open3d 表面重建

目录

1. create_from_point_cloud_ball_pivoting

2.  create_from_point_cloud_alpha_shape

3.  create_from_point_cloud_poisson

---

从以下效果来看，第三个方法最好。

1. create_from_point_cloud_ball_pivoting

关键代码：

rec_mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_ball_pivoting(
    pcd, o3d.utility.DoubleVector(radii))

triangle_mesh_from_point_cloud_ball_pivoting.py 

import open3d as o3d
import numpy as np

if __name__ == "__main__":
    # 1. read pcd
    bunny = o3d.data.BunnyMesh()
    gt_mesh = o3d.io.read_triangle_mesh(bunny.path)
    gt_mesh.compute_vertex_normals()

    pcd = gt_mesh.sample_points_poisson_disk(3000)
    print("Displaying input pointcloud ...")
    o3d.visualization.draw([pcd], point_size=5)

    # 2. creat mesh by ball.
    pcd.estimate_normals()
    distances = pcd.compute_nearest_neighbor_distance()
    avg_dist = np.mean(distances)
    radius = 2 * avg_dist

    # radii = [0.005, 0.01, 0.02, 0.04]
    radii = [radius, radius*2, radius*4, radius*8]
    # radii = [radius, radius*2]
    print('Running ball pivoting surface reconstruction ...')
    rec_mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_ball_pivoting(
        pcd, o3d.utility.DoubleVector(radii))
    print("Displaying reconstructed mesh ...")
    o3d.visualization.draw([rec_mesh])

 

2.  create_from_point_cloud_alpha_shape

关键代码： 

mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_alpha_shape(
    pcd, alpha)

 alpha shape：源自“On the shape of a set of points in the plane”。用于平面点集合表面重建。

alpha shape是在凸包的基础上多了一个alpha参数，目的是不像凸包一样连接过远的点。alpha参数越大，则重建效果越接近凸包，参数越小，则越贴和点集合的外形。所以选择合适的alpha参数可以更加符合点集所描绘的真实形状。

import open3d as o3d

if __name__ == "__main__":
    # 1. read pcd
    bunny = o3d.data.BunnyMesh()
    mesh = o3d.io.read_triangle_mesh(bunny.path)
    mesh.compute_vertex_normals()

    pcd = mesh.sample_points_poisson_disk(3000)
    print("Displaying input pointcloud ...")
    o3d.visualization.draw_geometries([pcd])

    # 2. create mesh by alpha
    alpha = 0.03  # 越大形状偏离越大
    print(f"alpha={alpha:.3f}")
    print('Running alpha shapes surface reconstruction ...')
    mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_alpha_shape(
        pcd, alpha)
    mesh.compute_triangle_normals(normalized=True)
    print("Displaying reconstructed mesh ...")
    o3d.visualization.draw_geometries([mesh], mesh_show_back_face=True)

  

3.  create_from_point_cloud_poisson

关键代码：

mesh, densities = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(
    pcd, depth=9)

import open3d as o3d
import numpy as np

if __name__ == "__main__":
    # eagle = o3d.data.EaglePointCloud()
    # pcd = o3d.io.read_point_cloud(eagle.path)
    # R = pcd.get_rotation_matrix_from_xyz((np.pi, -np.pi / 4, 0))
    # pcd.rotate(R, center=(0, 0, 0))
    # print('Displaying input pointcloud ...')
    # o3d.visualization.draw([pcd])
    bunny = o3d.data.BunnyMesh()
    mesh = o3d.io.read_triangle_mesh(bunny.path)
    mesh.compute_vertex_normals()
    pcd = mesh.sample_points_poisson_disk(3000)
    print("Displaying input pointcloud ...")
    o3d.visualization.draw_geometries([pcd])

    print('Running Poisson surface reconstruction ...')
    mesh, densities = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(
        pcd, depth=9)  # depth值越大，效果越好
    print('Displaying reconstructed mesh ...')
    mesh.paint_uniform_color((0, 1, 1))
    o3d.visualization.draw([mesh])