关键代码:
_, pt_map = pcd.hidden_point_removal(camera_location=camera, radius=radius) # pt_map: idx list
提取点:
pcd = pcd.select_by_index(pt_map)
import open3d as o3d
import numpy as np
if __name__ == "__main__":
# 1. read pcd
# Convert mesh to a point cloud and estimate dimensions.
armadillo_data = o3d.data.ArmadilloMesh()
pcd = o3d.io.read_triangle_mesh(
armadillo_data.path).sample_points_poisson_disk(5000)
print("Displaying input point cloud ...")
o3d.visualization.draw([pcd], point_size=5)
# 2. Define parameters used for hidden_point_removal.
diameter = np.linalg.norm(
np.asarray(pcd.get_max_bound()) - np.asarray(pcd.get_min_bound()))
camera = [0, 0, diameter]
radius = diameter * 100 # float
# 3. Get all points that are visible from given view point.
_, pt_map = pcd.hidden_point_removal(camera_location=camera, radius=radius) # pt_map: idx list
pcd = pcd.select_by_index(pt_map)
print("Displaying point cloud after hidden point removal ...")
o3d.visualization.draw([pcd], point_size=5)