numpy数组与open3d.PointCloud数据类型相互转换

参照官方文档

1 从NumPy数组转换到open3d.PointCloud

import numpy as np
import open3d as o3d
xyz = np.random.rand(5, 3)

# 首先建立一个o3d的点云对象
pcd = o3d.geometry.PointCloud()

# 使用Vector3dVector方法转换
pcd.points = o3d.utility.Vector3dVector(xyz)
print(pcd.points)

std::vector<Eigen::Vector3d> with 5 elements.
Use numpy.asarray() to access data.

2 从open3d.PointCloud到NumPy

xyz2 = np.asarray(pcd.points)
print(xyz2)

[[0.51509472 0.32491886 0.62970019]
 [0.78035724 0.79255057 0.80462008]
 [0.97673987 0.7168711  0.02505123]
 [0.66217185 0.91978457 0.64062609]
 [0.464613   0.76532504 0.38297293]]