Open3d之计算点云凸包

点云的凸包是包含所有点的最小凸集。 Open3D包含方法compute_convex_hull，该方法计算点云的凸包。 该实现基于Qhull。

compute_convex_hull: 计算点云的凸包并返回三角网格

create_from_triangle_mesh: 从三角网格的边缘创建LineSet

代码展示

# -*-coding:utf-8 -*-
import os
import open3d as o3d

import numpy as np

test_data_dir = '/home/pi/PycharmProjects/learn/Open3D/examples/test_data'
point_cloud_file_name = 'fragment.ply'
point_cloud_file_path = os.path.join(test_data_dir, point_cloud_file_name)
# 读取点云
pcd = o3d.io.read_point_cloud(point_cloud_file_path)
# 裁剪点云
vol = o3d.visualization.read_selection_polygon_volume(
    "/home/pi/PycharmProjects/learn/Open3D/examples/test_data/Crop/cropped.json")
chair = vol.crop_point_cloud(pcd)

# 计算点云的凸包
hull, _ = chair.compute_convex_hull()
hull_ls = o3d.geometry.LineSet.create_from_triangle_mesh(hull)
hull_ls.paint_uniform_color((1, 0, 0))
o3d.visualization.draw_geometries([chair, hull_ls])

效果展示