{"id":2122,"date":"2021-08-12T11:48:33","date_gmt":"2021-08-12T03:48:33","guid":{"rendered":"http:\/\/www.yatenglg.cn\/?p=2122"},"modified":"2022-10-18T16:34:39","modified_gmt":"2022-10-18T08:34:39","slug":"open3d-%e7%82%b9%e4%ba%91%e7%a6%bb%e7%be%a4%e7%82%b9%e7%ad%9b%e6%9f%a5","status":"publish","type":"post","link":"https:\/\/www.yatenglg.cn\/blog\/?p=2122","title":{"rendered":"open3d-\u70b9\u4e91\u79bb\u7fa4\u70b9\u7b5b\u67e5"},"content":{"rendered":"\n<div class=\"hcb_wrap\"><pre class=\"prism undefined-numbers lang-python\" data-lang=\"Python\"><code>import open3d as o3d\nimport numpy as np\nfrom open3d.web_visualizer import draw\nfrom open3d.visualization import draw_geometries<\/code><\/pre><\/div>\n\n\n\n<h1>1. \u8bfb\u53d6\u70b9\u4e91\uff0c\u5e76\u4e0b\u91c7\u6837<\/h1>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism undefined-numbers lang-plain\"><code>pcd = o3d.io.read_point_cloud(&quot;datas\/fragment.ply&quot;)\ndraw(pcd)<\/code><\/pre><\/div>\n\n\n\n<figure class=\"wp-block-image size-large\"><img width=\"442\" height=\"250\" src=\"http:\/\/www.yatenglg.cn\/wp-content\/uploads\/2021\/08\/gnome-shell-screenshot-5VNC80.png\" alt=\"\" class=\"wp-image-2124\" srcset=\"https:\/\/www.yatenglg.cn\/blog\/wp-content\/uploads\/2021\/08\/gnome-shell-screenshot-5VNC80.png 442w, https:\/\/www.yatenglg.cn\/blog\/wp-content\/uploads\/2021\/08\/gnome-shell-screenshot-5VNC80-300x170.png 300w\" sizes=\"(max-width: 442px) 100vw, 442px\" \/><\/figure>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism undefined-numbers lang-plain\"><code>pcd_vox_down = pcd.voxel_down_sample(0.03)\ndraw(pcd_vox_down)<\/code><\/pre><\/div>\n\n\n\n<figure class=\"wp-block-image size-large\"><img width=\"428\" height=\"249\" src=\"http:\/\/www.yatenglg.cn\/wp-content\/uploads\/2021\/08\/gnome-shell-screenshot-2UQU70.png\" alt=\"\" class=\"wp-image-2125\" srcset=\"https:\/\/www.yatenglg.cn\/blog\/wp-content\/uploads\/2021\/08\/gnome-shell-screenshot-2UQU70.png 428w, https:\/\/www.yatenglg.cn\/blog\/wp-content\/uploads\/2021\/08\/gnome-shell-screenshot-2UQU70-300x175.png 300w\" sizes=\"(max-width: 428px) 100vw, 428px\" \/><\/figure>\n\n\n\n<h1>2. \u79bb\u7fa4\u70b9\u7b5b\u67e5<\/h1>\n\n\n\n<p>open3d\u4e3aPointCloud\u63d0\u4f9b\u4e86\u4e24\u79cd\u7b5b\u67e5\u65b9\u5f0f\uff1a<\/p>\n\n\n\n<ul><li>def remove_statistical_outlier(self, nb_neighbors, std_ratio):<\/li><li>def remove_radius_outlier(self, nb_points, radius):<\/li><\/ul>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism undefined-numbers lang-python\" data-lang=\"Python\"><code>kp_pcd, ind = pcd_vox_down.remove_statistical_outlier(nb_neighbors=20, std_ratio=1.0)\n\nrm_pcd = pcd_vox_down.select_by_index(ind, True)\n\nrm_pcd.paint_uniform_color([1,0,0])\ndraw([kp_pcd, rm_pcd])<\/code><\/pre><\/div>\n\n\n\n<figure class=\"wp-block-image size-large\"><img width=\"461\" height=\"287\" src=\"http:\/\/www.yatenglg.cn\/wp-content\/uploads\/2021\/08\/gnome-shell-screenshot-KENT70.png\" alt=\"\" class=\"wp-image-2126\" srcset=\"https:\/\/www.yatenglg.cn\/blog\/wp-content\/uploads\/2021\/08\/gnome-shell-screenshot-KENT70.png 461w, https:\/\/www.yatenglg.cn\/blog\/wp-content\/uploads\/2021\/08\/gnome-shell-screenshot-KENT70-300x187.png 300w\" sizes=\"(max-width: 461px) 100vw, 461px\" \/><\/figure>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism undefined-numbers lang-python\" data-lang=\"Python\"><code>kp_pcd, ind = pcd_vox_down.remove_radius_outlier(nb_points=5, radius=0.05)\n\nrm_pcd = pcd_vox_down.select_by_index(ind, True)\n\nrm_pcd.paint_uniform_color([1,0,0])\ndraw([kp_pcd, rm_pcd])<\/code><\/pre><\/div>\n\n\n\n<figure class=\"wp-block-image size-large\"><img width=\"454\" height=\"254\" src=\"http:\/\/www.yatenglg.cn\/wp-content\/uploads\/2021\/08\/gnome-shell-screenshot-PD2T70.png\" alt=\"\" class=\"wp-image-2127\" srcset=\"https:\/\/www.yatenglg.cn\/blog\/wp-content\/uploads\/2021\/08\/gnome-shell-screenshot-PD2T70.png 454w, https:\/\/www.yatenglg.cn\/blog\/wp-content\/uploads\/2021\/08\/gnome-shell-screenshot-PD2T70-300x168.png 300w\" sizes=\"(max-width: 454px) 100vw, 454px\" \/><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>1. \u8bfb\u53d6\u70b9\u4e91\uff0c\u5e76\u4e0b\u91c7\u6837 2. \u79bb\u7fa4\u70b9\u7b5b\u67e5 open3d\u4e3aPointCloud\u63d0\u4f9b\u4e86\u4e24\u79cd\u7b5b\u67e5\u65b9\u5f0f\uff1a def r&#8230;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[22],"tags":[],"_links":{"self":[{"href":"https:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=\/wp\/v2\/posts\/2122"}],"collection":[{"href":"https:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=2122"}],"version-history":[{"count":2,"href":"https:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=\/wp\/v2\/posts\/2122\/revisions"}],"predecessor-version":[{"id":2128,"href":"https:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=\/wp\/v2\/posts\/2122\/revisions\/2128"}],"wp:attachment":[{"href":"https:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2122"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2122"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2122"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}