{"id":1103472,"date":"2025-01-08T16:10:57","date_gmt":"2025-01-08T08:10:57","guid":{"rendered":"https:\/\/docs.pingcode.com\/ask\/ask-ask\/1103472.html"},"modified":"2025-01-08T16:10:59","modified_gmt":"2025-01-08T08:10:59","slug":"python%e5%a6%82%e4%bd%95%e8%bf%9b%e8%a1%8c%e7%82%b9%e4%ba%91%e6%95%b0%e6%8d%ae%e5%a4%84%e7%90%86","status":"publish","type":"post","link":"https:\/\/docs.pingcode.com\/ask\/1103472.html","title":{"rendered":"python\u5982\u4f55\u8fdb\u884c\u70b9\u4e91\u6570\u636e\u5904\u7406"},"content":{"rendered":"<p style=\"text-align:center;\" ><img decoding=\"async\" src=\"https:\/\/cdn-kb.worktile.com\/kb\/wp-content\/uploads\/2024\/04\/25065252\/b1c1a439-d08c-42c0-bc00-b1b503751d9d.webp\" alt=\"python\u5982\u4f55\u8fdb\u884c\u70b9\u4e91\u6570\u636e\u5904\u7406\" \/><\/p>\n<p><p> <strong>Python\u8fdb\u884c\u70b9\u4e91\u6570\u636e\u5904\u7406\u7684\u65b9\u6cd5\u5305\u62ec\uff1a\u4f7f\u7528PCL\u5e93\u3001\u7528Open3D\u5e93\u3001\u4f7f\u7528NumPy\u8fdb\u884c\u6570\u636e\u5904\u7406\u3001\u5e94\u7528Matplotlib\u8fdb\u884c\u6570\u636e\u53ef\u89c6\u5316\u3002<\/strong>\u5176\u4e2d\uff0c\u4f7f\u7528Open3D\u5e93\u662f\u6700\u4e3a\u5e38\u7528\u4e14\u529f\u80fd\u5f3a\u5927\u7684\u65b9\u6cd5\u3002Open3D\u5e93\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u5de5\u5177\u96c6\uff0c\u652f\u6301\u70b9\u4e91\u7684\u8bfb\u53d6\u3001\u5199\u5165\u3001\u5904\u7406\u548c\u53ef\u89c6\u5316\u3002\u63a5\u4e0b\u6765\u5c06\u8be6\u7ec6\u4ecb\u7ecd\u4f7f\u7528Open3D\u5e93\u8fdb\u884c\u70b9\u4e91\u6570\u636e\u5904\u7406\u7684\u65b9\u6cd5\u3002<\/p>\n<\/p>\n<p><h3>\u4e00\u3001\u70b9\u4e91\u6570\u636e\u5904\u7406\u6982\u8ff0<\/h3>\n<\/p>\n<p><p>\u70b9\u4e91\u6570\u636e\u662f\u4e00\u79cd\u5305\u542b\u7a7a\u95f4\u4e2d\u5927\u91cf\u70b9\u7684\u4e09\u7ef4\u6570\u636e\uff0c\u5e7f\u6cdb\u5e94\u7528\u4e8e\u8ba1\u7b97\u673a\u89c6\u89c9\u3001\u673a\u5668\u4eba\u3001\u81ea\u52a8\u9a7e\u9a76\u7b49\u9886\u57df\u3002\u70b9\u4e91\u6570\u636e\u901a\u5e38\u7531\u6fc0\u5149\u626b\u63cf\u4eea\u3001\u6df1\u5ea6\u76f8\u673a\u7b49\u8bbe\u5907\u83b7\u53d6\uff0c\u5305\u542b\u4e86\u7269\u4f53\u8868\u9762\u7684\u51e0\u4f55\u4fe1\u606f\u3002\u70b9\u4e91\u6570\u636e\u5904\u7406\u4e3b\u8981\u5305\u62ec\u4ee5\u4e0b\u51e0\u4e2a\u6b65\u9aa4\uff1a\u70b9\u4e91\u6570\u636e\u8bfb\u53d6\u4e0e\u5199\u5165\u3001\u70b9\u4e91\u6570\u636e\u6ee4\u6ce2\u3001\u70b9\u4e91\u6570\u636e\u914d\u51c6\u3001\u70b9\u4e91\u6570\u636e\u5206\u5272\u3001\u70b9\u4e91\u6570\u636e\u7279\u5f81\u63d0\u53d6\u548c\u70b9\u4e91\u6570\u636e\u53ef\u89c6\u5316\u3002<\/p>\n<\/p>\n<p><h3>\u4e8c\u3001\u4f7f\u7528PCL\u5e93\u8fdb\u884c\u70b9\u4e91\u6570\u636e\u5904\u7406<\/h3>\n<\/p>\n<p><p>PCL\uff08Point Cloud Library\uff09\u662f\u4e00\u4e2a\u5f00\u6e90\u7684\u70b9\u4e91\u5904\u7406\u5e93\uff0c\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u70b9\u4e91\u5904\u7406\u529f\u80fd\u3002\u867d\u7136PCL\u4e3b\u8981\u662f\u7528C++\u7f16\u5199\u7684\uff0c\u4f46\u4e5f\u6709Python\u7ed1\u5b9a\uff08pclpy\uff09\uff0c\u53ef\u4ee5\u5728Python\u4e2d\u4f7f\u7528PCL\u7684\u529f\u80fd\u3002<\/p>\n<\/p>\n<p><h4>1\u3001\u5b89\u88c5PCL\u5e93<\/h4>\n<\/p>\n<p><p>\u9996\u5148\uff0c\u9700\u8981\u5b89\u88c5pclpy\u5e93\u3002\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u8fdb\u884c\u5b89\u88c5\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-bash\">pip install