Open3D

数据读取与显示

import open3d as o3d 
 
def read_pcd(path_file):
    pcd = o3d.io.read_point_cloud(path_file)
    o3d.io.write_point_cloud("filename.pcd",pcd)      
    return pcd
 
def read_mesh(path_file):
    mesh = o3d.io.read_triangle_mesh(path_file)
    o3d.io.write_triangle_mesh("filename.ply",mesh)
    o3d.visualization.draw_geometries
    return mesh
 
def read_img(path_file):
    img = o3d.io.read_image(path_file)
    o3d.io.write_image("filename.jpg",img)
    return img
 
def show_pcd(pcd):
    o3d.visualization.draw_geometries([pcd])
 
def show_coordinate()
    mesh_frame = o3d.geometry.create_mesh_coordinate_frame(size=1, origin=[0, 0, 0])
    o3d.visualization.draw_geometries([mesh_frame])

原文链接

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NumPy to open3d.PointCloud
numpy转open3D需要借助Vector3dVector函数，这样可以直接赋值与open3d.PointCloud.points，具体操作如下，假设xyz、nxnynz、rgb分别是一个n*3numpy数组，则对于点数，法向量和颜色的转换都可以借助Vector3dVector函数，具体操作如下：

import numpy as np
import open3D as o3d
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(xyz)
pcd.normals = o3d.utility.Vector3dVector(nxnynz)
pcd.colors = o3d.utility.Vector3dVector(rgb)

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2. open3d.PointCloud to NumPy
   上面可以看出 open3D是对点做的而变化，所以反过来也是：

import numpy as np
import open3d as o3d
# Load saved point cloud and visualize it
pcd_load = o3d.io.read_point_cloud("../../TestData/sync.ply")

# convert Open3D.o3d.geometry.PointCloud to numpy array
xyz_load = np.asarray(pcd_load.points)
o3d.visualization.draw_geometries([pcd_load])

原文链接：https://blog.csdn.net/baidu_34172099/article/details/106756630