1.首先获取点云:
import open3d as o3d
from open3d import visualization
import numpy as np
import json
pcd = o3d.io.read_point_cloud("point_cloud.ply")
2.读取外参并生成open3d形式的相机外参(我这里读的外参是c2w的) :
# 读外参
# 我的数据集是blender制作的仿真数据集,需要对坐标系进行变换
with open("/home/abc/transforms.json", encoding='utf-8') as a:
result = json.load(a)
frame = result["frames"]
i = 0
extrinsic = np.array(frame[i]["transform_matrix"])
TR = np.array([[1,0,0,0],
[0,-1,0,0],
[0,0,-1,0],
[0,0,0,1]]
)
# 把读到的c2w做这两步操作
extrinsic = np.dot(extrinsic,TR) # 关于x轴对称
extrinsic = np.linalg.inv(extrinsic) #c2w->w2c
3.生成open3d形式的相机内参PinholeCameraIntrinsic:
# 替换成你自己的相机内参
W = 960
H = 512
camera_angle_x = 0.8457078337669373
focal = 0.5 * W / np.tan(0.5 * camera_angle_x)
# cx=(W-1)/2而不是W/2 !!!!!
intrinsic = o3d.cuda.pybind.camera.PinholeCameraIntrinsic(width=W, height=H, fx=focal, fy=focal, cx=(W-1) / 2,cy=(H-1) / 2)
4.初始化PinholeCameraParameters并赋值:文章来源:https://www.toymoban.com/news/detail-723163.html
param = o3d.cuda.pybind.camera.PinholeCameraParameters()
param.extrinsic = extrinsic
param.intrinsic = intrinsic
5.显示该视角下的点云并保存图片(手动把窗口关了才会执行下一步):文章来源地址https://www.toymoban.com/news/detail-723163.html
vis = visualization.Visualizer()
vis.create_window(window_name='pcd', width=W, height=H)
ctr = vis.get_view_control()
vis.add_geometry(pcd)
ctr.convert_from_pinhole_camera_parameters(param)
vis.run()
# 保存图片
vis.capture_depth_image("/home/abc/depth.png")
vis.capture_screen_image("/home/abc/img.png")
vis.destroy_window()
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