Open3d中的非阻塞可视化

Question

我有两个不同的点云存储在两个不同的numpy阵列中，我可以在open3d中将它们组合起来。但我想做的是，一个点云保持不变，另一个点云在不关闭窗口的情况下沿z方向移动（即更新numpy数组的坐标）

下面是我通过这两个numpy数组（npa和npa_测试）在open3d中可视化的代码。请注意，在初始行中，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读取功能读取它们。我想通过沿z方向移动一点云几何体来更新它，然后在同一窗口上可视化它，而不关闭它。这可以通过如下所述，将z cordinates更新1 in for循环来实现。请让我知道，如果你有关于这个问题的解决方案。多谢各位

def抽取（npa、npa_测试）：

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()

Answer 1

我看到您正在使用npa[i][2] = npa[i][2] + 1来修改值，而当您可以只使用Transformation Matrix来转换像pcd.transform(np.array([[1,0,0,0],[0,1,0,0],[0,0,1,z_val],[0,0,0,1]]))这样的几何体时，这是一个过度的操作

下面是使用open3d将球体从z=0.5移动到15.0，增量为0.005的简单解决方案

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()