博客

一、准备

3D模型文件

安装包：pip install open3d

二、代码与运行结果

2）点云查看斯坦福兔子

import open3d as o3d
import numpy as np

print('Open3D read Point Cloud')
pcd=o3d.io.read_point_cloud(r'D:\py2021\C8-open 3D\bunny10k.ply')
print(pcd)
o3d.visualization.draw_geometries([pcd],width=800,height=600)

o3d.io.write_point_cloud(r"d:\py2021\C8-open 3D\bunny\data\newrabbit.pcd",pcd)

成功运行

2）法向量兔子

##--------法向量--------------
import open3d as o3d
import numpy as np

print("Open3D read Point Cloud")
pcd = o3d.io.read_point_cloud(r"d:\py2021\C8-open 3D\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)

3）近邻搜索兔子

import open3d as o3d
import numpy as np

###——————近邻搜索点云图————————————
print("Open3D read Point Cloud")
pcd = o3d.io.read_point_cloud(r"d:\py2021\C8-open 3D\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_knn_vector_3d(pcd.points[100],100)
#np.asarray(pcd.colors)[idx[1:], :] = [0, 1, 0]

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

[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, 1, 0]

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

4）三角片面兔子：

代码

import open3d as o3d
#import open3d_tutorial as o3dtut  ?这句的作用，不注释掉会报错
import numpy as np

print("Open3D read Point Cloud")
pcd = o3d.io.read_triangle_mesh(r"d:\py2021\C8-open 3D\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([ballmesh])

o3d.visualization.draw_geometries([pcd, ballmesh])

三、错误

文件路径写错，导致无法识别