"""Generate reproducible point-cloud fixtures for the CPU Demo tests.
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The fixtures have known geometry and are not presented as field data. The
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console accepts actual PLY/PCD/XYZ/LAS/LAZ products from a survey or an ODM
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reconstruction; these two inputs verify the processing contract before one is
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used on a larger collection.
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"""
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from __future__ import annotations
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import argparse
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from pathlib import Path
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import numpy as np
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import open3d as o3d
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def _write_cloud(path: Path, points: np.ndarray) -> None:
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cloud = o3d.geometry.PointCloud()
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cloud.points = o3d.utility.Vector3dVector(points)
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colors = np.tile(np.array([[0.35, 0.62, 0.41]], dtype=float), (len(points), 1))
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colors[points[:, 2] > 1.0] = [0.83, 0.34, 0.12]
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cloud.colors = o3d.utility.Vector3dVector(colors)
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if not o3d.io.write_point_cloud(str(path), cloud, write_ascii=False):
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raise RuntimeError(f"Could not write {path}")
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def normal_scene(seed: int = 42) -> np.ndarray:
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"""A dense flat site with one roof and one rounded elevated object."""
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rng = np.random.default_rng(seed)
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ground_xy = rng.uniform(-12, 12, size=(5_000, 2))
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ground = np.column_stack((ground_xy, rng.normal(0, 0.025, size=len(ground_xy))))
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roof_xy = rng.uniform([-4.5, -3.0], [3.5, 3.0], size=(2_400, 2))
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roof = np.column_stack((roof_xy, rng.normal(2.8, 0.035, size=len(roof_xy))))
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wall_y = rng.uniform(-3, 3, size=600)
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walls = np.vstack((
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np.column_stack((np.full(600, -4.5), wall_y, rng.uniform(0, 2.8, 600))),
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np.column_stack((np.full(600, 3.5), wall_y, rng.uniform(0, 2.8, 600))),
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))
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crown = rng.normal([7.2, 6.0, 3.0], [1.0, 1.0, 0.7], size=(1_000, 3))
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return np.vstack((ground, roof, walls, crown))
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def difficult_scene(seed: int = 7) -> np.ndarray:
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"""A sparse scene with tilted terrain, a small roof, and isolated high noise."""
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rng = np.random.default_rng(seed)
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ground_xy = rng.uniform(-12, 12, size=(750, 2))
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ground_z = 0.035 * ground_xy[:, 0] - 0.02 * ground_xy[:, 1] + rng.normal(0, 0.06, len(ground_xy))
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ground = np.column_stack((ground_xy, ground_z))
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roof_xy = rng.uniform([-2.5, -2.0], [1.4, 1.7], size=(270, 2))
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roof_z = 0.035 * roof_xy[:, 0] - 0.02 * roof_xy[:, 1] + 2.0 + rng.normal(0, 0.06, len(roof_xy))
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roof = np.column_stack((roof_xy, roof_z))
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noise_xy = rng.uniform(-12, 12, size=(35, 2))
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noise = np.column_stack((noise_xy, rng.uniform(1.6, 4.2, len(noise_xy))))
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return np.vstack((ground, roof, noise))
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def main() -> int:
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parser = argparse.ArgumentParser(description="Generate known-geometry PLY validation fixtures.")
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parser.add_argument("--output", type=Path, required=True)
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args = parser.parse_args()
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args.output.mkdir(parents=True, exist_ok=True)
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_write_cloud(args.output / "normal_site.ply", normal_scene())
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_write_cloud(args.output / "difficult_sparse_site.ply", difficult_scene())
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return 0
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if __name__ == "__main__":
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raise SystemExit(main())
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