Open3D 去除满足一定条件的点（距离和颜色等）

使用OpenCV读入rgb图像

因为我从Azure Kinect SDK中获取的彩图为RGBA四通道图像，需要将其转换为RGB三通道图像。使用OpenCV读取图像，并用cv2.cvtColor转换

import open3d as o3d
import numpy as np
from matplotlib import pyplot as plt
import cv2
img = cv2.imread("F:/Depth_image_C++/open_and_save/open_and_save/3Dprintcarrot/rgb/(1).png")
img1 = cv2.cvtColor(img, cv2.COLOR_BGRA2BGR)
img1 = cv2.cvtColor(img1, cv2.COLOR_BGR2RGB)

图像转换为RGB三通道图像后，需要将其转为Open3D的格式

color_raw = o3d.geometry.Image(img1)

读入深度图以及设置相机内参后生成RGBD图以及点云

depth_raw = o3d.io.read_image("F:/Depth_image_C++/open_and_save/open_and_save/3Dprintcarrot/depth/(1).png")
rgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(color_raw, depth_raw, convert_rgb_to_intensity=False)
print(rgbd_image)

plt.subplot(1, 2, 1)
plt.title('Redwood grayscale image')
plt.imshow(rgbd_image.color)
plt.subplot(1, 2, 2)
plt.title('Redwood depth image')
plt.imshow(rgbd_image.depth)
plt.show()
#
inter = o3d.camera.PinholeCameraIntrinsic()
inter.set_intrinsics(1280, 720, 599.795593, 599.633118, 645.792786, 372.238983)

# pinholeCamera = o3d.camera.PinholeCameraIntrinsic(1280, 720, 599.795593, 599.633118, 645.792786, 372.238983)
# o3d.io.write_pinhole_camera_intrinsic('./file.json', inter)
# pinholeCamera = o3d.io.read_pinhole_camera_intrinsic('./file.json')
# print(inter.intrinsic_matrix)

pcd = o3d.geometry.PointCloud.create_from_rgbd_image(rgbd_image, inter)

去除符合一定特征的点云（距离，颜色等）

pcd.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
y_threshold = -0.5
points = np.asarray(pcd.points)
print(points.shape)
# 删除具备一定距离特征的点
# 第一种方法，点云颜色会发生变化
# mask = points[:, 2] < y_threshold
# pcd.points = o3d.utility.Vector3dVector(points[mask])

# 第二种方法，点云颜色等不会发生变化，想去除不同阈值范围内的不同点，可以使用多次
pcd = pcd.select_by_index(np.where(points[:, 2] < y_threshold)[0])
# points1 = np.asarray(pcd.points)
# pcd = pcd.select_by_index(np.where(points1[:, 2] > -0.6)[0])
# points = np.asarray(pcd.colors)
# print(points.shape)
# pcd = pcd.select_by_index(np.where(points[:, 1] > 0)[0])

# 去除符合一定颜色特征的点
# points1 = np.asarray(pcd.colors)
# print(points1.shape)
#

o3d.visualization.draw_geometries([pcd])

放几张效果图

原RGBD点云图

去除距离Z轴一定距离后的点云图

去除一定颜色范围内的点云后的点云图