Poisson Surface Reconstruction (#1317)

* Poisson Surface Reconstruction

* addressing CI warnings

* disable -Werror

* merge upstream

* remove poisson files to setup submodule

* PoissonRecon as submodule

* Merge remote-tracking branch 'upstream/master' into poisson

* fix and enable warning, and misc

* use /W3 without /WX for windows

* addressing review comments

* added method to remove low density vertices

.gitignore

@@ -41,6 +41,7 @@ compile_commands.json
 examples/Python/ReconstructionSystem/dataset/
 examples/TestData/Armadillo.ply
 examples/TestData/Bunny.ply
+examples/TestData/eagle.ply
 examples/TestData/voxelized.ply
 examples/Python/Basic/voxel_grid_test.ply
 examples/Python/Benchmark/testdata/

.gitmodules

@@ -28,3 +28,6 @@
 [submodule "3rdparty/libjpeg-turbo/libjpeg-turbo"]
 	path = 3rdparty/libjpeg-turbo/libjpeg-turbo
 	url = https://github.com/libjpeg-turbo/libjpeg-turbo.git
+[submodule "3rdparty/PoissonRecon/Open3D-PoissonRecon"]
+	path = 3rdparty/PoissonRecon
+	url = https://github.com/intel-isl/Open3D-PoissonRecon.git

3rdparty/CMakeLists.txt

@@ -313,6 +313,10 @@ endif()
 set(fmt_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/fmt/include)
 INSTALL_HEADERS(fmt)
 
+# PoissonRecon
+set(poisson_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/)
+
+
 list(APPEND 3RDPARTY_INCLUDE_DIRS
      # ${dirent_INCLUDE_DIRS} # fails on Linux, seems to require Windows headers
      ${EIGEN3_INCLUDE_DIRS}
@@ -333,6 +337,7 @@ list(APPEND 3RDPARTY_INCLUDE_DIRS
      ${googletest_INCLUDE_DIRS}
      ${fmt_INCLUDE_DIRS}
      ${k4a_INCLUDE_DIRS}
+     ${poisson_INCLUDE_DIRS}
 )
 
 # set 3RDPARTY_INCLUDE_DIRS_AT_INSTALL

3rdparty/README.txt

@@ -72,3 +72,7 @@ https://github.com/syoyo/tinyobjloader
 pybind11                    2.2                                      BSD license
 Python binding for C++11
 https://github.com/pybind/pybind11
+--------------------------------------------------------------------------------
+PoissonReco                 12.0                                     BSD license
+Poisson Surface Reconstruction
+https://github.com/mkazhdan/PoissonRecon

examples/Python/Advanced/surface_reconstruction_poisson.py

@@ -0,0 +1,47 @@
+# Open3D: www.open3d.org
+# The MIT License (MIT)
+# See license file or visit www.open3d.org for details
+
+# examples/Python/Advanced/surface_reconstruction_poisson.py
+
+import open3d as o3d
+import numpy as np
+import matplotlib.pyplot as plt
+import os
+
+import sys
+
+sys.path.append(
+    os.path.join(os.path.dirname(os.path.realpath(__file__)), "../Misc"))
+import meshes
+
+if __name__ == "__main__":
+    o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Debug)
+
+    pcd = meshes.eagle()
+    print(pcd)
+    o3d.visualization.draw_geometries([pcd])
+
+    print('run Poisson surface reconstruction')
+    mesh, densities = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(
+        pcd, depth=8)
+    print(mesh)
+    o3d.visualization.draw_geometries([mesh])
+
+    print('visualize densities')
+    densities = np.asarray(densities)
+    density_colors = plt.get_cmap('plasma')(
+        (densities - densities.min()) / (densities.max() - densities.min()))
+    density_colors = density_colors[:, :3]
+    density_mesh = o3d.geometry.TriangleMesh()
+    density_mesh.vertices = mesh.vertices
+    density_mesh.triangles = mesh.triangles
+    density_mesh.triangle_normals = mesh.triangle_normals
+    density_mesh.vertex_colors = o3d.utility.Vector3dVector(density_colors)
+    o3d.visualization.draw_geometries([density_mesh])
+
+    print('remove low density vertices')
+    vertices_to_remove = densities < np.quantile(densities, 0.1)
+    mesh.remove_vertices_by_mask(vertices_to_remove)
+    print(mesh)
+    o3d.visualization.draw_geometries([mesh])

examples/Python/Misc/meshes.py

@@ -176,6 +176,16 @@ def bunny():
     return mesh
 
 
+def eagle():
+    path = _relative_path("../../TestData/eagle.ply")
+    if not os.path.exists(path):
+        print("downloading eagle pcl")
+        url = "http://www.cs.jhu.edu/~misha/Code/PoissonRecon/eagle.points.ply"
+        urllib.request.urlretrieve(url, path)
+    pcd = o3d.io.read_point_cloud(path)
+    return pcd
+
+
 def center_and_scale(mesh):
     vertices = np.asarray(mesh.vertices)
     vertices = vertices / max(vertices.max(axis=0) - vertices.min(axis=0))

src/CMakeLists.txt

@@ -1,10 +1,10 @@
 function(ShowAndAbortOnWarning trgt)
   if(MSVC)
-      # target_compile_options(${trgt} PRIVATE /W4 /WX)
-      target_compile_options(${trgt} PRIVATE /W3)
+    # target_compile_options(${trgt} PRIVATE /W4 /WX)
+    target_compile_options(${trgt} PRIVATE /W3)
   else()
-      # target_compile_options(${trgt} PRIVATE -Wall -Wextra -Werror)
-      target_compile_options(${trgt} PRIVATE -Wall -Werror)
+    # target_compile_options(${trgt} PRIVATE -Wall -Wextra -Werror)
+    target_compile_options(${trgt} PRIVATE -Wall -Werror)
   endif()
 endfunction()