open3d python 学习笔记

川长思鸟来 2022-08-31 07:24 524阅读 0赞

**目录**

安装及示例

读取转换txt

draw和draw\_geometries区别

可视化完整demo

保存png

--------------------

### 安装及示例 ###

pip install open3d

插播：mayavi也可以可视化点云。

conda install mayavi

示例demo：

[https://github.com/intel-isl/Open3D][https_github.com_intel-isl_Open3D]

添加物体：

examples/python/gui/add-geometry.py

### 读取转换txt ###

import open3d as o3d
    source = o3d.io.read_point_cloud('semantic3d/birdfountain_station1_xyz_intensity_rgb.txt' ,format="xyz")
    
    source.paint_uniform_color([0, 255, 0])
    
    o3d.visualization.draw_geometries([source])

保存：

3.直接读取、写pcd、mesh文件
     
    pcd = open3d.io.read_point_cloud(pcd_file_path)
    open3d.io.write_point_cloud("filename.pcd",pcd)
    open3d.io.write_point_cloud("aaaa.ply",pcd)

###  draw和draw\_geometries区别 ###

draw PointCloud，会出现菜单，按钮，但是点云不能旋转平移。

pc =open3d.geometry.PointCloud()
            # pc = open3d.PointCloud()
            pc.points = open3d.utility.Vector3dVector(pc_xyzrgb[:, 0:3])
            #pc.points = open3d.Vector3dVector(pc_xyzrgb[:, 0:3])
            if pc_xyzrgb.shape[1] == 3:
                open3d.draw_geometries([pc])
                return 0
            if np.max(pc_xyzrgb[:, 3:6]) > 20:  ## 0-255
                pc.colors =[255,0,0]# open3d.utility.Vector3dVector(pc_xyzrgb[:, 3:6] *255/ 255.)
            else:
                pc.colors =open3d.utility.Vector3dVector(pc_xyzrgb[:, 3:6])
            # open3d.visualization.draw_geometries([pc])
            open3d.visualization.draw([pc])

### 可视化完整demo ###

同时显示两个物体，设置不同颜色

import math
    import numpy as np
    import open3d as o3d
    import open3d.visualization as vis
    import os
    import random
    import sys
    
    sys.path.insert(1, os.path.join(sys.path[0], '..'))
    import open3d_tutorial as o3dtut
    
    SCRIPTDIR = os.path.dirname(os.path.realpath(__file__))
    
    
    def normalize(v):
        a = 1.0 / math.sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2])
        return (a * v[0], a * v[1], a * v[2])
    
    
    def make_point_cloud(npts, center, radius, colorize):
        pts = np.random.uniform(-radius, radius, size=[npts, 3]) + center
        cloud = o3d.geometry.PointCloud()
        cloud.points = o3d.utility.Vector3dVector(pts)
        if colorize:
            colors = np.random.uniform(0.0, 1.0, size=[npts, 3])
            cloud.colors = o3d.utility.Vector3dVector(colors)
        return cloud
    
    
    def single_object():
        # No colors, no normals, should appear unlit black
        cube = o3d.geometry.TriangleMesh.create_box(1, 2, 1)
        vis.draw(cube)
    
    
    def multi_objects():
        pc_rad = 1.0
        pc_nocolor = make_point_cloud(100, (0, -2, 0), pc_rad, False)
        pc_color = make_point_cloud(100, (3, -2, 0), pc_rad, True)
        r = 0.4
        sphere_unlit = o3d.geometry.TriangleMesh.create_sphere(r)
        sphere_unlit.paint_uniform_color((0.5, 0.5, 0.0)) #颜色 rgb
        sphere_unlit.translate((0, 1, 0)) #位置格子
        sphere_colored_unlit = o3d.geometry.TriangleMesh.create_sphere(r)
        sphere_colored_unlit.paint_uniform_color((1.0, 0.0, 0.0))
        sphere_colored_unlit.translate((2, 1, 0))
        sphere_lit = o3d.geometry.TriangleMesh.create_sphere(r)
        sphere_lit.compute_vertex_normals()
        sphere_lit.translate((4, 1, 0))
        sphere_colored_lit = o3d.geometry.TriangleMesh.create_sphere(r)
        sphere_colored_lit.compute_vertex_normals()
        sphere_colored_lit.paint_uniform_color((0.0, 1.0, 0.0))
        sphere_colored_lit.translate((6, 1, 0))
        big_bbox = o3d.geometry.AxisAlignedBoundingBox((-pc_rad, -3, -pc_rad),
                                                       (6.0 + r, 1.0 + r, pc_rad))
        sphere_bbox = sphere_unlit.get_axis_aligned_bounding_box()
        sphere_bbox.color = (1.0, 0.5, 0.0)
        lines = o3d.geometry.LineSet.create_from_axis_aligned_bounding_box(
            sphere_lit.get_axis_aligned_bounding_box())
        lines_colored = o3d.geometry.LineSet.create_from_axis_aligned_bounding_box(
            sphere_colored_lit.get_axis_aligned_bounding_box())
        lines_colored.paint_uniform_color((0.0, 0.0, 1.0))
    
