1 Open3d install

        Open3d By Intel Released an open source library , Support rapid development and processing 3D data .Open3D stay c++ and Python A set of carefully chosen data structures and algorithms is exposed in . The back end is highly optimized , And it's set up for parallelization .

      Open3d Use it directly pip Can be installed . Solve the problem of slow download , Please switch the download source . For setting method, please refer to ：python pip_Coding Leaves blog -CSDN Blog .

pip install open3d

        pcd For the introduction of point cloud format, please refer to ： Introduction to point cloud format （ One ）_Coding Leaves blog -CSDN Blog .

         about pcd Point cloud file ,Open3d The read point cloud is usually stored in PointCloud Class , As shown in the figure below . The following figure points All point cloud coordinates are stored , It can be used numpy.array Transform to matrix form .

2 numpy turn PointCloud

         For point cloud matrix , Usually convert to PointCloud The format can be Open3d Handle , Including storage and point cloud processing .

import open3d as o3d

pcd = o3d.geometry.PointCloud()

pcd.points = o3d.utility.Vector3dVector(points_array)

3 read pcd Point cloud file

        Open3d Read pcd The function of the format point cloud file is o3d.io.read_point_cloud, The read point cloud is stored as shown in the figure above PointCloud class .

import open3d as o3d

import numpy as np

pcd = o3d.io.read_point_cloud(path)

points = np.array(pcd.points) # Convert to matrix 

4 Write pcd Point cloud file

         The function to save the point cloud file is o3d.io.write_point_cloud.

o3d.io.write_point_cloud(path, pcd)

         matters needing attention ： In this way, the saved file can be open3d Direct reading , However, when reading in other ways, the following coding errors may occur , Therefore, it is best to specify the encoding method to save .

o3d.io.write_point_cloud(path, pcd , write_ascii=True)

UnicodeDecodeError: 'utf-8' codec can't decode byte 0xdd in position 173: invalid continuation byte.

python 3D point cloud research program _Coding Leaves blog -CSDN Blog _python The 3D point cloud will be continuously updated according to the following directory …… Introduction to point cloud format 、 Point cloud visualization 、 Point cloud projection 、 Generate aerial view 、 Generate front view 、 Point cloud registration 、 Point cloud segmentation 、 Three dimensional target detection 、 Point cloud reconstruction 、 Deep learning point cloud algorithm ……https://blog.csdn.net/suiyingy/article/details/124017716 Introduction to point cloud format （ One ）_Coding Leaves blog -CSDN There are some common ways of cloud storage for blogs pcd、ply、txt、bin file . This section focuses on the introduction pcd Point cloud format .https://blog.csdn.net/suiyingy/article/details/124170147 More 3D 、 Please pay attention to two-dimensional perception algorithm and financial quantitative analysis algorithm “ Lele perception school ” WeChat official account , And will continue to update .