Open3D | Open3D : A Modern Library for 3D Data Processing | Graphics library
kandi X-RAY | Open3D Summary
kandi X-RAY | Open3D Summary
Open3D is an open-source library that supports rapid development of software that deals with 3D data. The Open3D frontend exposes a set of carefully selected data structures and algorithms in both C++ and Python. The backend is highly optimized and is set up for parallelization. We welcome contributions from the open-source community. For more, please visit the Open3D documentation.
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Open3D Examples and Code Snippets
Lines of Code : 19License : Strong Copyleft (CC BY-SA 4.0)
Copyimport open3d as o3d
from time import sleep
frames = 682
vis = o3d.visualization.Visualizer()
vis.create_window()
pcd = o3d.io.read_point_cloud(f'ply/0000000.ply')
vis.add_geometry(pcd)
vis.poll_events()
vis.update_renderer()
for i in
import open3d
import open3d.visualization.rendering as rendering
# Create a renderer with a set image width and height
render = rendering.OffscreenRenderer(img_width, img_height)
# setup camera intrinsic values
pinhole = open3d.camera.Pimport copy
import numpy as np
import open3d as o3d
def draw_registration_result(source, target, transformation):
source_temp = copy.deepcopy(source)
target_temp = copy.deepcopy(target)
source_temp.paint_uniform_color([1, 0.w2c = np.eye(4)
w2c[:3,:3] = R
w2c[:3,3] = T
c2w = np.linalg.inv(w2c)
# quaternions
q = Rotation.from_matrix(c2w[:3, :3).as_quat()
# translation
t = c2w[:3, 3]
instance_name = open3d.visualization.gui.Application(...)
instance_name.post_to_main_thread(arg1, arg2)
def my_callable:
print('Hello, World!')
return
instance_name.post_to_main_thread(arg1, my_callable)
import open3d as o3d
input_file='mypoints.ply'
pcd = o3d.io.read_point_cloud(input_file)
voxel_down_pcd = pcd.voxel_down_sample(pcd, voxel_size=0.02)
print("Clustering...")
let clusters = mesh.cluster_connected_triangles()
let triangle_clusters = np.asarray(clusters[0])
let cluster_n_triangles = np.asarray(clusters[1])
let cluster_area = np.asarray(clusters[2])
let largest_cluster_idx # Rotation
pcd.rotate(r, center = (0,0,0))
# Translation
pcd.translate(t)
import numpy as np
import open3d as o3d
pcd = o3d.io.read_point_cloud('./meshdata2.xyz')
pcd.estimate_normals()
# to obtain a consistent normal orientation
pcd.orient_normals_towards_camera_location(pcd.get_center())
# or you might wantcylinder.vertices = o3d.utility.Vector3dVector(
np.asarray(cylinder.vertices) * np.array([1., 1., 2.]) )
Community Discussions
Trending Discussions on Open3D
QUESTION
Please consider the snippet below. It plots a set of spheres connected by some segments. The function to draw the smooth spheres comes from the discussion at
How to increase smoothness of spheres3d in rgl
What puzzles me is the following: when I zoom in/out the RGL plot, the spheres and the segments behave differently. In particular, if I zoom in, the segments look rather thin with respect to the spheres, whereas they look really wide when I zoom out.
Is there a way to correct this behavior, so that the proportion between the spheres and the segments is always respected regardless of the zoom level? Thanks a lot
...ANSWER
Answered 2022-Mar-07 at 09:44Thanks for the valuable suggestions. Resorting to cylinders got the job done. For the setting up the cylinders, I really made a copy and paste of part of the discussion here
https://r-help.stat.math.ethz.narkive.com/9X5yGnh0/r-joining-two-points-in-rgl
QUESTION
I am trying to create a Shiny app that displays an RGL visualisation (which is nothing else than a set of polished sticks and spheres). Please have a look at the code for the visualisation below
...ANSWER
Answered 2022-Mar-04 at 13:43Well, the code below is at the moment good enough for me and gets the job done. It works and it can be deployed online.
QUESTION
I want to identify 3d cylinders in an rgl plot to obtain one attribute of the nearest / selected cylinder. I tried using labels to simply spell out the attribute, but I work on data with more than 10.000 cylinders. Therefore, it gets so crowded that the labels are unreadable and it takes ages to render.
I tried to understand the documentation of rgl and I guess the solution to my issue is selecting the cylinder in the plot manually. I believe the function selectpoints3d() is probably the way to go. I believe it returns all vertices within the drawn rectangle, but I don't know how to go back to the cylinder data? I could calculate which cylinder is closest to the mean of the selected vertices, but this seems like a "quick & dirty" way to do the job.
Is there a better way to go? I noticed the argument value=FALSE to get the indices only, but I don't know how to go back to the cylinders.
