功能说明:创建空白文件夹workpace
,创建文件obj2pcd_py.py
,将代码复制到obj2pcd_py.py
,在脚本所在目录创建data
文件夹,将.obj
文件放入到data
中,运行脚本。(在data中自动创建pcd文件目录)
详细代码:
import os
import numpy as np
import sys
import shutil
filedir = os.path.dirname(sys.argv[0])
os.chdir(filedir)
wdir = os.getcwd()
print('当前工作目录为:{}\n'.format(wdir))
for parent,dirs,files in os.walk(wdir):
print(dirs)
if 'data' in parent:
os.chdir('data')
os.mkdir('pcd_files')
#os.mkdir('pcd_files')
for file in files:
prefix = file.split('.')[0]
#f = open('0_pred.obj','rb')
new_name = prefix + '.' + 'pcd'
print(new_name)
f = open(new_name,'w')
num_lines = sum(1 for line in open(file))
print(num_lines)
#pcd的数据格式 https://blog.csdn.net/BaiYu_King/article/details/81782789
f.write('# .PCD v0.7 - Point Cloud Data file format \nVERSION 0.7 \nFIELDS x y z rgba \nSIZE 4 4 4 4 \nTYPE F F F U \nCOUNT 1 1 1 1 \n' )
f.write('WIDTH {} \nHEIGHT 1 \nVIEWPOINT 0 0 0 1 0 0 0 \n'.format(num_lines))
f.write('POINTS {} \nDATA ascii\n'.format(num_lines))
f1 = open(file,'rb')
#f2 = open('new_book.pcd','w')
lines = f1.readlines()
a = []
for line in lines:
line1 = line.decode()
new_line = line1.split(' ')[1] + ' ' + line1.split(' ')[2] + ' ' + line1.split(' ')[3] + ' ' + line1.split(' ')[4] + ' ' + line1.split(' ')[5] + ' ' + line1.split(' ')[6]
#new_line = line.split(' ')[1]
#f2.write(new_line)
f.write(new_line)
f.close()
shutil.move(new_name,'pcd_files')
原文链接:https://blog.csdn.net/RNG_uzi_/article/details/87365214
python另一个版本:
import os
import numpy as np
def read_obj(obj_path):
with open(obj_path) as file:
points = []
faces = []
while 1:
line = file.readline()
if not line:
break
strs = line.split(" ")
if strs[0] == "v":
points.append((float(strs[1]), float(strs[2]), float(strs[3])))
if strs[0] == "f":
faces.append((int(strs[1]), int(strs[2]), int(strs[3])))
points = np.array(points)
faces = np.array(faces)
return points, faces
def save_pcd(filename, pcd):
num_points = np.shape(pcd)[0]
f = open(filename, 'w')
f.write('# .PCD v0.7 - Point Cloud Data file format \nVERSION 0.7 \nFIELDS x y z \nSIZE 4 4 4 \nTYPE F F F \nCOUNT 1 1 1 \n')
f.write('WIDTH {} \nHEIGHT 1 \nVIEWPOINT 0 0 0 1 0 0 0 \n'.format(num_points))
f.write('POINTS {} \nDATA ascii\n'.format(num_points))
for i in range(num_points):
new_line = str(pcd[i,0]) + ' ' + str(pcd[i,1]) + ' ' + str(pcd[i,2]) + '\n'
f.write(new_line)
f.close()
if __name__ == "__main__":
objfile = "000000.obj"
points, _ = read_obj(objfile)
pcdfile = objfile.replace('.obj', '.pcd')
save_pcd(pcdfile, points)
原文链接:https://blog.csdn.net/weixin_42145554/article/details/117387027
c++ pcl格式转换:
参考:https://www.cnblogs.com/BambooEatPanda/p/8149922.html
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/obj_io.h>
#include <pcl/PolygonMesh.h>
//#include <pcl/ros/conversions.h>//formROSMsg所属头文件;
#include <pcl/point_cloud.h>
#include <pcl/io/vtk_lib_io.h>//loadPolygonFileOBJ所属头文件;
//#include <pcl/visualization/pcl_visualizer.h>
using namespace std;
using namespace pcl;
int main()
{
pcl::PolygonMesh mesh;
pcl::io::loadPolygonFile("sofa.obj", mesh);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromPCLPointCloud2(mesh.cloud, *cloud);
pcl::io::savePCDFileASCII("result.pcd", *cloud);
cout << cloud->size() << endl;
cout << "OK!";
cin.get();
return 0;
}
转换之前的obj:
转换之后的pcd点云后:
提取3D模型的meshes的顶点(Vertex)坐标,对于点云来说点数不够,而且在3D模型存在平面或者是简单立方体的情况下几乎没有点。
所以又需要PCL库了,pcl_mesh_sampling可以轻松解决这个问题。
它是通过调用VTK(Visualization ToolKit)读取模型,在3D模型平面均匀地采样点然后生成点云,并且你可以选择需要的点数, 以及voxel grid的采样距离。
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/vtk_lib_io.h>
#include <pcl/common/transforms.h>
#include <vtkVersion.h>
#include <vtkPLYReader.h>
#include <vtkOBJReader.h>
#include <vtkTriangle.h>
#include <vtkTriangleFilter.h>
