Open3D Usage

最新推荐文章于 2024-02-21 00:15:00 发布

moneymyone

最新推荐文章于 2024-02-21 00:15:00 发布

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分类专栏： python 文章标签： python 人工智能

本文链接：https://blog.csdn.net/moneymyone/article/details/128697453

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What is open3D

Open3D is an open-source library that supports rapid development of software that deals with 3D data. The Open3D frontend exposes a set of carefully selected data structures and algorithms in both C++ and Python. The backend is highly optimized and is set up for parallelization. We welcome contributions from the open-source community.

open3D 核心功能包括：

3D data structures 3维数据结构
3D data processing algorithms 3维数据处理算法
Scene reconstruction 场景重建
Surface alignment 表面对齐
3D visualization 三维可视化
Physically based rendering (PBR) 物理渲染
3D machine learning support with PyTorch and TensorFlow 机器学习
GPU acceleration for core 3D operations GPU加速
Available in C++ and Python

python quick start

# Install
pip install open3d

# Verify installation
python -c "import open3d as o3d; print(o3d.__version__)"

0.15.2

# Python API
python -c "import open3d as o3d; \
           mesh = o3d.geometry.TriangleMesh.create_sphere(); \
           mesh.compute_vertex_normals(); \
           o3d.visualization.draw(mesh, raw_mode=True)"

# Open3D CLI
open3d example visualization/draw

***************************************************
* Open3D: A Modern Library for 3D Data Processing *
*                                                 *
* Version 0.15.2                                  *
* Docs    http://www.open3d.org/docs              *
* Code    https://github.com/isl-org/Open3D       *
***************************************************

交互指令

-- Mouse view control --
  Left button + drag         : Rotate.
  Ctrl + left button + drag  : Translate.
  Wheel button + drag        : Translate.
  Shift + left button + drag : Roll.
  Wheel                      : Zoom in/out.

-- Keyboard view control --
  [/]          : Increase/decrease field of view.
  R            : Reset view point.
  Ctrl/Cmd + C : Copy current view status into the clipboard.
  Ctrl/Cmd + V : Paste view status from clipboard.

-- General control --
  Q, Esc       : Exit window.
  H            : Print help message.
  P, PrtScn    : Take a screen capture.
  D            : Take a depth capture.
  O            : Take a capture of current rendering settings.

显示点云

open3d.io.read_point_cloud(filename, format='auto', remove_nan_points=False, \
remove_infinite_points=False, print_progress=False)

Example:
    
import open3d as o3d
pcd=o3d.io.read_point_cloud(r"Cloud.pcd")
print(pcd)

read_point_cloud Parameters

filename (str) – 文件路径
format (str,optional,default=‘auto’) – 文件的格式，默认是auto，将影响如何读取文件
remove_nan_points (bool*,* optional*,* default=False) – 是否移除值为nan的点
remove_infinite_points (bool*,* optional*,* default=False) – 是否移除值为inf的点
print_progress (bool*,* optional*,* default=False) – 当该值为True时，将会在可视化时出现一个过程条

Return

open3d.geometry.PointCloud对象

format参数的可选参数为：

格式	描述
xyz	每一行包含[x,y,z]
xyzn	每一行包含[x,y,z,nx,ny,nz]
xyzrgb	每一行包括[x,y,z,r,g,b] rgb为[0,1]之间的float类型
pts	第一行表示点数，之后每行包括[x,y,z,i,r,g,b] rgb为unit8类型
ply	ply文件
pcd	pcd文件

读取文本点云文件，通过numpy转换

import numpy as np
import open3d as o3d

# 读取到ndarray
data=np.genfromtxt(r'randy\three.txt',delimiter=",")
# 创建PointCloud类
pcd=o3d.geometry.PointCloud()
pcd.points=o3d.utility.Vector3dVector(data[:,:3])
print(pcd)