        vis.draw([
            pc_nocolor, pc_color, sphere_unlit, sphere_colored_unlit, sphere_lit,
            sphere_colored_lit, big_bbox, sphere_bbox, lines, lines_colored
        ])
    
    
    def actions():
        SOURCE_NAME = "Source"
        RESULT_NAME = "Result (Poisson reconstruction)"
        TRUTH_NAME = "Ground truth"
        bunny = o3dtut.get_bunny_mesh()
        bunny.paint_uniform_color((1, 0.75, 0))
        bunny.compute_vertex_normals()
        cloud = o3d.geometry.PointCloud()
        cloud.points = bunny.vertices
        cloud.normals = bunny.vertex_normals
    
        def make_mesh(o3dvis):
            # TODO: call o3dvis.get_geometry instead of using bunny
            mesh, _ = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(
                cloud)
            mesh.paint_uniform_color((1, 1, 1))
            mesh.compute_vertex_normals()
            o3dvis.add_geometry({"name": RESULT_NAME, "geometry": mesh})
            o3dvis.show_geometry(SOURCE_NAME, False)
    
        def toggle_result(o3dvis):
            truth_vis = o3dvis.get_geometry(TRUTH_NAME).is_visible
            o3dvis.show_geometry(TRUTH_NAME, not truth_vis)
            o3dvis.show_geometry(RESULT_NAME, truth_vis)
    
        vis.draw([{
            "name": SOURCE_NAME,
            "geometry": cloud
        }, {
            "name": TRUTH_NAME,
            "geometry": bunny,
            "is_visible": False
        }],
                 actions=[("Create Mesh", make_mesh),
                          ("Toggle truth/result", toggle_result)])
    
    
    def get_icp_transform(source, target, source_indices, target_indices):
        corr = np.zeros((len(source_indices), 2))
        corr[:, 0] = source_indices
        corr[:, 1] = target_indices
    
        # Estimate rough transformation using correspondences
        p2p = o3d.pipelines.registration.TransformationEstimationPointToPoint()
        trans_init = p2p.compute_transformation(source, target,
                                                o3d.utility.Vector2iVector(corr))
    
        # Point-to-point ICP for refinement
        threshold = 0.03  # 3cm distance threshold
        reg_p2p = o3d.pipelines.registration.registration_icp(
            source, target, threshold, trans_init,
            o3d.pipelines.registration.TransformationEstimationPointToPoint())
    
        return reg_p2p.transformation
    
    
    def selections():
        source = o3d.io.read_point_cloud(SCRIPTDIR +
                                         "/../../test_data/ICP/cloud_bin_0.pcd")
        target = o3d.io.read_point_cloud(SCRIPTDIR +
                                         "/../../test_data/ICP/cloud_bin_2.pcd")
        source.paint_uniform_color([1, 0.706, 0])
        target.paint_uniform_color([0, 0.651, 0.929])
    
        source_name = "Source (yellow)"
        target_name = "Target (blue)"
    
        def do_icp_one_set(o3dvis):
            # sets: [name: [{ "index": int, "order": int, "point": (x, y, z)}, ...],
            #        ...]
            sets = o3dvis.get_selection_sets()
            source_picked = sorted(list(sets[0][source_name]),
                                   key=lambda x: x.order)
            target_picked = sorted(list(sets[0][target_name]),
                                   key=lambda x: x.order)
            source_indices = [idx.index for idx in source_picked]
            target_indices = [idx.index for idx in target_picked]
    
            t = get_icp_transform(source, target, source_indices, target_indices)
            source.transform(t)
    