#include <vtkPolyDataMapper.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
inline double
uniform_deviate (int seed)
{
double ran = seed * (1.0 / (RAND_MAX + 1.0));
return ran;
}
inline void
randomPointTriangle (float a1, float a2, float a3, float b1, float b2, float b3, float c1, float c2, float c3,
Eigen::Vector4f& p)
{
float r1 = static_cast<float> (uniform_deviate (rand ()));
float r2 = static_cast<float> (uniform_deviate (rand ()));
float r1sqr = std::sqrt (r1);
float OneMinR1Sqr = (1 - r1sqr);
float OneMinR2 = (1 - r2);
a1 *= OneMinR1Sqr;
a2 *= OneMinR1Sqr;
a3 *= OneMinR1Sqr;
b1 *= OneMinR2;
b2 *= OneMinR2;
b3 *= OneMinR2;
c1 = r1sqr * (r2 * c1 + b1) + a1;
c2 = r1sqr * (r2 * c2 + b2) + a2;
c3 = r1sqr * (r2 * c3 + b3) + a3;
p[0] = c1;
p[1] = c2;
p[2] = c3;
p[3] = 0;
}
inline void
randPSurface (vtkPolyData * polydata, std::vector<double> * cumulativeAreas, double totalArea, Eigen::Vector4f& p, bool calcNormal, Eigen::Vector3f& n)
{
float r = static_cast<float> (uniform_deviate (rand ()) * totalArea);
std::vector<double>::iterator low = std::lower_bound (cumulativeAreas->begin (), cumulativeAreas->end (), r);
vtkIdType el = vtkIdType (low - cumulativeAreas->begin ());
double A[3], B[3], C[3];
vtkIdType npts = 0;
vtkIdType *ptIds = NULL;
polydata->GetCellPoints (el, npts, ptIds);
polydata->GetPoint (ptIds[0], A);
polydata->GetPoint (ptIds[1], B);
polydata->GetPoint (ptIds[2], C);
if (calcNormal)
{
// OBJ: Vertices are stored in a counter-clockwise order by default
Eigen::Vector3f v1 = Eigen::Vector3f (A[0], A[1], A[2]) - Eigen::Vector3f (C[0], C[1], C[2]);
Eigen::Vector3f v2 = Eigen::Vector3f (B[0], B[1], B[2]) - Eigen::Vector3f (C[0], C[1], C[2]);
n = v1.cross (v2);
n.normalize ();
}
randomPointTriangle (float (A[0]), float (A[1]), float (A[2]),
float (B[0]), float (B[1]), float (B[2]),
float (C[0]), float (C[1]), float (C[2]), p);
}
void
uniform_sampling (vtkSmartPointer<vtkPolyData> polydata, size_t n_samples, bool calc_normal, pcl::PointCloud<pcl::PointNormal> & cloud_out)
{
polydata->BuildCells ();
vtkSmartPointer<vtkCellArray> cells = polydata->GetPolys ();
double p1[3], p2[3], p3[3], totalArea = 0;
std::vector<double> cumulativeAreas (cells->GetNumberOfCells (), 0);
size_t i = 0;
vtkIdType npts = 0, *ptIds = NULL;
for (cells->InitTraversal (); cells->GetNextCell (npts, ptIds); i++)
{
polydata->GetPoint (ptIds[0], p1);
polydata->GetPoint (ptIds[1], p2);
polydata->GetPoint (ptIds[2], p3);
totalArea += vtkTriangle::TriangleArea (p1, p2, p3);
cumulativeAreas[i] = totalArea;
}
cloud_out.points.resize (n_samples);
cloud_out.width = static_cast<pcl::uint32_t> (n_samples);
cloud_out.height = 1;
for (i = 0; i < n_samples; i++)
{
Eigen::Vector4f p;
Eigen::Vector3f n;
randPSurface (polydata, &cumulativeAreas, totalArea, p, calc_normal, n);
cloud_out.points[i].x = p[0];
cloud_out.points[i].y = p[1];
cloud_out.points[i].z = p[2];
if (calc_normal)
{
cloud_out.points[i].normal_x = n[0];
cloud_out.points[i].normal_y = n[1];
cloud_out.points[i].normal_z = n[2];
}
}
}
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;
const int default_number_samples = 100000;
const float default_leaf_size = 0.01f;
void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s input.{ply,obj} output.pcd <options>\n", argv[0]);
print_info (" where options are:\n");
print_info (" -n_samples X = number of samples (default: ");
print_value ("%d", default_number_samples);
print_info (")\n");
print_info (
" -leaf_size X = the XYZ leaf size for the VoxelGrid -- for data reduction (default: ");
print_value ("%f", default_leaf_size);
print_info (" m)\n");
print_info (" -write_normals = flag to write normals to the output pcd\n");
