Open3d之计算点云凸包

一、Open3D 凸包定义

点云的凸包是包含所有点的最小凸集
三角网格的凸包是包含所有三角网格的最小凸集

二、Open3D 凸包函数解析

计算点云的凸包并返回三角网格和顶点索引
open3d.geometry.PointCloud.compute_convex_hull()
计算三角网格的凸包并返回三角网格和顶点索引
open3d.geometry.TriangleMesh.compute_convex_hull()

三、代码实现

从三角网格创建LineSet
open3d.geometry.LineSet.create_from_triangle_mesh()

import open3d as o3d

if __name__ == "__main__":

    print("Displaying pointcloud with convex hull ...")
    bunny = o3d.data.BunnyMesh()
    mesh = o3d.io.read_triangle_mesh(bunny.path)
    mesh.compute_vertex_normals()
	o3d.visualization.draw([mesh])
    # mesh_ls = o3d.geometry.LineSet.create_from_triangle_mesh(mesh)
    # mesh_ls.paint_uniform_color((1, 0, 0))
    # o3d.visualization.draw([mesh_ls])
    #网格点采样
    pcl = mesh.sample_points_poisson_disk(number_of_points=10000)
   # 计算点云凸包
    hull, _ = pcl.compute_convex_hull()
    # 计算网格凸包
 	#hull, _ = mesh.compute_convex_hull()
 	#创建线集
    hull_ls = o3d.geometry.LineSet.create_from_triangle_mesh(hull)
    hull_ls.paint_uniform_color((1, 0, 0))
    o3d.visualization.draw([pcl, hull_ls])