Open3D

Visualize point cloud

print("Load a ply point cloud, print it, and render it")
ply_point_cloud = o3d.data.PLYPointCloud()
pcd = o3d.io.read_point_cloud(ply_point_cloud.path)
print(pcd)
print(np.asarray(pcd.points)) # to numpy array
o3d.visualization.draw_geometries([pcd],
                                  zoom=0.3412,
                                  front=[0.4257, -0.2125, -0.8795],
                                  lookat=[2.6172, 2.0475, 1.532],
                                  up=[-0.0694, -0.9768, 0.2024])

使用-，+号可以调整点的大小

Voxel downsampling

print("Downsample the point cloud with a voxel of 0.05")
downpcd = pcd.voxel_down_sample(voxel_size=0.05)
o3d.visualization.draw_geometries([downpcd],
                                  zoom=0.3412,
                                  front=[0.4257, -0.2125, -0.8795],
                                  lookat=[2.6172, 2.0475, 1.532],
                                  up=[-0.0694, -0.9768, 0.2024])

Random downsampling

random_down_sample(self, sampling_ratio)

sampling_ratio (float) – Sampling ratio, the ratio of number of selected points to total number of points[0-1].

Example

import open3d as o3d
pcd = o3d.io.read_point_cloud('longdress_vox10_1051.ply')
print(pcd)
downpcd = pcd.voxel_down_sample(voxel_size=2.0)
print(downpcd)
xyz_load = np.asarray(downpcd.points)
print(xyz_load.shape)
'''
Jupyter environment detected. Enabling Open3D WebVisualizer.
[Open3D INFO] WebRTC GUI backend enabled.
[Open3D INFO] WebRTCWindowSystem: HTTP handshake server disabled.
PointCloud with 765821 points.
'''
downpcd = pcd.voxel_down_sample(voxel_size=4.0)
print(downpcd)
# PointCloud with 55474 points.
xyz_load = np.asarray(downpcd.points)
print(xyz_load.shape)
# (55474, 3)