Open3D
- 教程
- 代码示例
创建/编辑点云，与Numpy数据类型的转换
- 创建点云
# create point cloud from numpy array
pcd = o3d.geometry.PointCloud()
np_cloud = np.zeros((height*width,3))
np_color = np.zeros((height*width,3))
pcd.points = o3d.utility.Vector3dVector(np_cloud)
pcd.colors = o3d.utility.Vector3dVector(np_color)- 将点云转换为Numpy矩阵
# load point cloud to numpy array
xyz_load = np.asarray(pcd.points)xyz_load为一个
读写点云数据
o3d.io.write_point_cloud("./your_point_cloud.pcd", pcd)
source = o3d.io.read_point_cloud("./your_point_cloud.pcd")可视化
- 注意点云数据必须放入队列中
o3d.visualization.draw_geometries([pcd])视角的优化
- 在图形界面中转动/缩放到一个理想视角之后，按
ctrl+c将在剪切板中生成一个当前视角配置的json，可以通过ctrl+v在图形界面中回到这一视角，或者粘贴到文本编辑器中 - 可使用参数
o3d.visualization.draw_geometries([pcd], zoom=0.7, front=[-0.85, 0.5, 0.12], lookat=[0.67,0.22,0], up=[0,0,1])
其它参数
left=1680设置显示窗口的位置偏移
显示坐标系
- 声明坐标系，然后将坐标系传入draw_geometries
axis_pcd = o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.1, origin=[0, 0, 0]) o3d.visualization.draw_geometries([pcd, axis_pcd])
绘制外框
- OrientedBoundingBox（无法设置线框的粗细）
center = np.array([0, 0, 0])
r = np.array([[1, 0, 0], [0, 1, 0], [0, 0, 1]])
size = np.array([10, 10, 10])
sample_3d = o3d.geometry.OrientedBoundingBox(center, r, size)
## set up color
sample_3d.color = [1,0,0]
o3d.visualization.draw_geometries([sample_3d],
zoom=0.7,
front=[0.5439, -0.2333, -0.8060],
lookat=[2.4615, 2.1331, 1.338],
up=[-0.1781, -0.9708, 0.1608])- 替代方案：
cylinders = []
r = 0.002
## z axis
for i in range(4):
cylinders.append(o3d.geometry.TriangleMesh.create_cylinder(radius=r, height=x_max-x_min))
for i in range(4):
cylinders.append(o3d.geometry.TriangleMesh.create_cylinder(radius=r, height=y_max-y_min))
for i in range(4):
cylinders.append(o3d.geometry.TriangleMesh.create_cylinder(radius=r, height=z_max-z_min))
## along x-axis
x_pos = (x_max+x_min)/2
cylinders[0].transform(np.array([[0, 0, -1, x_pos],[0, 1, 0, y_min],[1, 0, 0, z_min],[0, 0, 0, 1]]))
cylinders[1].transform(np.array([[0, 0, -1, x_pos],[0, 1, 0, y_min],[1, 0, 0, z_max],[0, 0, 0, 1]]))
cylinders[2].transform(np.array([[0, 0, -1, x_pos],[0, 1, 0, y_max],[1, 0, 0, z_min],[0, 0, 0, 1]]))
cylinders[3].transform(np.array([[0, 0, -1, x_pos],[0, 1, 0, y_max],[1, 0, 0, z_max],[0, 0, 0, 1]]))
## along y-axis
y_pos = (y_max+y_min)/2
cylinders[4].transform(np.array([[1, 0, 0, x_min],[0, 0, 1, y_pos],[0, -1, 0, z_min],[0, 0, 0, 1]]))
cylinders[5].transform(np.array([[1, 0, 0, x_min],[0, 0, 1, y_pos],[0, -1, 0, z_max],[0, 0, 0, 1]]))
cylinders[6].transform(np.array([[1, 0, 0, x_max],[0, 0, 1, y_pos],[0, -1, 0, z_min],[0, 0, 0, 1]]))
cylinders[7].transform(np.array([[1, 0, 0, x_max],[0, 0, 1, y_pos],[0, -1, 0, z_max],[0, 0, 0, 1]]))