PointCloud的属性：

colors: 颜色信息，在可视化时能为几何体赋予视觉信息
covariances: 协方差
normal: 法向量
points: 位置信息

加载ply点云：

    print("Load a ply point cloud, print it, and render it")  # 加载PLY点云，打印它并显示它
    ply_point_cloud = o3d.data.PLYPointCloud()  # 获取点云数据，如果下载不成功，可以删除这行代码
    pcd = o3d.io.read_point_cloud(ply_point_cloud.path)  # ply_point_cloud.path，可以换成自己的点云文件的地址
    print(pcd)
    print(np.asarray(pcd.points))
    o3d.visualization.draw_geometries([pcd],
                                      zoom=0.3412,
                                      front=[0.4257, -0.2125, -0.8795],
                                      lookat=[2.6172, 2.0475, 1.532],
                                      up=[-0.0694, -0.9768, 0.2024])

显示单帧点云：

def draw_point_cloud(pcd):
    vis = o3d.visualization.Visualizer()
    vis.create_window()
    vis.add_geometry(pcd)
    render_option = vis.get_render_option()
    render_option.point_size = 1
    render_option.background_color = np.asarray([0, 0, 0])
    vis.run()
    vis.destroy_window()

批量单帧显示

import open3d as o3d
import os

pcds = os.listdir("/home/user/Documents/reconstruction/0715_file/0806_reconstruction/")
# pcds = [i for i in pcds if i.split(".")[-1] == "pcd"]
pcds.sort()
for pcd in pcds:
    print(pcd)
    source = o3d.io.read_point_cloud("/home/qiancj/pcd" + pcd)  # source 为需要配准的点云

    vis = o3d.visualization.Visualizer()
    vis.create_window()
    # 将两个点云放入visualizer
    vis.add_geometry(source)
    # vis.add_geometry(target)
    vis.get_render_option().point_size = 2
    # 让visualizer渲染点云
    vis.update_geometry()
    vis.poll_events()
    vis.update_renderer()

    vis.run()

点云可视化

draw_geometries(geometry_list, window_name=’Randy’, width=1920,\
 height=1080, left=50, top=50, point_show_normal=False,\
  mesh_show_wireframe=False, mesh_show_back_face=False,\
   lookat, up, front, zoom)

Retun:
    None
    
call function：
o3d.visualization.draw_geometries([pcd])

draw_geometries Parameters含义

parameter	含义
geometry_list (List[open3d.geometry.Geometry])	需要可视化的几何体列表
window_name (str, optional, default=‘Open3D’)	窗口名称
width (int, optional, default=1920)	窗口宽度
height (int, optional, default=1080)	窗口高度
left (int, optional, default=50)	窗口左边界
top (int, optional, default=50)	窗口顶部边界
point_show_normal (bool, optional, default=False)	是否展示法向量
mesh_show_wireframe (bool, optional, default=False)	是否可视化网格线框
mesh_show_back_face (bool, optional, default=False)	同时可视化格网三角形背部
lookat (numpy.ndarray[float64[3,1]])	相机注视向量
up (numpy.ndarray[float64[3,1]])	相机的上方向向量
front (numpy.ndarray[float64[3,1]])	相机的前矢量
zoom (float)	相机缩放倍数

Demos:

def custom_draw_geometry_with_key_callback(pcd):
    def change_background_to_black(vis):
        opt = vis.get_render_option()
        opt.background_color = np.asarray([0, 0, 0])
        return False
    def load_render_option(vis):
        vis.get_render_option().load_from_json(
                "../../TestData/renderoption.json")
        return False
    def capture_depth(vis):
        depth = vis.capture_depth_float_buffer()
        plt.imshow(np.asarray(depth))
        plt.show()
        return False
    def capture_image(vis):
        image = vis.capture_screen_float_buffer()
        plt.imshow(np.asarray(image))
        plt.show()
        return False
    key_to_callback = {}
    key_to_callback[ord("K")] = change_background_to_black
    key_to_callback[ord("R")] = load_render_option
    key_to_callback[ord(",")] = capture_depth
    key_to_callback[ord(".")] = capture_image
    draw_geometries_with_key_callbacks([pcd], key_to_callback)

custom_draw_geometry_with_key_callback(point_cloud)

显示法向量

pcd.normals=o3d.utility.Vector3dVector(data[:,3:])
o3d.visualization.draw_geometries([pcd],window_name="o3d",width=1920,height=1080,
                                  left=50,top=50,point_show_normal=True)