print_info (
" -no_vis_result = flag to stop visualizing the generated pcd\n");
}
/* ---[ */
int
main (int argc, char **argv)
{
print_info ("Convert a CAD model to a point cloud using uniform sampling. For more information, use: %s -h\n",
argv[0]);
if (argc < 3)
{
printHelp (argc, argv);
return (-1);
}
// Parse command line arguments
int SAMPLE_POINTS_ = default_number_samples;
parse_argument (argc, argv, "-n_samples", SAMPLE_POINTS_);
float leaf_size = default_leaf_size;
parse_argument (argc, argv, "-leaf_size", leaf_size);
bool vis_result = ! find_switch (argc, argv, "-no_vis_result");
const bool write_normals = find_switch (argc, argv, "-write_normals");
// Parse the command line arguments for .ply and PCD files
std::vector<int> pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
if (pcd_file_indices.size () != 1)
{
print_error ("Need a single output PCD file to continue.\n");
return (-1);
}
std::vector<int> ply_file_indices = parse_file_extension_argument (argc, argv, ".ply");
std::vector<int> obj_file_indices = parse_file_extension_argument (argc, argv, ".obj");
if (ply_file_indices.size () != 1 && obj_file_indices.size () != 1)
{
print_error ("Need a single input PLY/OBJ file to continue.\n");
return (-1);
}
vtkSmartPointer<vtkPolyData> polydata1 = vtkSmartPointer<vtkPolyData>::New ();
if (ply_file_indices.size () == 1)
{
pcl::PolygonMesh mesh;
pcl::io::loadPolygonFilePLY (argv[ply_file_indices[0]], mesh);
pcl::io::mesh2vtk (mesh, polydata1);
}
else if (obj_file_indices.size () == 1)
{
vtkSmartPointer<vtkOBJReader> readerQuery = vtkSmartPointer<vtkOBJReader>::New ();
readerQuery->SetFileName (argv[obj_file_indices[0]]);
readerQuery->Update ();
polydata1 = readerQuery->GetOutput ();
}
//make sure that the polygons are triangles!
vtkSmartPointer<vtkTriangleFilter> triangleFilter = vtkSmartPointer<vtkTriangleFilter>::New ();
#if VTK_MAJOR_VERSION < 6
triangleFilter->SetInput (polydata1);
#else
triangleFilter->SetInputData (polydata1);
#endif
triangleFilter->Update ();
vtkSmartPointer<vtkPolyDataMapper> triangleMapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
triangleMapper->SetInputConnection (triangleFilter->GetOutputPort ());
triangleMapper->Update ();
polydata1 = triangleMapper->GetInput ();
bool INTER_VIS = false;
if (INTER_VIS)
{
visualization::PCLVisualizer vis;
vis.addModelFromPolyData (polydata1, "mesh1", 0);
vis.setRepresentationToSurfaceForAllActors ();
vis.spin ();
}
pcl::PointCloud<pcl::PointNormal>::Ptr cloud_1 (new pcl::PointCloud<pcl::PointNormal>);
uniform_sampling (polydata1, SAMPLE_POINTS_, write_normals, *cloud_1);
if (INTER_VIS)
{
visualization::PCLVisualizer vis_sampled;
vis_sampled.addPointCloud<pcl::PointNormal> (cloud_1);
if (write_normals)
vis_sampled.addPointCloudNormals<pcl::PointNormal> (cloud_1, 1, 0.02f, "cloud_normals");
vis_sampled.spin ();
}
// Voxelgrid
VoxelGrid<PointNormal> grid_;
grid_.setInputCloud (cloud_1);
grid_.setLeafSize (leaf_size, leaf_size, leaf_size);
pcl::PointCloud<pcl::PointNormal>::Ptr voxel_cloud (new pcl::PointCloud<pcl::PointNormal>);
grid_.filter (*voxel_cloud);
if (vis_result)
{
visualization::PCLVisualizer vis3 ("VOXELIZED SAMPLES CLOUD");
vis3.addPointCloud<pcl::PointNormal> (voxel_cloud);
if (write_normals)
vis3.addPointCloudNormals<pcl::PointNormal> (voxel_cloud, 1, 0.02f, "cloud_normals");
vis3.spin ();
}
if (!write_normals)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_xyz (new pcl::PointCloud<pcl::PointXYZ>);
// Strip uninitialized normals from cloud:
pcl::copyPointCloud (*voxel_cloud, *cloud_xyz);
savePCDFileASCII (argv[pcd_file_indices[0]], *cloud_xyz);
}
else
{
savePCDFileASCII (argv[pcd_file_indices[0]], *voxel_cloud);
}
}