使用Open3d可视化.h5格式的点云

PointNet数据集indoor3d_sem_seg_hdf5_data

1. 下载链接

https://shapenet.cs.stanford.edu/media/indoor3d_sem_seg_hdf5_data.zip

2. 数据格式简介

indoor3d_sem_seg_hdf5_data 文件夹共有ply_data_all_0.h5 -ply_data_all_23.h5 24个h5格式的数据文件，每个文件包含两个dataset：data 和 label。这24个文件共有23×1000+585=23585行，每行一个Block，每个Block有4096个点（point），每点9个维度。另外还有两个txt文件：all_files.txt 和 room_filelist.txt。前者保存24个数据文件名。后者有23585 行; 即对应每个Block是在哪个area的哪个room采集。

3. 可视化一个Block

import h5py
import numpy as np
from numpy.core.fromnumeric import reshape
import open3d as o3d
import matplotlib.pyplot as plt

def visualize_with_label(cloud, label, window_name="open3d"):
    # assert cloud.shape[0] == label.shape[0]

    labels = np.asarray(label)
    max_label = labels.max()
    colors = plt.get_cmap("tab20")(labels / (max_label if max_label > 0 else 1))

    pt = o3d.geometry.PointCloud()
    pt.points = o3d.utility.Vector3dVector(cloud)
    pt.colors = o3d.utility.Vector3dVector(colors[:, :3])

    vis = o3d.visualization.Visualizer()
    vis.create_window(width=500, height=500)  # 创建窗口
    render_option: o3d.visualization.RenderOption = vis.get_render_option()  # 设置点云渲染参数
    render_option.background_color = np.array([0, 0, 0])  # 设置背景色（这里为黑色）
    render_option.point_size = 2.0  # 设置渲染点的大小
    vis.add_geometry(pt)  # 添加点云
    vis.run()
    #o3d.visualization.draw_geometries([pt], 'part of cloud', width=500, height=500)

def load_h5(h5_filename):
    f = h5py.File(h5_filename)
    data = f['data'][:]
    label = f['label'][:]
    return (data, label)

def load_h5_data_label_seg(h5_filename):
    f = h5py.File(h5_filename)
    data = f['data'][:]
    label = f['label'][:]
    seg = f['pid'][:]
    return (data, label, seg)


datas,labels = load_h5("/home/wpc/Research/code/pointnet-master/indoor3d_sem_seg_hdf5_data/ply_data_all_0.h5")

#one block
points = datas[0][..., 0:3]
label = labels[0]
visualize_with_label(points,label)

4. 结果