目录
一、读取点云数据
查看安装包:
pip list
获取数据:
斯坦福兔子The Stanford 3D Scanning Repository
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完整代码:
import open3d as o3d
import numpy as np
print("Open3D read Point Cloud")
pcd=o3d.io.read_point_cloud(r"bunny10k.ply") #读取
print(pcd) #打印点云的点数
o3d.visualization.draw_geometries([pcd],width=800,height=600) #显示
#o3d.io.write_point_cloud(r"data\newrabbit.pcd",pcd) #另存
运行结果:
(多角度点云拼接,有大量重复,生成整个点云)
二、近邻搜索
一般扫描仪扫描结果有很多噪点,可以采用近邻搜索的方式进行降噪
1、基于KNN的搜索
完整代码:
import open3d as o3d
import numpy as np
print("Open3D read Point Cloud")
pcd = o3d.io.read_point_cloud(r"bunny10k.ply")
pcd.paint_uniform_color([0.5, 0.5, 0.5]) #统一为灰点
pcd_tree = o3d.geometry.KDTreeFlann(pcd) #贴着物体表面寻找
pcd.colors[100] = [1, 0, 0] #第100个点是红点
[k, idx, _] = pcd_tree.search_knn_vector_3d(pcd.points[100],100) #以第100个点为中心,近邻搜索
np.asarray(pcd.colors)[idx[1:], :] = [0, 1, 0] #近邻点是绿点
o3d.visualization.draw_geometries([pcd],width=1200,height=1000)
运行结果:
2、基于半径的搜索
完整代码:
import open3d as o3d
import numpy as np
print("Open3D read Point Cloud")
pcd = o3d.io.read_point_cloud(r"bunny10k.ply")
pcd.paint_uniform_color([0.5, 0.5, 0.5])
pcd_tree = o3d.geometry.KDTreeFlann(pcd)
pcd.colors[3000] = [1, 0, 0]
[k,idx,_] = pcd_tree.search_radius_vector_3d(pcd.points[3000],0.02)
np.asarray(pcd.colors)[idx[1:], :] = [0, 0, 1]
o3d.visualization.draw_geometries([pcd],width=1200,height=1000)
运行结果:
3、基于混合的搜索
完整代码:
import open3d as o3d
import numpy as np
print("Open3D read Point Cloud")
pcd = o3d.io.read_point_cloud(r"bunny10k.ply")
pcd.paint_uniform_color([0.5, 0.5, 0.5])
pcd_tree = o3d.geometry.KDTreeFlann(pcd)
pcd.colors[2000]=[1, 0, 0]
[k, idx, _]=pcd_tree.search_hybrid_vector_3d(pcd.points[2000],0.05,200)
np.asarray(pcd.colors)[idx[1:], :] = [0, 1, 0.8]
o3d.visualization.draw_geometries([pcd],width=1200,height=1000)
运行结果:
三、法向量估计
完整代码:
import open3d as o3d
import numpy as np
print("Open3D read Point Cloud")
pcd = o3d.io.read_point_cloud(r"bunny10k.ply")
print(pcd)
dumppcd = pcd.voxel_down_sample(voxel_size=0.01) #下采样(降采样)
dumppcd.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.01,max_nn=30))
print(dumppcd.normals[0])
print(np.asarray(dumppcd.normals)[:10,:])
o3d.visualization.draw_geometries([dumppcd],point_show_normal=True,
window_name="法线估计", width=1200,
height=1000,mesh_show_back_face=False)
运行结果:
四、 生成三角片面
用无结构的点云数据生成结构化数据Mesh
- 生成三角片面需要先做法向量的估计
- 生成结果可3D打印
完整代码:
import open3d as o3d
import numpy as np
print("Open3D read Point Cloud")
pcd = o3d.io.read_triangle_mesh(r"bunny10k.ply")
print(pcd)
pcd.compute_vertex_normals()
pcdmesh = pcd.sample_points_poisson_disk(3000)
o3d.visualization.draw_geometries([pcdmesh],point_show_normal=True)
radii=[0.005, 0.01, 0.02, 0.04]
ballmesh = o3d.geometry.TriangleMesh.create_from_point_cloud_ball_pivoting(pcdmesh,o3d.utility.DoubleVector(radii))
print(ballmesh)
o3d.visualization.draw_geometries([pcd, ballmesh])