open3d画3D矩形框

在使用深度学习算法检测3维点云时候, 没有合适的可视化工具, 其实open3d是一个很好用的可视化工具

点云显示及连续帧动画显示可以参考上一篇文章

画3D矩形框,代码如下:

def custom_draw_geometry(pcd,linesets):
    vis = o3d.visualization.Visualizer()
    vis.create_window()
    vis.add_geometry(pcd)
    vis.add_geometry(linesets)
    render_option = vis.get_render_option()
    render_option.point_size = 4
    render_option.background_color = np.asarray([0, 0, 0])
    vis.run()
    vis.destroy_window()

if __name__ == "__main__":
	
    points_box = ***   # 3D框的8个点
    pc = ***   # 3维点云
    if len(pc) <= 300:
        continue
  
    lines_box = np.array([[0, 1], [1, 2], [0, 3], [2, 3], [4, 5], [4, 7], [5, 6], [6, 7],
                            [0, 4], [1, 5], [2, 6], [3, 7]])
    colors = np.array([[0, 1, 0] for j in range(len(lines_box))])
    line_set = o3d.geometry.LineSet()
    line_set.points = o3d.utility.Vector3dVector(points_box)
    line_set.lines = o3d.utility.Vector2iVector(lines_box)
    line_set.colors = o3d.utility.Vector3dVector(colors)
    point_cloud = o3d.geometry.PointCloud()
    point_cloud.points = o3d.utility.Vector3dVector(pc[:,:3])
    # generateBox(point_cloud)
    custom_draw_geometry(point_cloud, line_set)
            

若是出现3D框连线不对的问题,可以调整lines_box中的顶点连线的顺序