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我有 2 个不同的点云存储在 2 个不同的 numpy 数组中，我可以将它们组合在 open3d 中进行可视化。但我想要做的是一个点云保持不变，另一个点云在 z 方向移动（即更新 numpy 数组的坐标）而不关闭窗口。

下面是我传递这两个 numpy 数组（npa 和 npa_test）以在 open3d 中可视化的代码。请注意，在最初的行中，我将 numpy 数组存储到 .pcd 文件中（因为它们是从 open3d 无法识别的不同类型的文件 .asc 中提取的），然后使用 open3d 读取函数读取它们。我想通过在 z 方向上移动它来更新一个点云几何，然后在同一个窗口上可视化它而不关闭它。这可以通过在 for 循环中将 z 坐标更新 1 来完成，如下所述。如果您对此有解决方案，请告诉我。谢谢你。

def 绘制（npa，npa_test）：

pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(npa)
o3d.io.write_point_cloud("C:/Users/Junaid/Desktop/test.ply", pcd)
pcd_load = o3d.io.read_point_cloud("C:/Users/Junaid/Desktop/test.ply")

pcd1 = o3d.geometry.PointCloud()
pcd1.points = o3d.utility.Vector3dVector(npa_test)
o3d.io.write_point_cloud("C:/Users/Junaid/Desktop/test1.ply", pcd1)
pcd_load1 = o3d.io.read_point_cloud("C:/Users/Junaid/Desktop/test1.ply")

o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Debug)

vis = o3d.visualization.Visualizer()
vis.create_window()
vis.add_geometry(pcd_load)
vis.add_geometry(pcd_load1)

npa.tolist()

for i in range(len(npa)):

    npa[i][2] = npa[i][2] + 1

    npa=np.asarray(npa, dtype=np.float32)
    pcd = o3d.geometry.PointCloud()
    pcd.points = o3d.utility.Vector3dVector(npa)
    o3d.io.write_point_cloud("C:/Users/Junaid/Desktop/test.ply", pcd)
    pcd_load = o3d.io.read_point_cloud("C:/Users/Junaid/Desktop/test.ply")

    vis.update_geometry(pcd_load)

    vis.poll_events()
    vis.update_renderer()
vis.destroy_window()
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1 回答 1

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I see that you're using npa[i][2] = npa[i][2] + 1 to modify the value which is overkill when you can just use Transformation Matrix to transform the geometry like pcd.transform(np.array([[1,0,0,0],[0,1,0,0],[0,0,1,z_val],[0,0,0,1]])).

Here's easy solution of moving sphere from z=0.5 until 15.0 with increment of 0.005 using open3d.

import open3d as o3d
import numpy as np

def create_transform_matrix_from_z(z):
    """ Return transform 4x4 transformation matrix given a Z value """
    result = np.identity(4)
    result[2,3] = z # Change the z
    
    return result

# Create Open3d visualization window
vis = o3d.visualization.Visualizer()
vis.create_window()

# create sphere geometry
sphere1 = o3d.geometry.TriangleMesh.create_sphere()
vis.add_geometry(sphere1)

# create coordinate frame
coordinate_frame = o3d.geometry.TriangleMesh.create_coordinate_frame()
vis.add_geometry(coordinate_frame)

prev_tf = None
for curr_z in np.arange(0.5, 15.0, 0.005):
    # return sphere1 to original position (0,0,0)
    if prev_tf is not None:
        sphere1.transform(np.linalg.inv(prev_tf))

    # transform bazed on curr_z tf
    curr_tf = create_transform_matrix_from_z(curr_z)
    sphere1.transform(curr_tf)

    prev_tf = curr_tf

    vis.update_geometry(sphere1)
    vis.poll_events()
    vis.update_renderer()
于 2020-11-19T10:40:43.550 回答