# 自动计算法向量
radius=0.01 # 搜索半径
max_nn=25 # 邻域内用于估算法线的最大点数
# 执行KD树搜索
pcd_bin.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius,max_nn))
o3d.visualization.draw_geometries([pcd_bin],window_name="o3d",width=1920,height=1080,
                                  left=50,top=50,point_show_normal=True)

点云增加颜色，可自己配置

colors = np.ndarray(shape=(npts, 3), dtype=int)
count = 0
for z in data_new[:, 2]:
    colors[count] = convert_data8(z)
    count = count + 1

pcd_bin.colors = o3d.utility.Vector3dVector(colors/255.0)
o3d.visualization.draw_geometries([pcd_bin], window_name="o3d", width=1920, height=1080,
left=50, top=50, point_show_normal=True)

多个geometry同时显示

path=r'\randy'
pcd1=read_txt(path+r"\three_1.txt")
pcd2=read_txt(path+r"\three_2.txt")
o3d.visualization.draw_geometries([pcd1,pcd2],window_name="Sesame",width=1920,height=1080,
            left=50,top=50,mesh_show_back_face=True)

同时显示多个点云

def draw_point_clouds_simultaneously(base_fold, is_down_sample = False, arg_voxel_size = 0.2):
    if base_fold == "":
        print("\033[1;31mBase fold is EMPTY. Please check!\033[0m")
    pcds = []
    pcds_path = []
    pcd_total = o3d.geometry.PointCloud()
    files = os.listdir(base_fold)
    for f in files:
        pcd_path = os.path.join(base_fold + f)
        pcds_path.append(pcd_path)
        pcd = o3d.io.read_point_cloud(pcd_path)
        # 降采样
        if is_down_sample:
            pcd_down = pcd.voxel_down_sample(voxel_size=arg_voxel_size)
            pcds.append(pcd_down)
        else:
            pcds.append(pcd)

    o3d.visualization.draw_geometries(pcds, window_name="Simultaneous display point clouds",
                                      width=1024, height=768,
                                      left=50, top=50,
                                      mesh_show_back_face=False)

保存点云

open3d.io.write_point_cloud(filename, pointcloud, write_ascii=False, compressed=False, print_progress=False)

Example: 
o3d.io.write_point_cloud("02.pcd",pcd2,write_ascii=True)

Return 
   bool

Parameters	含义
filename (str)	文件路径
pointcloud (open3d.geometry.PointCloud)	点云对象
write_ascii (bool，optional,default=False)	该参数为True时，将会写入ASCII码，否则一般写入二进制文件
compressed (bool,optional,default=False)	是否以压缩格式进行输出
print_progress (bool,optional,default=False)	是否在控制台打印一个进度条

合并点云

def merge_point_clouds(base_fold, save_path):
    if base_fold == "":
        print("\033[1;31mBase fold is EMPTY. Please check!\033[0m")
    if base_fold == "":
        print("\033[1;33mBase fold is EMPTY. Set base fold as target fold!\033[0m")
        now_time = datetime.datetime.now()
        cur_date = datetime.datetime.strptime(now_time, '%Y%m%d')
        tar_pcd = "merge_pcd_{}.pcd".format(cur_date)
        save_path = os.path.join(base_fold, tar_pcd)
    pcds_path = []
    files = os.listdir(base_fold)
    for f in files:
        pcd_path = os.path.join(base_fold + f)
        pcds_path.append(pcd_path)
    for i in range(len(pcds_path)):
        if i == 0:
            pcd0 = o3d.io.read_point_cloud(pcds_path[0])
            o3d.io.write_point_cloud(save_path, pcd0)
        else:
            pcd1 = o3d.io.read_point_cloud(save_path)
            pcd2 = pcd1 + o3d.io.read_point_cloud(pcds_path[i])
            o3d.io.write_point_cloud(save_path, pcd2)
    print("save merged point cloud file: ", save_path)

点云操作

体素下采样

down_sample_pcd = pcd_randy.voxel_down_sample(voxel_size=0.05)
o3d.visualization.draw_geometries([down_sample_pcd])
print("The number of point cloud is : ",pcd_randy)
print("The number of down_sample_PC is : ",down_sample_pcd)

