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<p>各位,</p>
<p>我想从点云裁剪并保存一个区域,然后保存它</p>
<p>我有BBox坐标(maxx,maxy,minx,miny),它们是点云的MaxP和MinP,并希望从中生成一个多边形。使用<code>bbox_to_Polygon(MaxP,MinP)</code>将BBox坐标转换为角点。这些应用于创建两个多边形。因此,我与pyny3D进行了一次<a href="https://i.stack.imgur.com/XnwKO.png" rel="nofollow noreferrer">Polyhedron</a></p>
<p>现在我可以吃了
我想,open3d.visualization.SelectionPolygonVolume()和一个卷。
我不想使用Open3d文档<a href="http://www.open3d.org/docs/release/tutorial/Basic/pointcloud.html#visualize-point-cloud" rel="nofollow noreferrer">Crop from Cloud</a>中描述的JSON文件。所以我找到了这个<a href="https://stackoverflow.com/questions/57155972/how-to-create-a-open3d-visualization-selectionpolygonvolume-object-without-loadi">How to Create a open3d.visualization.SelectionPolygonVolume Object Without Loading a json Filel</a></p>
<p>为什么<code>orthogonal_axis="Y"</code>?为什么不仅仅是Z轴?
在<a href="https://github.com/intel-isl/Open3D/commit/06952aeb18bd9e7cb3f00fce80550074fbf251a6" rel="nofollow noreferrer">example of JSON-File</a>中,Y值为0。我会建议是因为<code>orthogonal_axis="Y"</code>,但我不明白为什么?我们不需要一本多功能卷吗</p>
<p>我希望能得到一些帮助</p>
<p>我正在使用Google Colab和Jupyter笔记本电脑
Python 3.6</p>
<pre><code>#Vertics Poyhedrol to create a PolygonVolume
bounding_polygon = np.array([
#Vertics Polygon 1
[488.8989868164062, 612.208984375, 286.5320129394531],
[485.114990234375, 612.208984375, 286.5320129394531],
[485.114990234375, 605.0880126953125, 286.5320129394531],
[488.8989868164062, 605.0880126953125, 286.5320129394531],
#Vertics Polygon2
[488.89898681640625, 612.208984375, 291.6619873046875],
[485.114990234375, 612.208984375, 291.6619873046875],
[485.114990234375, 605.0880126953125, 291.6619873046875],
[488.89898681640625, 605.0880126953125, 291.6619873046875]]).astype("float64")
vol = o3d.visualization.SelectionPolygonVolume()
vol.orthogonal_axis = "Y"
vol.axis_max = 500
vol.axis_min = 700
vol.bounding_polygon = o3d.utility.Vector3dVector(bounding_polygon)
comp = vol.crop_point_cloud(pcd)
comp
#Since I took the MaxP and MinP of the Pointcloud as BBCoords I would expect the same number of points. But I get this:
#`geometry::PointCloud with 0 points`
</code></pre>
<p>这是全部代码</p>
<pre><code>import numpy as np
import pyny3d
import pyny3d.geoms as pyny
import open3d as o3d
from open3d import JVisualizer
path_incloud = ('/gdrive/My Drive/Colab Notebooks/Georeferenzierung/BildGeoreferenzieren/PointCloud/PointCloudFormats/Kranfundament - Cloud.ply')
pcd = o3d.io.read_point_cloud(path_incloud)
print("Input Cloud:", pcd)
visualizer = JVisualizer()
visualizer.add_geometry(pcd)
visualizer.show()
def bbox_to_Polygon(MaxP,MinP):
p1= [MaxP[0], MaxP[1], MinP[2]]
p2= [MaxP[0],MinP[1],MinP[2]]
p3= [MinP[0],MaxP[1],MinP[2]]
p4= MinP
p5= MaxP
p6= [MinP[0],MaxP[1],MaxP[2]]
p7= [MinP[0],MinP[1],MaxP[2]]
p8= [MaxP[0],MinP[1], MaxP[2]]
listPoints1 = [p1,p3,p4,p2]
print(listPoints1)
listPoints2 = [p5,p6,p7,p8]
print(listPoints2)
return listPoints1,listPoints2
MaxP = MaxPoint_PointCloud
MinP = MinPoint_PointCloud
listPointsPoly1 , listPointsPoly2 = bbox_to_Polygon(MaxP= MaxP, MinP=MinP)
poly1 = pyny.Polygon(np.array(listPoints1))
poly2 = pyny.Polygon(np.array(listPoints2))
poly1.plot()
poly2.plot()
polyhedron = pyny.Polyhedron.by_two_polygons(poly1, poly2)
polyhedron.plot('b')
MaxP = MaxPoint_PointCloud
MinP = MinPoint_PointCloud
#Vertics Poyhedrol to create a PolygonVolume
bounding_polygon = np.array([
#Vertics Polygon 1
[488.8989868164062, 612.208984375, 286.5320129394531],
[485.114990234375, 612.208984375, 286.5320129394531],
[485.114990234375, 605.0880126953125, 286.5320129394531],
[488.8989868164062, 605.0880126953125, 286.5320129394531],
#Vertics Polygon2
[488.89898681640625, 612.208984375, 291.6619873046875],
[485.114990234375, 612.208984375, 291.6619873046875],
[485.114990234375, 605.0880126953125, 291.6619873046875],
[488.89898681640625, 605.0880126953125, 291.6619873046875]]).astype("float64")
vol = o3d.visualization.SelectionPolygonVolume()
vol.orthogonal_axis = "Y"
vol.axis_max = 1000
vol.axis_min = -1000
vol.bounding_polygon = o3d.utility.Vector3dVector(bounding_polygon)
comp = vol.crop_point_cloud(pcd)
print("Cropped Cloud",comp)
</code></pre>