            # Update the source geometry
            o3dvis.remove_geometry(source_name)
            o3dvis.add_geometry({"name": source_name, "geometry": source})
    
        def do_icp_two_sets(o3dvis):
            sets = o3dvis.get_selection_sets()
            source_set = sets[0][source_name]
            target_set = sets[1][target_name]
            source_picked = sorted(list(source_set), key=lambda x: x.order)
            target_picked = sorted(list(target_set), key=lambda x: x.order)
            source_indices = [idx.index for idx in source_picked]
            target_indices = [idx.index for idx in target_picked]
    
            t = get_icp_transform(source, target, source_indices, target_indices)
            source.transform(t)
    
            # Update the source geometry
            o3dvis.remove_geometry(source_name)
            o3dvis.add_geometry({"name": source_name, "geometry": source})
    
        vis.draw([{
            "name": source_name,
            "geometry": source
        }, {
            "name": target_name,
            "geometry": target
        }],)
                 # actions=[("ICP Registration (one set)", do_icp_one_set),
                 #          ("ICP Registration (two sets)", do_icp_two_sets)],
                 # show_ui=True)
    
    
    def time_animation():
        orig = make_point_cloud(200, (0, 0, 0), 1.0, True)
        clouds = [{"name": "t=0", "geometry": orig, "time": 0}]
        drift_dir = (1.0, 0.0, 0.0)
        expand = 1.0
        n = 20
        for i in range(1, n):
            amount = float(i) / float(n - 1)
            cloud = o3d.geometry.PointCloud()
            pts = np.asarray(orig.points)
            pts = pts * (1.0 + amount * expand) + [amount * v for v in drift_dir]
            cloud.points = o3d.utility.Vector3dVector(pts)
            cloud.colors = orig.colors
            clouds.append({
                "name": "points at t=" + str(i),
                "geometry": cloud,
                "time": i
            })
    
        vis.draw(clouds)
    
    
    def groups():
        building_mat = vis.rendering.Material()
        building_mat.shader = "defaultLit"
        building_mat.base_color = (1.0, .90, .75, 1.0)
        building_mat.base_reflectance = 0.1
        midrise_mat = vis.rendering.Material()
        midrise_mat.shader = "defaultLit"
        midrise_mat.base_color = (.475, .450, .425, 1.0)
        midrise_mat.base_reflectance = 0.1
        skyscraper_mat = vis.rendering.Material()
        skyscraper_mat.shader = "defaultLit"
        skyscraper_mat.base_color = (.05, .20, .55, 1.0)
        skyscraper_mat.base_reflectance = 0.9
        skyscraper_mat.base_roughness = 0.01
    
        buildings = []
        size = 10.0
        half = size / 2.0
        min_height = 1.0
        max_height = 20.0
        for z in range(0, 10):
            for x in range(0, 10):
                max_h = max_height * (1.0 - abs(half - x) / half) * (
                    1.0 - abs(half - z) / half)
                h = random.uniform(min_height, max(max_h, min_height + 1.0))
                box = o3d.geometry.TriangleMesh.create_box(0.9, h, 0.9)
                box.compute_triangle_normals()
                box.translate((x + 0.05, 0.0, z + 0.05))
                if h > 0.333 * max_height:
                    mat = skyscraper_mat
                elif h > 0.1 * max_height:
                    mat = midrise_mat
                else:
                    mat = building_mat
                buildings.append({
                    "name": "building_" + str(x) + "_" + str(z),
                    "geometry": box,
                    "material": mat,
                    "group": "buildings"
                })
    
        haze = make_point_cloud(5000, (half, 0.333 * max_height, half),
                                1.414 * half, False)
        haze.paint_uniform_color((0.8, 0.8, 0.8))
    
        smog = make_point_cloud(10000, (half, 0.25 * max_height, half), 1.2 * half,
                                False)
        smog.paint_uniform_color((0.95, 0.85, 0.75))
    
