Open3D Python加载点云RGBD生成彩色点云

最新推荐文章于 2024-03-26 08:30:00 发布

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最新推荐文章于 2024-03-26 08:30:00 发布 · 1.4k 阅读

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#python #开发语言

本文介绍了如何使用Open3D库读取SUNrgbd数据集中的图像和深度信息，将其转换为RGBDImage，然后创建并显示一个点云，展示了从原始数据到三维可视化的过程。

import open3d as o3d
import numpy as np
import matplotlib.pyplot as plt
import os
import sys

# monkey patches visualization and provides helpers to load geometries
sys.path.append('..')
# import open3d_tutorial as o3dtut
# change to True if you want to interact with the visualization windows
# o3dtut.interactive = not "CI" in os.environ

print("Read SUN dataset")
color_raw = o3d.io.read_image(
    r"D:\sunrgbd\sunrgbd_trainval\image\000001.jpg")
depth_raw = o3d.io.read_image(
    r"D:sunrgbd\sunrgbd_trainval\depth_png\000001.png")
rgbd_image = o3d.geometry.RGBDImage.create_from_sun_format(color_raw, depth_raw)
print(rgbd_image)

# attention, the depth is nonzero, the point will be constructed
rows, columns = np.nonzero(np.asarray(rgbd_image.depth))

plt.subplot(1, 2, 1)
plt.title('SUN grayscale image')
plt.imshow(rgbd_image.color)
plt.subplot(1, 2, 2)
plt.title('SUN depth image')
plt.imshow(rgbd_image.depth)
plt.show()

pcd = o3d.geometry.PointCloud.create_from_rgbd_image(
    rg