python 点云下采样_Open3D 三维点云读取可视化、下采样、去除离群点、地面提取...

import open3d as o3d

def display_inlier_outlier(cloud, ind):

inlier_cloud = cloud.select_by_index(ind)

outlier_cloud = cloud.select_by_index(ind, invert=True)

print("Showing outliers (red) and inliers (gray): ")

outlier_cloud.paint_uniform_color([1, 0, 0])

inlier_cloud.paint_uniform_color([0.8, 0.8, 0.8])

o3d.visualization.draw_geometries([inlier_cloud, outlier_cloud], window_name='Open3D Removal Outlier', width=1920,

height=1080, left=50, top=50, point_show_normal=False, mesh_show_wireframe=False,

mesh_show_back_face=False)

# 读取：支持xyz、xyzn、xyzrgb、pts、ply、pcd、txt

pcd = o3d.io.read_point_cloud("D:/pcd/milk_cartoon_all_small_clorox.pcd")

# pcd = o3d.io.read_point_cloud("../../TestData/my_points.txt", format='xyz')

print(pcd)

o3d