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