open3d：Numpy点云拼接代码实现

点云拼接主要是把不同的点云拼接到一起。通常，为了获得一个完整物体的三维点云，我们可能会在不同的视点进行数据采集，然后把采集的点云数据拼接到一起。由于视点的不同，所采集到的多个点云的坐标系也会不一致。为了解决坐标系不一致的问题，最可能用到点云配准技术，或者提前知道视点间的坐标关系。

对于上述已经配准好的数据，这里就可以直接将配准好的数据与目标点云进行拼接，实现视角的补充。这里使用最普通的Numpy将两个数据矩阵进行拼接，既两个点云叠加。这会导致点云数据量显著增加。因此可以用一些下采样的方法，或者将距离相近的点合并为一个点。（点云下采样的方法可以有效的减少点云数据，又不至于影响整体效果）

import open3d
import numpy as np
import mayavi.mlab as mlab

def open3d_registration():
    ply_path = r"E:\xxxx\xxx\3D_tools_data\reconstruction\xxxx.ply"
    ply = open3d.io.read_triangle_mesh(ply_path)
    point_s1 = np.array(ply.vertices)
    ply_path = r"E:\xxxxx\3D_tools_data\reconstruction\xxxxxx3.ply"
    ply = open3d.io.read_triangle_mesh(ply_path)
    point_s2 = np.array(ply.vertices)
    print(point_s1.shape, point_s2.shape)
    source = open3d.geometry.PointCloud()
    source.points = open3d.utility.Vector3dVector(point_s1)
    target = open3d.geometry.PointCloud()
    target.points = open3d.utility.Vector3dVector(point_s2)
    icp = open3d.pipelines.registration.registration_icp(
        source=source,
        target=target,
        max_correspondence_distance=0.2,    # 距离阈值
        estimation_method=open3d.pipelines.registration.TransformationEstimationPointToPoint()
    )
    print(icp)
    source.transform(icp.transformation)
    points = np.array(source.points)
    # 配准可视化
    # x = points[:, 0]
    # y = points[:, 1]
    # z = points[:, 2]
    # fig = mlab.figure(bgcolor=(0, 0, 0), size=(640, 640))
    # mlab.points3d(x, y, z, x, mode="point", color=(0, 0, 1), figure=fig)   # 蓝色
    #
    # x = point_s1[:, 0]
    # y = point_s1[:, 1]
    # z = point_s1[:, 2]
    # mlab.points3d(x, y, z, x, mode="point", color=(0, 1, 0), figure=fig)   # 绿色
    #
    # x = point_s2[:, 0]
    # y = point_s2[:, 1]
    # z = point_s2[:, 2]
    # mlab.points3d(x, y, z, x, mode="point", color=(1, 0, 0), figure=fig)   # 红色
    # mlab.show()
    # 拼接可视化
    points = np.concatenate([points, point_s2], axis=0)
    print(points.shape)
    x = points[:, 0]
    y = points[:, 1]
    z = points[:, 2]
    fig = mlab.figure(bgcolor=(0, 0, 0), size=(640, 640))
    mlab.points3d(x, y, z, y, mode="point", figure=fig)
    mlab.show()


if __name__ == '__main__':
    open3d_registration()