## along z-axis
z_pos = (z_max+z_min)/2
cylinders[8].transform(np.array([[1, 0, 0, x_min],[0, 1, 0, y_min],[0, 0, 1, z_pos],[0, 0, 0, 1]]))
cylinders[9].transform(np.array([[1, 0, 0, x_min],[0, 1, 0, y_max],[0, 0, 1, z_pos],[0, 0, 0, 1]]))
cylinders[10].transform(np.array([[1, 0, 0, x_max],[0, 1, 0, y_min],[0, 0, 1, z_pos],[0, 0, 0, 1]]))
cylinders[11].transform(np.array([[1, 0, 0, x_max],[0, 1, 0, y_max],[0, 0, 1, z_pos],[0, 0, 0, 1]]))
for i in cylinders:
i.paint_uniform_color([0,0,0])
o3d.visualization.draw_geometries([pcd]+cylinders,
zoom=0.7, front=[-0.85, 0.5, 0.12],
lookat=[0.67,0.22,0], up=[0,0,1])与ROS消息的数据类型转换
参考：open3d_ros_pointcloud_conversion
np_cloud = np.zeros((height*width,3))
# fill in your data here
FIELDS_XYZ = [PointField(name='x', offset=0, datatype=PointField.FLOAT32, count=1),
PointField(name='y', offset=4, datatype=PointField.FLOAT32, count=1),
PointField(name='z', offset=8, datatype=PointField.FLOAT32, count=1),]
header = Header()
header.stamp = rospy.Time.now()
header.frame_id = "camera_depth_frame"
fields = FIELDS_XYZ
# PointCloud2 data
pc2_data = pc2.create_cloud(header, fields, np.asarray(np_cloud))ICP点云配准
source = o3d.io.read_point_cloud("./data/cloud_bin_0.pcd")
target = o3d.io.read_point_cloud("./data/cloud_bin_1.pcd")
threshold = 0.02
trans_init = np.asarray(
[[0.862, 0.011, -0.507, 0.5],
[-0.139, 0.967, -0.215, 0.7],
[0.487, 0.255, 0.835, -1.4],
[0.0, 0.0, 0.0, 1.0]])
evaluation = o3d.pipelines.registration.evaluate_registration(source, target,
threshold, trans_init)
print("Apply point-to-point ICP")
reg_p2p = o3d.pipelines.registration.registration_icp(source, target, threshold, trans_init,
o3d.pipelines.registration.TransformationEstimationPointToPoint())
print("Apply point-to-plane ICP")
reg_p2l = o3d.pipelines.registration.registration_icp(source, target, threshold, trans_init,
o3d.pipelines.registration.TransformationEstimationPointToPlane())DBSCAN
with o3d.utility.VerbosityContextManager(o3d.utility.VerbosityLevel.Debug) as cm:
labels = np.array(pcd.cluster_dbscan(eps=self.eps, min_points=self.min_points, print_progress=False))
max_label = labels.max()
print(f"point cloud has {max_label + 1} clusters")
colors = plt.get_cmap("tab20")(labels / (max_label if max_label > 0 else 1))
colors[labels < 0] = 0
print(colors.shape)
pcd.colors = o3d.utility.Vector3dVector(colors[:, :3])
o3d.visualization.draw_geometries([pcd],
zoom=0.7, front=[-0.85, 0.5, 0.12],
lookat=[0.67,0.22,0], up=[0,0,1])Debug
- 程序长时间没有响应，按
ctrl+c后可以继续执行：open3d.utility.Vector3dVector()针对np.dtype=float64进行的优化，尝试进行数据类型转换open3d.utility.Vector3dVector(np.array(data, dtype=np.float64))