open3d python加载点云RGBD

目录

安装：

open3d显示点云

open3d python加载点云RGBD

SUN dataset转点云：

TUM dataset

NYU dataset

---

安装：

pip install open3d

open3d显示点云

import os
import open3d
import numpy as np
from random import random
import json

def loadPCD(path):
    points = np.fromfile(path, dtype=np.float32).reshape(-1, 5)
    points = points[:, :3]
    return points

def getPointCloud(pcd: np.ndarray, colors=None):
    assert len(pcd.shape) == 2 and pcd.shape[1] == 3, "invalid pcd shape: {}".format(
        pcd.shape)
    point_cloud = open3d.geometry.PointCloud()
    point_cloud.points = open3d.utility.Vector3dVector(pcd)
    if colors is not None:
        assert len(colors.shape) == 2 and colors.shape[1] == 3, "invalid colors shape: {}".format(
            colors.shape)
        point_cloud.colors = open3d.utility.Vector3dVector(colors)
    return point_cloud

def create_color_map(config_path=None, use_list=[]):
    color_map = {_:[random(), random(), random()] for _ in range(32)}
    if config_path:
        with open(config_path,'r') as f:
            tmp_map = {int(k):v  for k,v in json.load(f).items()}
        for _ in use_list: color_map[_] = tmp_map[_]
        del tmp_map
    return color_map

# # cannot show 2d image with open3d
# def getRGBImage(image: np.ndarray):
#     assert len(image.shape) == 3 and (image.shape[-1]==1 or image.shape[-1] ==3), "invalid image shape: {}".format(
#         image.shape)
#     # print(image)
#     img = open3d.geometry.Image(image)
#     # print(img)
#     return img

if __name__ == "__main__":
    test_pcd = np.random.randn(1000, 3)
    point_cloud = getPointCloud(test_pcd)
    open3d.visualization.draw_geometries([point_cloud])

open3d python加载点云RGBD

import open3d
import numpy as np

pcd = open3d.geometry.PointCloud()
np_points = np.random.rand(100,3)
# np_points = np.random.rand(4000,3)
pcd.points = open3d.utility.Vector3dVector(np_points)
# open3d.visualization.draw_geometries([pcd.points])
open3d.visualization.draw_geometries([pcd])

不能这样用：open3d.visualization.draw_geometries([pcd.points])

直接draw points会报错：

Did you forget to `#include `? Or ,
, , etc. Some automatic
conversions are optional and require extra headers to be included
when compiling your pybind11 module.

参考：在googlecolab使用open3d库时的open3d.visualization.draw_geometries()函数报错及解决方法_dtuyg的博客-CSDN博客

rgbd测试数据下载：

https://download.csdn.net/download/qq_41623632/13185597

1. 用Open3D分别读取RGB图片和深度图片
      彩色图：    

      深度图：

2. 把Open3D中的RGBD图片转化pcd格式并储存

3. 显示点云
      

看完整代码：

这个代码不报错，但是结果不对,可能是相机标定的不对

import open3d as o3d
import matplotlib.pyplot as plt

if __name__ == "__main__":
    print("Read Redwood dataset")
    # color_raw = o3d.io.read_image("color.jpg")
    color_raw = o3d.io.read_image(r"F:\project\3d\Open3D-master\examples\python\rgbd_dataset_freiburg3_walking_xyz\rgb\1341846313.553992.png")
    depth_raw = o3d.io.read_image(r"F:\project\3d\Open3D-master\examples\python\rgbd_dataset_freiburg3_walking_xyz\depth\1341846313.592088.png")
    # rgbd_image = o3d.geometry.RGBDImage.create_rgbd_image_from_color_and_depth(
    rgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(
        color_raw, depth_raw)
    print(rgbd_image)

    plt.subplot(1, 2, 1)
    plt.title('grayscale image')
    plt.imshow(rgbd_image.color)
    plt.subplot(1, 2, 2)
    plt.title('depth image')
    plt.imshow(rgbd_image.depth)
    plt.show()

    pcd = o3d.geometry.PointCloud.create_from_rgbd_image(rgbd_image, o3d.camera.PinholeCameraIntrinsic(o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault))
    # Flip it, otherwise the pointcloud will be upside down
    pcd.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
    o3d.io.write_point_cloud("data.ply", pcd)
    o3d.visualization.draw_geometries([pcd])
    # o3d.visualization.draw_geometries([pcd], zoom=0.5)

原文链接：https://blog.csdn.net/Guo_Python/article/details/106406871

SUN dataset转点云：

def sun():
    print("Read SUN dataset")
    color_raw = o3d.io.read_image(r"F:\project\3d\Open3D-master\examples\python\SUNRGBDLSUNTest\SUNRGBDv2Test\11082015\2015-11-08T13.42.16.610-0000006334\image\2015-11-08T13.42.16.610-0000006334.jpg")
    depth_raw = o3d.io.read_image(r"F:\project\3d\Open3D-master\examples\python\SUNRGBDLSUNTest\SUNRGBDv2Test\11082015\2015-11-08T13.42.16.610-0000006334\depth\2015-11-08T13.42.16.610-0000006334.png")
    rgbd_image = o3d.geometry.RGBDImage.create_from_sun_format(color_raw, depth_raw)
    print(rgbd_image)

    pcd = o3d.geometry.PointCloud.create_from_rgbd_image(rgbd_image, o3d.camera.PinholeCameraIntrinsic(o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault))
    # Flip it, otherwise the pointcloud will be upside down
    pcd.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
    o3d.visualization.draw_geometries([pcd])

原文：

Open3d学习计划——6（RGBD图像）_o3d.geometry.image_梦醒blue的博客-CSDN博客

原文中还有：

TUM dataset

NYU dataset