        vis.draw(buildings + [{
            "name": "haze",
            "geometry": haze,
            "group": "haze"
        }, {
            "name": "smog",
            "geometry": smog,
            "group": "smog"
        }])
    
    
    def remove():
    
        def make_sphere(name, center, color, group, time):
            sphere = o3d.geometry.TriangleMesh.create_sphere(0.5)
            sphere.compute_vertex_normals()
            sphere.translate(center)
    
            mat = vis.rendering.Material()
            mat.shader = "defaultLit"
            mat.base_color = color
    
            return {
                "name": name,
                "geometry": sphere,
                "material": mat,
                "group": group,
                "time": time
            }
    
        red = make_sphere("red", (0, 0, 0), (1.0, 0.0, 0.0, 1.0), "spheres", 0)
        green = make_sphere("green", (2, 0, 0), (0.0, 1.0, 0.0, 1.0), "spheres", 0)
        blue = make_sphere("blue", (4, 0, 0), (0.0, 0.0, 1.0, 1.0), "spheres", 0)
        yellow = make_sphere("yellow", (0, 0, 0), (1.0, 1.0, 0.0, 1.0), "spheres",
                             1)
        bbox = {
            "name": "bbox",
            "geometry": red["geometry"].get_axis_aligned_bounding_box()
        }
    
        def remove_green(visdraw):
            visdraw.remove_geometry("green")
    
        def remove_yellow(visdraw):
            visdraw.remove_geometry("yellow")
    
        def remove_bbox(visdraw):
            visdraw.remove_geometry("bbox")
    
        vis.draw([red, green, blue, yellow, bbox],
                 actions=[("Remove Green", remove_green),
                          ("Remove Yellow", remove_yellow),
                          ("Remove Bounds", remove_bbox)])
    
    
    if __name__ == "__main__":
        # single_object()
        # multi_objects()
        # actions()
        selections()

### 保存png ###

import open3d as o3d
    import open3d.visualization.rendering as rendering
    
    
    def main():
        render = rendering.OffscreenRenderer(640, 480)
    
        yellow = rendering.Material()
        yellow.base_color = [1.0, 0.75, 0.0, 1.0]
        yellow.shader = "defaultLit"
    
        green = rendering.Material()
        green.base_color = [0.0, 0.5, 0.0, 1.0]
        green.shader = "defaultLit"
    
        grey = rendering.Material()
        grey.base_color = [0.7, 0.7, 0.7, 1.0]
        grey.shader = "defaultLit"
    
        white = rendering.Material()
        white.base_color = [1.0, 1.0, 1.0, 1.0]
        white.shader = "defaultLit"
    
        cyl = o3d.geometry.TriangleMesh.create_cylinder(.05, 3)
        cyl.compute_vertex_normals()
        cyl.translate([-2, 0, 1.5])
        sphere = o3d.geometry.TriangleMesh.create_sphere(.2)
        sphere.compute_vertex_normals()
        sphere.translate([-2, 0, 3])
    
        box = o3d.geometry.TriangleMesh.create_box(2, 2, 1)
        box.compute_vertex_normals()
        box.translate([-1, -1, 0])
        solid = o3d.geometry.TriangleMesh.create_icosahedron(0.5)
        solid.compute_triangle_normals()
        solid.compute_vertex_normals()
        solid.translate([0, 0, 1.75])
    
        render.scene.add_geometry("cyl", cyl, green)
        render.scene.add_geometry("sphere", sphere, yellow)
        render.scene.add_geometry("box", box, grey)
        render.scene.add_geometry("solid", solid, white)
        render.setup_camera(60.0, [0, 0, 0], [0, 10, 0], [0, 0, 1])
        render.scene.scene.set_sun_light([0.707, 0.0, -.707], [1.0, 1.0, 1.0],
                                         75000)
        render.scene.scene.enable_sun_light(True)
        render.scene.show_axes(True)
    
        img = render.render_to_image()
        o3d.io.write_image("test.png", img, 9)
    
        render.setup_camera(60.0, [0, 0, 0], [0, 10, 0], [0, 0, 1])
        img = render.render_to_image()
        o3d.io.write_image("test2.png", img, 9)
    
    
    if __name__ == "__main__":
        main()

[https_github.com_intel-isl_Open3D]: https://github.com/intel-isl/Open3D