预处理:降采样,求法线,切割等
import open3d as o3d
def down_sample(pcd):
downpcd = o3d.geometry.voxel_down_sample(pcd,voxel_size=0.05)
return downpcd
def estimate_normal(downpcd):
o3d.geometry.estimate_normals(downpcd,
search_param= o3d.geometry.KDTreeSearchParamHybrid(radius=0.1,max_nn=30))
return downpcd
def crop_pcd(pcd,path_file):
vol = o3d.visualization.read_selection_polygon_volume(path_file)#"*.json"
roi = vol.crop_point_cloud(pcd)
roi.paint_uniform_color([1,0.5,0.5])
return pcd