Open3d learning notes 1 [first glimpse, file reading]

Third party Library Download

pip install open3d

Be careful ,windows stay cmd Errors may be reported during installation , If it's installed anaconda In the Prompt Next use pip install .

A simple example

import numpy as np
import open3d as o3d
# Create some space points randomly 
points = (np.random.rand(1000, 3) - 0.5) / 4
colors = np.random.rand(1000, 3)
# Statement , Then convert to point cloud 
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(points)
pcd.colors = o3d.utility.Vector3dVector(colors)
# Show 
o3d.visualization.draw_geometries([pcd], window_name="3D", width=1280, height=720)

File read mode

1. Point cloud reading

import open3d as o3d

print("Load a ply point cloud, print it, and render it")
pcd = o3d.io.read_point_cloud("mode/wurenji.PLY")
o3d.visualization.draw_geometries([pcd], window_name="3D", width=1280, height=720)

characteristic ： Only some files can be opened , Such as ply and pcd, To open stl, Then use the following method

The official document describes the format supported by the function

Format	describe
xyz	Each line includes [x, y, z], among x,y,z yes 3D coordinate
xyzn	Each line includes [x, y, z, nx, ny, nz], among nx、ny、nz It's normal
xyzrgb	Each line includes [x, y, z, r, g, b], among rgb Again [0, 1] Floating point number range
pts	Please refer to Official documents
ply	–
pcd	–

You can specify the file type explicitly . under these circumstances , File extensions will be ignored .

pcd = o3d.io.read_point_cloud("../../test_data/my_points.txt", format='xyz')

2.Mesh

import open3d as o3d

print("Load a ply point cloud, print it, and render it")
#---------#
pcd = o3d.io.read_triangle_mesh("mode/mogu3.STL")
pcd.compute_vertex_normals()
#--------#
o3d.visualization.draw_geometries([pcd], window_name="3D", width=1280, height=720)

The official document describes the format supported by the function

ply	stl	obj	off	gltf/glb

3D Show

o3d.visualization.draw_geometries()

Parameters ：

draw_geometries（geometry_list,window_name='Open3D',width=1920,height=1080,left=50,top=50,point_show_normal=False,mesh_show_wireframe=False,mesh_show_back_face=False,lookat,up,front,zoom）

• geometry_list ( List [ open3d.geometry.Geometry ] ) – List of geometry to visualize .
• window_name ( str , optional , default=‘Open3D’ ) – Display title of the visualization window .
• width ( int , optional , default=1920 ) – The width of the visualization window .
• height ( int , optional , default=1080 ) – The height of the visualization window .
• left ( int , optional , default=50 ) – The left margin of the visualization window .
• top ( int , optional , default=50 ) – The top margin of the visualization window .
• point_show_normal ( bool , optional , default=False ) – If set to true, Then the point normals are visualized .
• mesh_show_wireframe ( bool , optional , default=False ) – If set to true, Then visualize the grid wireframe .
• mesh_show_back_face ( bool , optional , default=False ) – Also visualize the back of the mesh triangle .
• lookat ( numpy.ndarray [ numpy.float64 [ 3 , 1 ] ] ) – The observation vector of the camera .
• up ( numpy.ndarray [ numpy.float64 [ 3 , 1 ] ] ) – The up vector of the camera .
• front ( numpy.ndarray [ numpy.float64 [ 3 , 1 ] ] ) – The front vector of the camera .
• zoom ( float ) – Zoom of camera .

Reference article

https://blog.csdn.net/weixin_40511249/article/details/113557181?spm=1001.2014.3001.5502
https://blog.csdn.net/weixin_40511249/article/details/113557296?spm=1001.2014.3001.5502
https://zpcblue.blog.csdn.net/article/details/106272710?spm=1001.2014.3001.5502