第九节课 open3D

安装：pip3 install open3d

查看安装包：pip list

去官网可以下载一些现成的3d模型，后缀为“.ply”

1.查看3d兔子

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)

 

 

2.近邻搜索

import open3d as o3d
import numpy as np

print("Open3D read Point Cloud")
pcd = o3d.io.read_point_cloud(r"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)

 3.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)

 4.用无结构的点云数据生成结构化数据Mesh

import open3d as o3d
import numpy as np

print("Open3D read Point Cloud")
pcd = o3d.io.read_point_cloud(r"bunny/data/bunny10k.ply")  #newrabbit.pcd")
print(pcd)
o3d.visualization.draw_geometries([pcd])

trimesh = o3d.geometry.TriangleMesh.create_from_point_cloud_alpha_shape(pcd,0.03)
print(trimesh)
o3d.visualization.draw_geometries([trimesh])

trimesh.compute_vertex_normals()
o3d.visualization.draw_geometries([trimesh],mesh_show_back_face=True)

 5.从三角片面生成

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=[0.005, 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])

 6.用open3D生成一个球

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])