Open3d(进阶二)——彩色点云配准

 亲测代码程序可运行使用，open3d版本0.13.0。

open3d数据资源下载:GitHub - Cobotic/Open3D: Open3D: A Modern Library for 3D Data Processing

代码执行功能有：可视化函数、输入点云、point-to-plane ICP、彩色点云配准，详情请见代码。

'''
Author: dongcidaci
Date: 2021-09-13 15:49:49
LastEditTime: 2021-09-13 16:03:58
LastEditors: Please set LastEditors
Description: In User Settings Edit
FilePath: \open3d_code\test_data\02_2_caisepeizhun.py
'''
import open3d as o3d
import numpy as np
import copy
#彩色点云配准
#演示了一种同时使用几何和颜色进行配准的ICP变体
#实现了颜色信息锁定与切平面的对齐

#可视化函数
#为了掩饰不同颜色点云之间的对齐,draw_registration_result_original_color使用原本的颜色可视化源点云.
def draw_registration_result_original_color(source, target, transformation):
    source_temp = copy.deepcopy(source)
    source_temp.transform(transformation)
    o3d.visualization.draw_geometries([source_temp, target])

#输入
#从两个文件中读取源点云和目标点云.使用单位阵作为初始化的配准矩阵.
print("1. Load two point clouds and show initial pose")
source = o3d.io.read_point_cloud("test_data/ColoredICP/frag_115.ply")
target = o3d.io.read_point_cloud("test_data/ColoredICP/frag_116.ply")
# draw initial alignment
current_transformation = np.identity(4)
draw_registration_result_original_color(source, target, current_transformation)

#Point-to-plane ICP
#下面的可视化结果展示了未对其的绿色三角形纹理.这是因为几何约束不能够阻止两个平面滑动.

# point to plane ICP
current_transformation = np.identity(4)
print("2. Point-to-plane ICP registration is applied on original point")
print("   clouds to refine the alignment. Distance threshold 0.02.")
result_icp = o3d.pipelines.registration.registration_icp(
        source, target, 0.02, current_transformation,
        o3d.pipelines.registration.TransformationEstimationPointToPlane())
print(result_icp)
draw_registration_result_original_color(source, target, result_icp.transformation)

#彩色点云配准
#彩色点云配准的核心函数是 registration_colored_icp .
voxel_radius = [0.04, 0.02, 0.01]
max_iter = [50, 30, 14]
current_transformation = np.identity(4)
print("3. Colored point cloud registration")
for scale in range(3):
    iter = max_iter[scale]
    radius = voxel_radius[scale]
    print([iter, radius, scale])

    print("3-1. Downsample with a voxel size %.2f" % radius)
    source_down = source.voxel_down_sample(radius)
    target_down = target.voxel_down_sample(radius)

    print("3-2. Estimate normal.")
    source_down.estimate_normals(
        o3d.geometry.KDTreeSearchParamHybrid(radius=radius * 2, max_nn=30))
    target_down.estimate_normals(
        o3d.geometry.KDTreeSearchParamHybrid(radius=radius * 2, max_nn=30))

    print("3-3. Applying colored point cloud registration")
    result_icp = o3d.pipelines.registration.registration_colored_icp(
        source_down, target_down, radius, current_transformation,
        o3d.pipelines.registration.ICPConvergenceCriteria(relative_fitness=1e-6,
                                                relative_rmse=1e-6,
                                                max_iteration=iter))
    current_transformation = result_icp.transformation
    print(result_icp)
draw_registration_result_original_color(source, target, result_icp.transformation)