点云正态估计

点云正态估计通过指定算法参数估测每个点可能的法向量，estimate_normals查找指定搜索半径内的临近点，通过这些临近点的协方差计算其主轴，从而估计法向量。正常情况下会产生两个方向相反的法向量，在不知道几何体的全局结构下，两者都可以是正确的。Open3D会尝试调整法线的方向，使其与原始法线对齐。

down_sample_pcd.estimate_normals(
    search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1, max_nn=30))
o3d.visualization.draw_geometries([down_sample_pcd],
                                  zoom=0.3488,
               front=[0.4288, -0.2188, -0.8788],
               lookat=[2.6188, 2.0488, 1.588],
               up=[-0.0688, -0.9788, 0.2088],
               point_show_normal=True)

# 访问顶点法线
print("Print a normal vector of the 8th point")
print(down_sample_pcd.normals[8])

print("Print the normal vectors of the first 8 points")
print(np.asarray(down_sample_pcd.normals)[:8, :])

点云裁剪

Open3D的点云裁剪需要通过read_selection_polygon_volume读取多边形选择区域的json文件，接着通过.crop_point_cloud()方法过滤出点。

print("Load a polygon volume and use it to crop the original point cloud")
demo_crop_data = o3d.data.DemoCropPointCloud()
pcd = o3d.io.read_point_cloud(demo_crop_data.point_cloud_path)
vol = o3d.visualization.read_selection_polygon_volume(demo_crop_data.cropped_json_path)
chair = vol.crop_point_cloud(pcd)
o3d.visualization.draw_geometries([chair],
                                  zoom=0.7,
               front=[0.4288, -0.2188, -0.8330],
               lookat=[2.6188, 2.0488, 1.588],
               up=[-0.0699, -0.9799, 0.2099])

绘制点云

paint_uniform_color可以将点云颜色绘制成同一的色彩。注意颜色是在[0,1]之间的float类型。

print("Paint desk")
chair.paint_uniform_color([0.8, 0.806, 0])
o3d.visualization.draw_geometries([desk],
                                  zoom=0.8,
          front=[0.5434, -0.2388, -0.8888],
          lookat=[2.4688, 2.1388, 1.388],
          up=[-0.1788, -0.9788, 0.1688])

###

选择点云

Open3D中，可以通过点云索引来进行筛选。select_by_index也可以通过修改invert方法进行反向选取。

inner=pcd_randy.select_by_index([i for i in range(len(pcd_randy.points)) if i%2==0])
outer=pcd_randy.select_by_index([i for i in range(10)],invert=True)
o3d.visualization.draw_geometries([pcd_randy])
o3d.visualization.draw_geometries([inner])
o3d.visualization.draw_geometries([outer])

点云距离

Open3D提供了compute_point_cloud_distance方法，能够计算源点云到目标点云的最近距离，该方法也能用于计算两点云之间的切角距离。

demo_crop_data = o3d.data.DemoCropPointCloud()
pcd = o3d.io.read_point_cloud(demo_crop_data.point_cloud_path)
vol = o3d.visualization.read_selection_polygon_volume(demo_crop_data.cropped_json_path)
chair = vol.crop_point_cloud(pcd)

#从原始图像到裁剪图像中最近点的距离
dists=pcd.compute_point_cloud_distance(chair)
dists=np.asarray(dists)
index=np.where(dists>0.1)[0]
pcd_without_chair = pcd.select_by_index(index)
o3d.visualization.draw_geometries([pcd_without_chair],
                                  zoom=0.3412,
          front=[0.5434, -0.2388, -0.8888],
          lookat=[2.4688, 2.1388, 1.388],
          up=[-0.1788, -0.9788, 0.1688])

边界体积

与其几何类型相似，PointCloud也具有边界体积。

aabb = chair.get_axis_aligned_bounding_box()
aabb.color = (1, 0, 0)
obb = chair.get_oriented_bounding_box()
obb.color = (0, 1, 0)
o3d.visualization.draw_geometries([chair, aabb, obb],
                                  zoom=0.7,
          front=[0.5434, -0.2388, -0.8888],
          lookat=[2.4688, 2.1388, 1.388],
          up=[-0.1788, -0.9788, 0.1688])

