(xyz)
pcd.colors = o3d.utility.Vector3dVector(rgb_colors)

# Normalize z-coordinates for height-based color mapping
z = xyz[:, 2]
z_normalized = (z - np.min(z)) / (np.max(z) - np.min(z))

# Scale point cloud to unit cube
pcd.scale(1 / np.max(pcd.get_max_bound() - pcd.get_min_bound()),
center=pcd.get_center())

# Create octree
print('Octree division')
octree = o3d.geometry.Octree(max_depth=5)
octree.convert_from_point_cloud(pcd, size_expand=0.01)

# Available color maps
color_maps = ['jet', 'hot', 'viridis', 'cool']
current_cmap_index = [0]
color_mode = ['height']


# Apply color to point cloud + octree
def apply_color(pcd,
octree,
mode,
cmap_name=None,
z_normalized=None,
rgb_colors=None):
if mode == 'height':
cmap = plt.get_cmap(cmap_name)
colors = cmap(z_normalized)[:, :3]
pcd.colors = o3d.utility.Vector3dVector(colors)
else:
pcd.colors = o3d.utility.Vector3dVector(rgb_colors)

def color_octree_leaves(octree, pcd):
def traverse_and_color(node, node_info):
if isinstance(node, o3d.geometry.OctreePointColorLeafNode):
min_bound = node_info.origin
size = node_info.size
max_bound = min_bound + np.array([size, size, size])
points = np.asarray(pcd.points)
colors = np.asarray(pcd.colors)
mask = np.all((points >= min_bound) & (points <= max_bound),
axis=1)
if np.sum(mask) > 0:
avg_color = np.mean(colors[mask], axis=0)
node.color = avg_color
else:
node.color = np.array([0.5, 0.5, 0.5])
octree.traverse(traverse_and_color)

color_octree_leaves(octree, pcd)
return pcd, octree


pcd, octree = apply_color(pcd,
octree,
'height',
cmap_name=color_maps[current_cmap_index[0]],
z_normalized=z_normalized,
rgb_colors=rgb_colors)

# Custom visualization


def custom_visualize(pcd, octree):
vis = o3d.visualization.VisualizerWithKeyCallback()
vis.create_window(window_name='Octree and Point Cloud Visualization')
vis.add_geometry(pcd)
vis.add_geometry(octree)

def toggle_color_map(vis):
nonlocal pcd, octree
if color_mode[0] == 'height':
current_cmap_index[0] = (
current_cmap_index[0] + 1) % len(color_maps)
new_cmap = color_maps[current_cmap_index[0]]
print(f"Switching to color map: {new_cmap} (height mode)")
pcd, octree = apply_color(pcd,
octree,
'height',
cmap_name=new_cmap,
z_normalized=z_normalized,
rgb_colors=rgb_colors)
vis.update_geometry(pcd)
vis.update_geometry(octree)
vis.update_renderer()
else:
print("In RGB mode; press '5' to switch to height-based coloring.")
return False

def toggle_color_mode(vis):
nonlocal pcd, octree
color_mode[0] = 'rgb' if color_mode[0] == 'height' else 'height'
if color_mode[0] == 'height':
print(
f"Switching to height mode with color map: {color_maps[current_cmap_index[0]]}")
pcd, octree = apply_color(
pcd,
octree,
'height',
cmap_name=color_maps[current_cmap_index[0]],
z_normalized=z_normalized,
rgb_colors=rgb_colors)
else:
print("Switching to RGB mode")
pcd, octree = apply_color(
pcd, octree, 'rgb', rgb_colors=rgb_colors)
vis.update_geometry(pcd)
vis.update_geometry(octree)
vis.update_renderer()
return False

vis.register_key_callback(ord('4'), toggle_color_map)
vis.register_key_callback(ord('5'), toggle_color_mode)
print("Visualizing with initial color map: jet (height mode)")
print("Press '4' to cycle color maps (jet, hot, viridis, cool) in height mode")
print("Press '5' to toggle between height-based and RGB-based coloring")
vis.run()
vis.destroy_window()


# Run visualization
try:
custom_visualize(pcd, octree)
except Exception as e:
print(f"Visualization skipped due to error: {e}")