open3d 点云变换Transformation

最新推荐文章于 2024-05-20 20:26:39 发布

Mr.Q

最新推荐文章于 2024-05-20 20:26:39 发布

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分类专栏： open3d 文章标签： python

本文链接：https://blog.csdn.net/jizhidexiaoming/article/details/130581044

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point_cloud_transformation.py

1. 平移

import open3d as o3d
import numpy as np
import copy


def translate():
    """平移"""

    # 1. read pcd
    armadillo_data = o3d.data.ArmadilloMesh()
    pcd = o3d.io.read_triangle_mesh(armadillo_data.path).sample_points_poisson_disk(5000)
    # 2. translate
    pcd_tx = copy.deepcopy(pcd).translate((150, 0, 0))  # xyz
    pcd_ty = copy.deepcopy(pcd).translate((0, 200, 0))
    # 3. view
    print('Displaying original and translated geometries ...')
    o3d.visualization.draw([{
        "name": "Original Geometry",
        "geometry": pcd
    }, {
        "name": "Translated (in X) Geometry",
        "geometry": pcd_tx
    }, {
        "name": "Translated (in Y) Geometry",
        "geometry": pcd_ty
    }],
                           show_ui=True)

2. 旋转

def rotate():
    """旋转xyz轴"""

    # 1. read pcd
    armadillo_data = o3d.data.ArmadilloMesh()
    pcd = o3d.io.read_triangle_mesh(
        armadillo_data.path).sample_points_poisson_disk(5000)
    pcd_r = copy.deepcopy(pcd).translate((200, 0, 0))  # 沿着x平移
    # 2. rotate
    R = pcd.get_rotation_matrix_from_xyz((np.pi / 2, 0, np.pi / 4))  # 绕着x旋转90，再绕着z旋转45
    pcd_r.rotate(R)  # R: 3x3
    # 3. view
    print('Displaying original and rotated geometries ...')
    o3d.visualization.draw([{
        "name": "Original Geometry",
        "geometry": pcd
    }, {
        "name": "Rotated Geometry",
        "geometry": pcd_r
    }],
                           show_ui=True)

3. 缩放

def scale():
    """缩放"""

    # 1. read pcd
    armadillo_data = o3d.data.ArmadilloMesh()
    pcd = o3d.io.read_triangle_mesh(armadillo_data.path).sample_points_poisson_disk(5000)
    pcd_s = copy.deepcopy(pcd).translate((200, 0, 0))  # 沿着x平移

    # 2. scale: 点个数不变，改变的是点之间的距离
    pcd_s.scale(scale=0.5, center=pcd_s.get_center())  # pcd2.scale(2.0, (40, 0, 0))#点云放大两倍，质心平移至(-40, 0, 0)
    # # numpy 方式实现 scale
    # points = np.array(pcd_s.points)
    # points = points / 2.0  # 缩小到原来的一半
    # points[:, 0] = points[:, 0] + 40  # 质心平移到x=40处

    # 3. view
    print('Displaying original and scaled geometries ...')
    o3d.visualization.draw([{
        "name": "Original Geometry",
        "geometry": pcd
    }, {
        "name": "Scaled Geometry",
        "geometry": pcd_s
    }],
                           show_ui=True)

4. 变换

旋转+平移

def transform():
    """transform: 平移 + 旋转"""

    # 1. read pcd
    armadillo_data = o3d.data.ArmadilloMesh()
    pcd = o3d.io.read_triangle_mesh(
        armadillo_data.path).sample_points_poisson_disk(5000)
    # 2.
    T = np.eye(4)  # T: 4x4
    T[:3, :3] = pcd.get_rotation_matrix_from_xyz((0, np.pi / 3, np.pi / 2))  # 先绕着y旋转60，绕着z旋转90
    T[0, 3] = 150  # 再沿着x轴平移150
    T[1, 3] = 200  # 再沿着y轴平移200
    print(T)
    pcd_t = copy.deepcopy(pcd).transform(T)

    # 3. view
    print('Displaying original and transformed geometries ...')
    o3d.visualization.draw([{
        "name": "Original Geometry",
        "geometry": pcd
    }, {
        "name": "Transformed Geometry",
        "geometry": pcd_t
    }],
                           show_ui=True)

T4x4变换矩阵：前面3x3控制旋转，最后一列控制平移。

[[ 3.06161700e-17 -5.00000000e-01  8.66025404e-01  1.50000000e+02]
 [ 1.00000000e+00  6.12323400e-17  0.00000000e+00  2.00000000e+02]
 [-5.30287619e-17  8.66025404e-01  5.00000000e-01  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]