凸包计算

点云凸包是包含所有点的最小凸集，在Open3D中，可采用compute_convex_hull计算。

bunny = o3d.data.BunnyMesh()
mesh = o3d.io.read_triangle_mesh(bunny.path)
mesh.compute_vertex_normals()

pcl = mesh.sample_points_poisson_disk(number_of_points=2000)
hull, _ = pcl.compute_convex_hull()
hull_ls = o3d.geometry.LineSet.create_from_triangle_mesh(hull)
hull_ls.paint_uniform_color((1, 0, 0))
o3d.visualization.draw_geometries([pcl, hull_ls])

DBSCAN聚类

DBSCAN是Ester在1996年提出的一种聚类算法，Open3D中也提供了该算法的APIpc.cluster_dbscan(eps,min_points,print_progress)，eps定义了簇的半径距离，而min_points定义形成簇的最小点数量。返回是一个标签对象，若值为-1则表示噪声。

import matplotlib.pyplot as plt
ply_point_cloud = o3d.data.PLYPointCloud()
pcd = o3d.io.read_point_cloud(ply_point_cloud.path)

with o3d.utility.VerbosityContextManager(
        o3d.utility.VerbosityLevel.Debug) as cm:
    labels = np.array(
        pcd.cluster_dbscan(eps=0.02, min_points=10, print_progress=True))

max_label = labels.max()
print(f"point cloud has {max_label + 1} clusters")
colors = plt.get_cmap("DaTou")(labels / (max_label if max_label > 0 else 1))
colors[labels < 0] = 0
pcd.colors = o3d.utility.Vector3dVector(colors[:, :3])
o3d.visualization.draw_geometries([pcd],
                                  zoom=0.453,
                 front=[-0.4999, -0.1633, -0.8499],
                 lookat=[2.1833, 2.0633, 2.0999],
                 up=[0.1233, -0.9833, 0.1

平面分割

Open3D支持使用RANSAC方法从点云中分割几何基元(geometric primitives)。通过segment_plane方法，可以找到点云中的最大支持平面(the plane with the largest support`)。该方法提供了三个参数：

distance_threshold：定义了一个点可被视为内嵌点的估计平面的最大距离
ransac_n：定义用来估计平面的随机抽样点数量
num_iterations：定义了随机平面抽样和验证的频率

消隐点

当我们从给定视角渲染点云时，由于前方没有遮挡，可能会有背面的点渗入到前景中。Katz提出了一种消隐算法(Hidden point removal),可以从给定的视图中近似地获得点云的可见性，而无需表面重建或正常的估计。

print("Convert mesh to a point cloud and estimate dimensions")
armadillo = o3d.data.ArmadilloMesh()
mesh = o3d.io.read_triangle_mesh(armadillo.path)
mesh.compute_vertex_normals()

pcd = mesh.sample_points_poisson_disk(5000)
diameter = np.linalg.norm(
    np.asarray(pcd.get_max_bound()) - np.asarray(pcd.get_min_bound()))
o3d.visualization.draw_geometries([pcd])

print("Define parameters used for hidden_point_removal")
camera = [0, 0, diameter]
radius = diameter * 100

print("Get all points that are visible from given view point")
_, pt_map = pcd.hidden_point_removal(camera, radius)

print("Visualize result")
pcd = pcd.select_by_index(pt_map)
o3d.visualization.draw_geometries([pcd])

参考

Open3D 官网
http://www.open3d.org/docs/release/index.html
Open3D点云处理
https://blog.csdn.net/qq_45957458/article/details/124282087
Python: 用open3D库，连续多帧显示点云（查看localization pose的好坏）
https://blog.csdn.net/melally/article/details/126116894
使用open3d可视化
https://blog.csdn.net/suyunzzz/article/details/105183824#t4)
Open3D之键盘切换上下帧显示点云
https://zhuanlan.zhihu.com/p/539697926
点云可视化工具open3d的使用
https://blog.csdn.net/mingshili/article/details/124714290