Open3D 可视化numpy点云数据

Open3D 可视化numpy点云数据

使用Open3D 可视化点云数据的效果比较炫。
但是当我时隔半年重新使用Open3D库时发现原来的用法发生了改变，特此记录，持续更新。

Anaconda 安装Open3D

官方网站

conda install -c open3d-admin open3d

比较稳定，推荐此方式

导入numpy点云数据，并可视化

import numpy as np
from open3d import*

source_data = np.load('curtain_0088.npy')[:,0:3]  #10000x3
point_cloud = open3d.geometry.PointCloud()
point_cloud.points = open3d.utility.Vector3dVector(source_data)
open3d.visualization.draw_geometries([point_cloud])

更多操作

在GUI窗口按 h 键可以输出所有快捷键的列表
在GUI窗口按 h 键可以输出所有快捷键的列表
在GUI窗口按 h 键可以输出所有快捷键的列表

[Open3D INFO]   -- Mouse view control --
[Open3D INFO]     Left button + drag         : Rotate.
[Open3D INFO]     Ctrl + left button + drag  : Translate.
[Open3D INFO]     Wheel button + drag        : Translate.
[Open3D INFO]     Shift + left button + drag : Roll.
[Open3D INFO]     Wheel                      : Zoom in/out.
[Open3D INFO] 
[Open3D INFO]   -- Keyboard view control --
[Open3D INFO]     [/]          : Increase/decrease field of view.
[Open3D INFO]     R            : Reset view point.
[Open3D INFO]     Ctrl/Cmd + C : Copy current view status into the clipboard.
[Open3D INFO]     Ctrl/Cmd + V : Paste view status from clipboard.
[Open3D INFO] 
[Open3D INFO]   -- General control --
[Open3D INFO]     Q, Esc       : Exit window.
[Open3D INFO]     H            : Print help message.
[Open3D INFO]     P, PrtScn    : Take a screen capture.
[Open3D INFO]     D            : Take a depth capture.
[Open3D INFO]     O            : Take a capture of current rendering settings.
[Open3D INFO] 
[Open3D INFO]   -- Render mode control --
[Open3D INFO]     L            : Turn on/off lighting.
[Open3D INFO]     +/-          : Increase/decrease point size.
[Open3D INFO]     Ctrl + +/-   : Increase/decrease width of geometry::LineSet.
[Open3D INFO]     N            : Turn on/off point cloud normal rendering.
[Open3D INFO]     S            : Toggle between mesh flat shading and smooth shading.
[Open3D INFO]     W            : Turn on/off mesh wireframe.
[Open3D INFO]     B            : Turn on/off back face rendering.
[Open3D INFO]     I            : Turn on/off image zoom in interpolation.
[Open3D INFO]     T            : Toggle among image render:
[Open3D INFO]                    no stretch / keep ratio / freely stretch.
[Open3D INFO] 
[Open3D INFO]   -- Color control --
[Open3D INFO]     0..4,9       : Set point cloud color option.
[Open3D INFO]                    0 - Default behavior, render point color.
[Open3D INFO]                    1 - Render point color.
[Open3D INFO]                    2 - x coordinate as color.
[Open3D INFO]                    3 - y coordinate as color.
[Open3D INFO]                    4 - z coordinate as color.
[Open3D INFO]                    9 - normal as color.
[Open3D INFO]     Ctrl + 0..4,9: Set mesh color option.
[Open3D INFO]                    0 - Default behavior, render uniform gray color.
[Open3D INFO]                    1 - Render point color.
[Open3D INFO]                    2 - x coordinate as color.
[Open3D INFO]                    3 - y coordinate as color.
[Open3D INFO]                    4 - z coordinate as color.
[Open3D INFO]                    9 - normal as color.
[Open3D INFO]     Shift + 0..4 : Color map options.
[Open3D INFO]                    0 - Gray scale color.
[Open3D INFO]                    1 - JET color map.
[Open3D INFO]                    2 - SUMMER color map.
[Open3D INFO]                    3 - WINTER color map.
[Open3D INFO]                    4 - HOT color map.
[Open3D INFO] 
[Open3D WARNING] GLFW Error: WGL: Failed to make context current: 句柄无效。 
[Open3D INFO]   -- Mouse view control --
[Open3D INFO]     Left button + drag         : Rotate.
[Open3D INFO]     Ctrl + left button + drag  : Translate.
[Open3D INFO]     Wheel button + drag        : Translate.
[Open3D INFO]     Shift + left button + drag : Roll.
[Open3D INFO]     Wheel                      : Zoom in/out.
[Open3D INFO] 
[Open3D INFO]   -- Keyboard view control --
[Open3D INFO]     [/]          : Increase/decrease field of view.
[Open3D INFO]     R            : Reset view point.
[Open3D INFO]     Ctrl/Cmd + C : Copy current view status into the clipboard.
[Open3D INFO]     Ctrl/Cmd + V : Paste view status from clipboard.
[Open3D INFO] 
[Open3D INFO]   -- General control --
[Open3D INFO]     Q, Esc       : Exit window.
[Open3D INFO]     H            : Print help message.
[Open3D INFO]     P, PrtScn    : Take a screen capture.
[Open3D INFO]     D            : Take a depth capture.
[Open3D INFO]     O            : Take a capture of current rendering settings.
[Open3D INFO] 
[Open3D INFO]   -- Render mode control --
[Open3D INFO]     L            : Turn on/off lighting.
[Open3D INFO]     +/-          : Increase/decrease point size.
[Open3D INFO]     Ctrl + +/-   : Increase/decrease width of geometry::LineSet.
[Open3D INFO]     N            : Turn on/off point cloud normal rendering.
[Open3D INFO]     S            : Toggle between mesh flat shading and smooth shading.
[Open3D INFO]     W            : Turn on/off mesh wireframe.
[Open3D INFO]     B            : Turn on/off back face rendering.
[Open3D INFO]     I            : Turn on/off image zoom in interpolation.
[Open3D INFO]     T            : Toggle among image render:
[Open3D INFO]                    no stretch / keep ratio / freely stretch.
[Open3D INFO] 
[Open3D INFO]   -- Color control --
[Open3D INFO]     0..4,9       : Set point cloud color option.
[Open3D INFO]                    0 - Default behavior, render point color.
[Open3D INFO]                    1 - Render point color.
[Open3D INFO]                    2 - x coordinate as color.
[Open3D INFO]                    3 - y coordinate as color.
[Open3D INFO]                    4 - z coordinate as color.
[Open3D INFO]                    9 - normal as color.
[Open3D INFO]     Ctrl + 0..4,9: Set mesh color option.
[Open3D INFO]                    0 - Default behavior, render uniform gray color.
[Open3D INFO]                    1 - Render point color.
[Open3D INFO]                    2 - x coordinate as color.
[Open3D INFO]                    3 - y coordinate as color.
[Open3D INFO]                    4 - z coordinate as color.
[Open3D INFO]                    9 - normal as color.
[Open3D INFO]     Shift + 0..4 : Color map options.
[Open3D INFO]                    0 - Gray scale color.
[Open3D INFO]                    1 - JET color map.
[Open3D INFO]                    2 - SUMMER color map.
[Open3D INFO]                    3 - WINTER color map.
[Open3D INFO]                    4 - HOT color map.

保存图片 ： 快捷键 P
[Open3D INFO] P, PrtScn : Take a screen capture.