open3d操作.ply文件（点云）
读取.ply文件
import open3d as o3d
pcd=o3d.io.read_point_cloud(ply_path,format='ply')
ppoints=np.asarray(pcd.points)
pcolors=np.asarray(pcd.colors)
生成.ply文件
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(xyz)
o3d.io.write_point_cloud("../../TestData/sync.ply", pcd)
点云可视化
print("Load a ply point cloud, print it, and render it")
ply_point_cloud = o3d.data.PLYPointCloud()
pcd = o3d.io.read_point_cloud(ply_point_cloud.path)
print(pcd)
print(np.asarray(pcd.points))
o3d.visualization.draw_geometries([pcd],
zoom=0.3412,
front=[0.4257, -0.2125, -0.8795],
lookat=[2.6172, 2.0475, 1.532],
up=[-0.0694, -0.9768, 0.2024])
点云下采样
print("Downsample the point cloud with a voxel of 0.05")
downpcd = pcd.voxel_down_sample(voxel_size=0.05)
o3d.visualization.draw_geometries([downpcd],
zoom=0.3412,
front=[0.4257, -0.2125, -0.8795],
lookat=[2.6172, 2.0475, 1.532],
up=[-0.0694, -0.9768, 0.2024])
法线估计
print("Recompute the normal of the downsampled point cloud")
downpcd.estimate_normals(
search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1, max_nn=30))
o3d.visualization.draw_geometries([downpcd],
zoom=0.3412,
front=[0.4257, -0.2125, -0.8795],
lookat=[2.6172, 2.0475, 1.532],
up=[-0.0694, -0.9768, 0.2024],
point_show_normal=True)
颜色统一化
print("Paint chair")
chair.paint_uniform_color([1, 0.706, 0])
o3d.visualization.draw_geometries([chair],
zoom=0.7,
front=[0.5439, -0.2333, -0.8060],
lookat=[2.4615, 2.1331, 1.338],
up=[-0.1781, -0.9708, 0.1608])
