pointcloud

io

从文件读写点云：

pcd = o3d.io.read_point_cloud(filename="./pcd_example.ply")
o3d.io.write_point_cloud(filename="./pcd_example1.ply", pointcloud=pcd)

http://www.open3d.org/docs/release/python_api/open3d.io.read_point_cloud.html#open3d-io-read-point-cloud
http://www.open3d.org/docs/release/python_api/open3d.io.write_point_cloud.html

点云平移

import numpy as np
import copy
pcd.paint_uniform_color([1,0,0])
trans_matx=np.eye(4)
# 沿x轴平移50
trans_matx[0][3]=50
pcd_move_x = copy.deepcopy(pcd)
pcd_move_x .transform(trans_matx)
pcd_move_x.paint_uniform_color([0, 1, 0])
o3d.visualization.draw_geometries([pcd,pcd_move_x],window_name='open3d',width=960, height=900, left=960, top=100)

visualization

点云上色：

# red[1,0,0],green[0,1,0],blue[0,0,1]
pcd.paint_uniform_color([1,0,0])

http://www.open3d.org/docs/release/python_api/open3d.geometry.PointCloud.html#open3d.geometry.PointCloud.paint_uniform_color
可视化：
假设有两个点云：pcd1 pcd2要显示

o3d.visualization.draw_geometries([pcd1,pcd2],window_name='open3d',width=960, height=900, left=960, top=100)                              

http://www.open3d.org/docs/release/python_api/open3d.visualization.draw_geometries.html#open3d.visualization.draw_geometries

点云部分上色

完

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