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- import numpy as np
- import open3d as o3d
- # 读取文件
- def open_file(file_path):
- """
- 读取文件
- :param file_path: 文件路径
- :return: 读取的内容
- """
- if '.txt' in file_path:
- print('txt文档')
- pcd = o3d.io.read_point_cloud(file_path, format='xyz')
- else:
- pcd = o3d.io.read_point_cloud(file_path)
- return pcd
- def save_file(content, file_path, write_ascii=True):
- """
- 保存文件
- :param write_ascii: 是否使用ASCII编码
- :param content: 文件内容
- :param file_path: 保存路径
- :return: None
- """
- if '.txt' in file_path:
- np.savetxt(file_path, np.asarray(content.points), fmt='%f %f %f')
- else:
- o3d.io.write_point_cloud(file_path, content, write_ascii=write_ascii)
- def voxel_down_sample(pcd, voxel_size):
- """
- 体素方法点云降采样
- :param pcd: 点云数据
- :param voxel_size: 体素降采样的网格长度
- :return: 降采样点云数据
- """
- return pcd.voxel_down_sample(voxel_size=voxel_size)
- def add_rgb_to_pcd(pcd):
- """
- 给点云天啊及颜色信息
- :param pcd: 点云数据
- :return:
- """
- # 为点云中的每个点指定RGB颜色，这里我们使用红色作为示例
- # RGB值范围为[0, 1]，红色可以表示为(1, 0, 0)
- pcd = np.asarray(pcd.points).shape[0]
- colors = np.repeat([[1, 0, 0]], pcd, axis=0) # 创建一个全是红色的颜色数组
- # 将颜色信息添加到点云对象中
- pcd.colors = o3d.utility.Vector3dVector(colors)
- return pcd
- def pcd_visualization(pcd):
- """
- 可视化点云数据
- :param pcd: 点云数据
- :return: None
- """
- 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])
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