open3d——点云/3D (随机生成数据显示点云 & 可视化pcd文件 & ply转为pcd/可视化ply文件)

自己(随机)生成数据点显示点云

import os
import numpy as np
from open3d import *


points = np.random.rand(10000, 3)
point_cloud = PointCloud()
point_cloud.points = Vector3dVector(points)


draw_geometries([point_cloud])

可视化pcd文件

import open3d as o3d
import numpy as np

ply = o3d.io.read_point_cloud('11.pcd') 

o3d.visualization.draw_geometries([ply])

同时显示多个pcd文件

import open3d as o3d
import numpy as np
 
ply = o3d.io.read_point_cloud('table_scene_mug_stereo_textured_cylinder.pcd') 
ply1 = o3d.io.read_point_cloud('table_scene_mug_stereo_textured_plane.pcd') 

o3d.visualization.draw_geometries([ply,ply1])

同时显示在一个页面里

用不同颜色同时显示多个点云

import open3d as o3d
import numpy as np
src_cloud_file = '0040_cloud.pcd'
tgt_cloud_file = "0071_cloud.pcd"


src_pcd = o3d.io.read_point_cloud(src_cloud_file)
tgt_pcd = o3d.io.read_point_cloud(tgt_cloud_file)

src_pcd.paint_uniform_color([1, 0.706, 0])  # 黄色
tgt_pcd.paint_uniform_color([0, 0.651, 0.929])  # 蓝色

o3d.visualization.draw_geometries([tgt_pcd, src_pcd])
#或者写作([tgt_pcd] + [src_pcd])

添加坐标轴

import open3d as o3d
import numpy as np
src_cloud_file = '0040_cloud.pcd'
tgt_cloud_file = "0071_cloud.pcd"

FOR1 = o3d.create_mesh_coordinate_frame(size=5, origin=[0, 0, 0])

src_pcd = o3d.io.read_point_cloud(src_cloud_file)
tgt_pcd = o3d.io.read_point_cloud(tgt_cloud_file)

src_pcd.paint_uniform_color([1, 0.706, 0])  # 黄色
tgt_pcd.paint_uniform_color([0, 0.651, 0.929])  # 蓝色


o3d.visualization.draw_geometries([FOR1, tgt_pcd, src_pcd])

红色是X轴，绿色是Y轴，蓝色是Z

显示单个点

import open3d
import numpy as np
import cv2

# 在3D坐标上绘制点：坐标点[x,y,z]对应R，G，B颜色
points = np.array([[0.1, 0.1, 0.1], [1, 0, 0], [0, 1, 0], [0, 0, 1]])
colors = [[1, 1, 1], [1, 0, 0], [0, 1, 0], [0, 0, 1]]

test_pcd = open3d.geometry.PointCloud()  # 定义点云
 
test_pcd.points = open3d.utility.Vector3dVector(points)  # 定义点云坐标位置

open3d.visualization.draw_geometries([test_pcd,axis_pcd], window_name="Open3D2")

也可以不设定颜色

动态显示3D点云

需要open3d==0.8.0

import os
import numpy as np
import open3d as o3d

vis = o3d.visualization.Visualizer()
vis.create_window()
pointcloud = o3d.geometry.PointCloud()
to_reset = True
vis.add_geometry(pointcloud)
for i in range(124):
    pcd = o3d.io.read_point_cloud(str(i).zfill(4)+'_cloud.pcd') 
    pcd = np.asarray(pcd.points).reshape((-1, 3))
    pointcloud.points = o3d.utility.Vector3dVector(pcd)  # 如果使用numpy数组可省略上两行
    vis.update_geometry()
    if to_reset:
        vis.reset_view_point(True)
        to_reset = False
    vis.poll_events()
    vis.update_renderer()

ply转为pcd & 可视化ply文件

import open3d as o3d
import numpy as np

ply = o3d.io.read_point_cloud('bun_zipper.ply') 
o3d.io.write_point_cloud("bun_zipper.pcd", ply)  # 将ply类型转换为pcd类型
o3d.visualization.draw_geometries([ply])  #可视化