open3d python加载点云RGBD

男娘i 2022-08-31 13:23 248阅读 0赞

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 <pybind11/stl.h>`? Or <pybind11/complex.h>,
    <pybind11/functional.h>, <pybind11/chrono.h>, etc. Some automatic
    conversions are optional and require extra headers to be included
    when compiling your pybind11 module.

参考：[https://blog.csdn.net/dtuyg/article/details/105682807][https_blog.csdn.net_dtuyg_article_details_105682807]

rgbd测试数据下载：

[https://download.csdn.net/download/qq\_41623632/13185597][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：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0d1b19QeXRob24_size_16_color_FFFFFF_t_70][]

深度图：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0d1b19QeXRob24_size_16_color_FFFFFF_t_70 1][]

2. 把Open3D中的RGBD图片转化pcd格式并储存  
![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0d1b19QeXRob24_size_16_color_FFFFFF_t_70 2][]

3. 显示点云  
      ![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0d1b19QeXRob24_size_16_color_FFFFFF_t_70 3][]

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：

[https://blog.csdn.net/io569417668/article/details/106533242/][https_blog.csdn.net_io569417668_article_details_106533242]

原文中还有：

## TUM dataset ##

## NYU dataset ##

[https_blog.csdn.net_dtuyg_article_details_105682807]: https://blog.csdn.net/dtuyg/article/details/105682807
[https_download.csdn.net_download_qq_41623632_13185597]: https://download.csdn.net/download/qq_41623632/13185597
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0d1b19QeXRob24_size_16_color_FFFFFF_t_70]: /images/20220829/d2fe3825e6874b19939046bd556f3573.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0d1b19QeXRob24_size_16_color_FFFFFF_t_70 1]: /images/20220829/3d33bc5939bc4426a3eaa2e2c512b236.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0d1b19QeXRob24_size_16_color_FFFFFF_t_70 2]: /images/20220829/131f61005a2c4be59fdf5cc5b686166f.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0d1b19QeXRob24_size_16_color_FFFFFF_t_70 3]: /images/20220829/3b2c05aad4ba4907b675db61ec0d76a4.png
[https_blog.csdn.net_io569417668_article_details_106533242]: https://blog.csdn.net/io569417668/article/details/106533242/