第九节 open 3D

1、pip3 install open3d

2、查看包 pip list

查看3D模型

import open3d as o3d
import numpy as np
 
print("Open3D read Point Cloud")
pcd=o3d.io.read_point_cloud(r"data\bunny10k.ply")
print(pcd)
 
o3d.visualization.draw_geometries([pcd],width=800,height=600)

近邻搜索 ：

import open3d as o3d
import numpy as np
 
print('Open3D read Point Cloud')
pcd=o3d.io.read_point_cloud(r'bunny/data/bunny10k.ply')
pcd.paint_uniform_color([0.5,0.5,0.5])
 
pcd_tree=o3d.geometry.KDTreeFlann(pcd)
pcd.colors[100]=[1,0,0]
 
[k,idx,_]=pcd_tree.search_knn_vector_3d(pcd.points[100],100)
np.asarray(pcd.colors)[idx[1:], :]=[0,1,0]
 
o3d.visualization.draw_geometries([pcd],width=1200,height=1000)

法向量估计：

import open3d as o3d
import numpy as np
 
print("Open3D read Point Cloud")
pcd = o3d.io.read_point_cloud(r"bunny/data/bunny10k.ply")
print(pcd)
dumppcd = pcd.voxel_down_sample(voxel_size=0.01)  #下采样（降采样）
 
dumppcd.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.01,max_nn=30))
 
print(dumppcd.normals[0])
print(np.asarray(dumppcd.normals)[:10,:])
 
o3d.visualization.draw_geometries([dumppcd],point_show_normal=True,
                                  window_name="法线估计", width=1200,height=1000, mesh_show_back_face=False)

从三角片面形成

import open3d as o3d
# import open3d_tutorial as o3dtut
import numpy as np
 
print("Open3D read Point Cloud")
pcd = o3d.io.read_triangle_mesh(r"bunny/data/bunny10k.ply")  #newrabbit.pcd")
print(pcd)
pcd.compute_vertex_normals()
pcdmesh = pcd.sample_points_poisson_disk(3000)
o3d.visualization.draw_geometries([pcdmesh],point_show_normal=True)
 
radii=[0.009, 0.01, 0.02, 0.04]
 
ballmesh = o3d.geometry.TriangleMesh.create_from_point_cloud_ball_pivoting(pcdmesh,o3d.utility.DoubleVector(radii))
print(ballmesh)
o3d.visualization.draw_geometries([ballmesh])
 
o3d.visualization.draw_geometries([pcd, ballmesh])

生成球：

mesh = o3d.geometry.TriangleMesh.create_sphere()
mesh.compute_vertex_normals()
o3d.visualization.draw_geometries([mesh])
pcd = mesh.sample_points_uniformly(number_of_points=500)
o3d.visualization.draw_geometries([pcd])