Here is some dummy data and my code:
...ANSWER
Answered 2022-Feb-21 at 17:08If you call selectpoints3d(value = FALSE), you get two columns. The first column is the id of the object that was found. Your cylinders get two ids each. One way to mark the cylinders is to use "tags". For example, this modification of your code:
QUESTION
I'm currently trying to play a sequence of ply models through open3d, but I'm having some issues with updating the geometry. Currently only the first image is shown, and the vis isn't being updated. I've been trying to find some info on this, but most guides or other sections show that this should work? I'm not entirely sure what I'm doing wrong but any advice would be greatly appreciated.
I'm currently using python==3.9 and open3d==14.1.
...ANSWER
Answered 2022-Jan-29 at 11:56I'm not sure why but this works (got the solution from Open3d - visualizing multiple point clouds as a video/animation)
QUESTION
I am trying to plot cylinder models of trees in R, which consist of several thousand cylinders. Currently, I am trying to use the rgl package for this task. Until now, I looped through all cylinders and added them separately to the 3D Plot.
Here an example with dummy data:
...ANSWER
Answered 2022-Jan-12 at 19:20There are quite a few possibilities.
The easiest change is to tell rgl not to update the display until you are finished updating it using the par3d(skipRedraw=TRUE) option. You need to run par3d(skipRedraw=FALSE) when you want to see the updates. That often makes enough of a speedup.
If all of your cylinders were the same shape (but maybe rescaled), you could use sprites3d; but you are varying the radius separately from the height, so that's not possible.
To do what you asked for (put them all into one shade3d call) you could make a shape list. For example, after editing to allow separate colors,
QUESTION
I have a sequences of pngs and corresponding depth files (aligned to the corresponding images) from an external camera.
RGB: 1.png 2.png 3.png etc 150.png
Depth: 1.txt 2.txt 3.txt etc 150.txt
I also have the intrinsics and corresponding camera information in another file called camera.txt.
My goal is to convert these images and depth files to an mkv file in order to utilize the pykinect's body tracker (https://github.com/ibaiGorordo/pyKinectAzure)
So far, I've been able to convert the images and and depth files into an open3D RGBD object. See: http://www.open3d.org/docs/release/python_api/open3d.geometry.RGBDImage.html
I would think we need to run it through the azure kinect reader (https://github.com/isl-org/Open3D/blob/0ec3e5b24551eaffa3c7708aae8630fde9b00e6c/examples/python/reconstruction_system/sensors/azure_kinect_recorder.py#L34), but this seems to open up the camera for additional input.
How can I save this rgbd images to an mkv file format to read in to the pykinect reader? I
...ANSWER
Answered 2021-Dec-16 at 07:58Have you tried:
- Converting the RGBD image into a numpy array :
http://www.open3d.org/docs/latest/tutorial/Basic/rgbd_image.html
- Then converting the numpy array to an mkv file like:
NumPy array of a video changes from the original after writing into the same video
QUESTION
I've been trying to use the HOnnotate dataset to extract perspective correct hand and object masks as shown in the images of Task-3 of the Hands-2019 challenge.
The data set comes with the following annotations:
...ANSWER
Answered 2021-Dec-16 at 05:51Turns out there is an easy way to do this task using Open3D and the camera intrinsic values. Basically we instruct Open3D to render the image from the POV of the camera.
QUESTION
I have two .ply files that contain mesh of objects that are similar in shape. They are initially unaligned. I would like to achieve global registration for the two mesh objects. Is there a way that I can do this without having to initially import the point cloud data, do global registration, and then reconstruct the mesh?
I have tried the steps listed in the open3d documentation (http://www.open3d.org/docs/0.12.0/tutorial/pipelines/global_registration.html) and it works well for the point clouds. However, reconstructing a mesh from the point clouds is challenging, as they are a relatively complex shape, so I would like to avoid that.
Thank you in advance!
...ANSWER
Answered 2021-Dec-09 at 03:11The main idea is you don't need to reconstruct mesh from point cloud.
Mark the data you have as mesh_a, mesh_b, pcl_a, pcl_b.
if your
pcl_a/bis extracted directly frommesh_a/borpcl_a/bandmesh_a/bhas the same Transformation Matrix, You can simply apply the transformation matrix obtained from the point cloud alignment to the mesh.if your point cloud data has no relations with your mesh data. You can first sample
mesh_a/bto point cloud and do registration or directly get mesh vertex as point cloud from mesh data. The rest of the work is the same as in case one.
Here are the example of situation two.
QUESTION
I am using CMake to define the compilation of a C++ executable. The goal is to use 2 third-party libraries, Open3D and OpenCV. I am able to include one of the two with target_link_libraries, but including both results in OpenCV functions not being found.
This is my current CMakeLists.txt
ANSWER
Answered 2021-Oct-21 at 18:59The problem was solved by finding this Github issue: https://github.com/isl-org/Open3D/issues/2286
By using specific build flags when building Open3D, the libraries could both be linked correctly and simultaneously with the target_link_libraries(ORB_SLAM ${OpenCV_LIBS} ${Open3D_LIBRARIES}) command.
The build commands were as follows;
QUESTION
I have a colmap export of the camera pose file which named "images.txt".
...ANSWER
Answered 2021-Oct-15 at 13:38After loading R and T try this and use quaternions for camera direction.
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