Open3D实现点云的平移、旋转、缩放

jjm2002

已于 2024-04-17 20:19:09 修改

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分类专栏：点云配准Python 文章标签： python Open3D

于 2024-04-17 14:34:54 首次发布

本文链接：https://blog.csdn.net/qq_58060770/article/details/137871855

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本文介绍了如何使用Open3D库在Python中实现点云的旋转、平移和缩放操作。通过定义rotate_pointcloud、translate_pointcloud和scale_pointcloud三个函数，分别对点云进行角度旋转、轴向平移和比例缩放。旋转函数依据轴和角度进行旋转，平移函数则按照指定轴和平移距离移动点云，而缩放函数则围绕点云中心按比例调整其大小。

一、代码

Python

import open3d as o3d
import numpy as np


def rotate_pointcloud(pointcloud, degree, axis):
    radian = np.radians(degree)
    if axis == 0:
        restore = pointcloud.get_rotation_matrix_from_xyz((radian, 0, 0))
        pointcloud.rotate(restore, center=(0, 0, 0))
    elif axis == 1:
        restore = pointcloud.get_rotation_matrix_from_xyz((0, radian, 0))
        pointcloud.rotate(restore, center=(0, 0, 0))
    elif axis == 2:
        restore = pointcloud.get_rotation_matrix_from_xyz((0, 0, radian))
        pointcloud.rotate(restore, center=(0, 0, 0))
    return pointcloud


def translate_pointcloud(pointcloud, translate, axis):
    if axis == 0:
        pointcloud = pointcloud.translate((translate, 0, 0))
    elif axis