class9 Open3D-处理

一.安装pip3 install open3d     

注：报错解决 Could not find a version that satisfies the requirement torch==1.4.0

解决办法 ：cmd下载：  pip install open3d -i http://pypi.douban.com/simple/ --trusted-host pypi.douban.com

二.应用

1.多角度点云拼接在一起生成整个点云

bunny10k.ply

import open3d as o3d
import numpy as np
 
print("Open3D read Point Cloud")
pcd=o3d.io.read_point_cloud(r"C:\Users\86159\Desktop\python\class9\bunny\data\bunny10k.ply")#替换为自己的兔兔的路径#
print(pcd)
 
o3d.visualization.draw_geometries([pcd],width=800,height=600)

结果：

2.

Open3d的近邻搜索 

贴着表面去找 可以做到降噪

import open3d as o3d
import numpy as np
 
print("Open3D read Point Cloud")
pcd = o3d.io.read_point_cloud(r"C:\Users\86159\Desktop\python\class9\bunny\data\bunny10k.ply")
pcd.paint_uniform_color([0.5, 0.5, 0.5])#颜色可以设置为灰色#
 
pcd_tree = o3d.geometry.KDTreeFlann(pcd)#open3d里最重要的几何一套 贴着近邻平面去找#
pcd.colors[100] = [1, 0, 0]#把第100个点色彩设置为红#
 
[k, idx, _] = pcd_tree.search_knn_vector_3d(pcd.points[100],100)#以点源数据的第100个点找数据#
np.asarray(pcd.colors)[idx[1:], :] = [0, 1, 0]#返回找到的点的坐标，把周围100个点色彩设置成绿色#
 
o3d.visualization.draw_geometries([pcd],width=1200,height=1000)#实现三维空间的可视化#

 

 3.

基于半径的索引

给一个点，这是检索的半径的范围（距离）是多少

[k,idx,_] = pcd_tree.search_radius_vector_3d(pcd.points[3000],0.1)#索引半径小于0.02

np.asarray(pcd.colors)[idx[1:], :] = [0, 0, 1]

import open3d as o3d
import numpy as np
 
print("Open3D read Point Cloud")
pcd = o3d.io.read_point_cloud(r"C:\Users\86159\Desktop\python\class9\bunny\data\bunny10k.ply") 
pcd.paint_uniform_color([0.5,0.5,0.5])
 
pcd_tree = o3d.geometry.KDTreeFlann(pcd) 
pcd.colors[100] =[1,0,0]
                               
[k,idx,_] = pcd_tree.search_radius_vector_3d(pcd.points[3000],0.1) #索引半径小于0.02
np.asarray(pcd.colors)[idx[1:], :] = [0, 0, 1]
 
o3d.visualization.draw_geometries([pcd],width=1200,height=1000)

 4.基于混合的检索 

pcd.colors[2000]=[1, 0, 0]

[k2, idx2, _]=pcd_tree.search_hybrid_vector_3d(pcd.points[2000],0.05,200)

np.asarray(pcd.colors)[idx2[1:], :] = [0, 1, 0.8]

o3d.visualization.draw_geometries([pcd],width=1200,height=1000)

import open3d as o3d
import numpy as np
 
print("Open3D read Point Cloud")
pcd = o3d.io.read_point_cloud(r"C:\Users\86159\Desktop\python\class9\bunny\data\bunny10k.ply") 
pcd.paint_uniform_color([0.5,0.5,0.5])
 
pcd_tree = o3d.geometry.KDTreeFlann(pcd) 
pcd.colors[2000]=[1, 0, 0]
[k2, idx2, _]=pcd_tree.search_hybrid_vector_3d(pcd.points[2000],0.05,200)
np.asarray(pcd.colors)[idx2[1:], :] = [0, 1, 0.8]
o3d.visualization.draw_geometries([pcd],width=1200,height=1000)