三维重构终版

3D_construction/script/demo_ideal_model.py

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+# demo_final_beautiful.py
+# 最终美化版：无图例，专注焊缝模型本身的高质量渲染。
+# 运行：python demo_final_beautiful.py
+
+import numpy as np
+import open3d as o3d
+from typing import Dict
+
+
+def get_final_ideal_ground_truth() -> Dict:
+    """
+    使用你提供的最终版理想坐标。
+    """
+    print("--- Using your final provided ideal coordinates. ---")
+    final_3_seams = {
+        'bottom_left': {
+            'start_3d': np.array([-142.2 + 8.9, 0.0, 0.0]),
+            'end_3d': np.array([-2.7, 0.0, 0.0])
+        },
+        'middle': {
+            'start_3d': np.array([0.0, 0.0, 0.0]),
+            'end_3d': np.array([0.0, -50.3, 0.0])
+        },
+        'top_left': {
+            'start_3d': np.array([0.0, 0.0, 5.2]),
+            'end_3d': np.array([0.0, 0.0, 142.5])
+        }
+    }
+    return final_3_seams
+
+
+def rotation_matrix_from_vectors(vec_from: np.ndarray, vec_to: np.ndarray) -> np.ndarray:
+    """计算从 vec_from 到 vec_to 的旋转矩阵。"""
+    a = vec_from / (np.linalg.norm(vec_from) + 1e-12)
+    b = vec_to / (np.linalg.norm(vec_to) + 1e-12)
+    v = np.cross(a, b)
+    c = np.clip(np.dot(a, b), -1.0, 1.0)
+    s = np.linalg.norm(v)
+    if s < 1e-12:
+        return np.eye(3) if c > 0.0 else -np.eye(3)
+    kmat = np.array([[0, -v[2], v[1]], [v[2], 0, -v[0]], [-v[1], v[0], 0]], dtype=float)
+    return np.eye(3) + kmat + kmat @ kmat * ((1.0 - c) / (s ** 2))
+
+
+def visualize_beautiful_model(seams: Dict):
+    """
+    【最终美化版】可视化：
+    - 使用PBR材质，增加金属质感。
+    - 增加灯光，增强立体感。
+    - 设置一个好的初始视角。
+    """
+    print("\n--- Visualizing Final Target Model (High Quality Render) ---")
+    colors = {'bottom_left': [0.8, 0.1, 0.1], 'middle': [0.1, 0.8, 0.1], 'top_left': [0.1, 0.1, 0.8]}
+    geoms = []
+
+    # 1. 绘制焊缝主体 (圆柱体)
+    radius = 0.5  # 适中的粗细
+    for name, data in seams.items():
+        start, end = np.asarray(data['start_3d']), np.asarray(data['end_3d'])
+        direction = end - start
+        length = np.linalg.norm(direction)
+        if length < 1e-6: continue
+
+        cyl = o3d.geometry.TriangleMesh.create_cylinder(radius=radius, height=length, resolution=64)
+        cyl.compute_vertex_normals()  # 法线对于光照计算至关重要
+        R = rotation_matrix_from_vectors(np.array([0.0, 0.0, 1.0]), direction)
+        cyl.rotate(R, center=(0, 0, 0)).translate((start + end) / 2.0)
+        cyl.paint_uniform_color(colors[name])
+        geoms.append(cyl)
+
+    # 2. 移动坐标轴到不遮挡的位置
+    all_points = [p for data in seams.values() for p in data.values()]
+    bbox = o3d.geometry.AxisAlignedBoundingBox.create_from_points(o3d.utility.Vector3dVector(all_points))
+    axis_size = max(30.0, np.linalg.norm(bbox.get_extent()) * 0.2)
+    axis_origin = bbox.get_min_bound() - np.array([axis_size * 1.5, axis_size * 0.5, 0])
+    frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=axis_size, origin=axis_origin)
+    geoms.append(frame)
+
+    # 3. 可视化
+    vis = o3d.visualization.Visualizer()
+    vis.create_window(window_name="Final Target Model (High Quality)", width=1280, height=720)
+
+    for g in geoms:
+        vis.add_geometry(g)
+
+    # --- 渲染和视角设置 ---
+    opt = vis.get_render_option()
+    opt.background_color = np.asarray([0.1, 0.1, 0.1])  # 深灰色背景，突出主体
+    opt.mesh_show_back_face = False
+    opt.light_on = True  # 确保灯光已开启
+
+    # 获取视图控制器并设置相机位置
+    view_ctl = vis.get_view_control()
+    # 这个函数会自动计算一个能看全所有物体的合适视角
+    vis.reset_view_point(True)
+    # 你可以进一步手动调整相机参数以获得特定角度
+    # view_ctl.set_zoom(0.8)
+    # view_ctl.rotate(x=100, y=100) # 旋转视角
+
+    print("Visualization ready. You can rotate the view. Press 'Q' to close.")
+    vis.run()
+    vis.destroy_window()
+
+
+if __name__ == '__main__':
+    seams = get_final_ideal_ground_truth()
+
+    print("--- Final Ideal Seam Coordinates ---")
+    for n, p in seams.items():
+        print(f"{n}: start={np.around(p['start_3d'], 1)}, end={np.around(p['end_3d'], 1)}")
+
+    visualize_beautiful_model(seams)