【open3d-basic】2-pointcloud

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import numpy as np
import open3d as o3d

if __name__ == "__main__":

    print("Load a ply point cloud, print it, and render it")
    pcd = o3d.io.read_point_cloud("../../TestData/fragment.ply")
    print(pcd)
    print(np.asarray(pcd.points))
    o3d.visualization.draw_geometries([pcd],window_name='Open3D_1')

    # pointcloud = o3d.PointCloud()
    # pointcloud.points = o3d.Vector3dVector(np.asarray(pcd.points))
    # o3d.visualization.draw_geometries([pointcloud])
    # downpcd = o3d.geometry.voxel_down_sample(pointcloud, voxel_size=0.05)
    # o3d.visualization.draw_geometries([downpcd])

    print("Downsample the point cloud with a voxel of 0.05")
    # downpcd = pcd.voxel_down_sample(voxel_size=0.05) # 官方文档上的这句话会报错
    downpcd = o3d.geometry.voxel_down_sample(pcd, voxel_size=0.05)
    o3d.visualization.draw_geometries([downpcd],window_name='Open3D_2')

    print("Recompute the normal of the downsampled point cloud")
    # downpcd.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1, max_nn=30))
    o3d.geometry.estimate_normals(downpcd,search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1, max_nn=30))
    o3d.visualization.draw_geometries([downpcd],window_name='Open3D_3')

    print("Print a normal vector of the 0th point")
    print(downpcd.normals[0])
    print("Print the normal vectors of the first 10 points")
    print(np.asarray(downpcd.normals)[:10, :])
    print("")

    print("Load a polygon volume and use it to crop the original point cloud")
    vol = o3d.visualization.read_selection_polygon_volume(
        "../../TestData/Crop/cropped.json")

    chair = vol.crop_point_cloud(pcd)
    o3d.visualization.draw_geometries([chair],window_name='Open3D_4')
    print("")

    print("Paint chair")
    chair.paint_uniform_color([1, 0.706, 0])
    o3d.visualization.draw_geometries([chair],window_name='Open3D_5')
    print("")

Result：

Load a ply point cloud, print it, and render it
Reading PLY: [========================================] 100%
geometry::PointCloud with 196133 points.
[[0.65234375 0.84686458 2.37890625]
 [0.65234375 0.83984375 2.38430572]
 [0.66737998 0.83984375 2.37890625]
 ...
 [2.00839925 2.39453125 1.88671875]
 [2.00390625 2.39488506 1.88671875]
 [2.00390625 2.39453125 1.88793314]]
Downsample the point cloud with a voxel of 0.05
Recompute the normal of the downsampled point cloud
Print a normal vector of the 0th point
[ 0.85641574  0.01693013 -0.51600915]
Print the normal vectors of the first 10 points
[[ 8.56415744e-01  1.69301342e-02 -5.16009150e-01]
 [-3.10071169e-01  3.92564590e-02 -9.49902522e-01]
 [-2.21066308e-01  2.07235365e-07 -9.75258780e-01]
 [-2.65577574e-01 -1.84601949e-01 -9.46250851e-01]
 [-7.91944115e-01 -2.92017206e-02 -6.09894891e-01]
 [-8.84912237e-02 -9.89400811e-01  1.15131831e-01]
 [ 6.28492508e-01 -6.12988948e-01 -4.78791935e-01]
 [ 7.28260110e-01 -4.73518839e-01 -4.95395924e-01]
 [-5.07368635e-03 -9.99572767e-01 -2.87844085e-02]
 [ 3.49295119e-01  1.16948013e-02 -9.36939780e-01]]

Load a polygon volume and use it to crop the original point cloud
Cropping geometry: [========================================] 100%

Paint chair