pclpy<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><h4>2\u3001\u8bfb\u53d6\u70b9\u4e91\u6570\u636e<\/h4>\n<\/p>\n<p><p>\u4f7f\u7528PCL\u5e93\u53ef\u4ee5\u65b9\u4fbf\u5730\u8bfb\u53d6\u70b9\u4e91\u6570\u636e\uff0c\u652f\u6301\u591a\u79cd\u6587\u4ef6\u683c\u5f0f\uff0c\u5982PCD\u3001PLY\u7b49\u3002\u4ee5\u4e0b\u662f\u8bfb\u53d6PCD\u6587\u4ef6\u7684\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-python\">import pclpy<\/p>\n<p>from pclpy import pcl<\/p>\n<h2><strong>\u8bfb\u53d6\u70b9\u4e91\u6570\u636e<\/strong><\/h2>\n<p>cloud = pcl.PointCloud.PointXYZ()<\/p>\n<p>pcl.io.loadPCDFile(&quot;path\/to\/your\/pointcloud.pcd&quot;, cloud)<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><h4>3\u3001\u70b9\u4e91\u6570\u636e\u6ee4\u6ce2<\/h4>\n<\/p>\n<p><p>\u70b9\u4e91\u6570\u636e\u901a\u5e38\u5305\u542b\u566a\u58f0\u548c\u5197\u4f59\u6570\u636e\uff0c\u9700\u8981\u8fdb\u884c\u6ee4\u6ce2\u5904\u7406\u3002\u4ee5\u4e0b\u662f\u4f7f\u7528PCL\u5e93\u8fdb\u884c\u70b9\u4e91\u6ee4\u6ce2\u7684\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-python\"># \u521b\u5efa\u6ee4\u6ce2\u5668\u5bf9\u8c61<\/p>\n<p>voxel_grid = pcl.filters.VoxelGrid.PointXYZ()<\/p>\n<p>voxel_grid.setInputCloud(cloud)<\/p>\n<p>voxel_grid.setLeafSize(0.01, 0.01, 0.01)<\/p>\n<h2><strong>\u8fdb\u884c\u6ee4\u6ce2\u5904\u7406<\/strong><\/h2>\n<p>filtered_cloud = pcl.PointCloud.PointXYZ()<\/p>\n<p>voxel_grid.filter(filtered_cloud)<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><h3>\u4e09\u3001\u4f7f\u7528Open3D\u5e93\u8fdb\u884c\u70b9\u4e91\u6570\u636e\u5904\u7406<\/h3>\n<\/p>\n<p><p>Open3D\u662f\u4e00\u4e2a\u5f00\u6e90\u76843D\u6570\u636e\u5904\u7406\u5e93\uff0c\u652f\u6301\u70b9\u4e91\u3001\u7f51\u683c\u3001RGB-D\u56fe\u50cf\u7b49\u591a\u79cd3D\u6570\u636e\u7c7b\u578b\u3002Open3D\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u70b9\u4e91\u5904\u7406\u529f\u80fd\uff0c\u662f\u70b9\u4e91\u5904\u7406\u7684\u7406\u60f3\u9009\u62e9\u3002<\/p>\n<\/p>\n<p><h4>1\u3001\u5b89\u88c5Open3D\u5e93<\/h4>\n<\/p>\n<p><p>\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u5b89\u88c5Open3D\u5e93\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-bash\">pip install open3d<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><h4>2\u3001\u8bfb\u53d6\u70b9\u4e91\u6570\u636e<\/h4>\n<\/p>\n<p><p>Open3D\u652f\u6301\u591a\u79cd\u70b9\u4e91\u6570\u636e\u683c\u5f0f\uff0c\u5305\u62ecPCD\u3001PLY\u3001XYZ\u7b49\u3002\u4ee5\u4e0b\u662f\u8bfb\u53d6PCD\u6587\u4ef6\u7684\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-python\">import open3d as o3d<\/p>\n<h2><strong>\u8bfb\u53d6\u70b9\u4e91\u6570\u636e<\/strong><\/h2>\n<p>pcd = o3d.io.read_point_cloud(&quot;path\/to\/your\/pointcloud.pcd&quot;)<\/p>\n<h2><strong>\u663e\u793a\u70b9\u4e91\u6570\u636e<\/strong><\/h2>\n<p>o3d.visualization.draw_geometries([pcd])<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><h4>3\u3001\u70b9\u4e91\u6570\u636e\u6ee4\u6ce2<\/h4>\n<\/p>\n<p><p>Open3D\u63d0\u4f9b\u4e86\u591a\u79cd\u6ee4\u6ce2\u65b9\u6cd5\uff0c\u5305\u62ec\u4f53\u7d20\u6ee4\u6ce2\u3001\u7edf\u8ba1\u6ee4\u6ce2\u7b49\u3002\u4ee5\u4e0b\u662f\u4f7f\u7528\u4f53\u7d20\u6ee4\u6ce2\u8fdb\u884c\u70b9\u4e91\u6ee4\u6ce2\u7684\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-python\"># \u8fdb\u884c\u4f53\u7d20\u6ee4\u6ce2<\/p>\n<p>voxel_down_pcd = pcd.voxel_down_sample(voxel_size=0.02)<\/p>\n<h2><strong>\u663e\u793a\u6ee4\u6ce2\u540e\u7684\u70b9\u4e91\u6570\u636e<\/strong><\/h2>\n<p>o3d.visualization.draw_geometries([voxel_down_pcd])<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><h3>\u56db\u3001\u4f7f\u7528NumPy\u8fdb\u884c\u70b9\u4e91\u6570\u636e\u5904\u7406<\/h3>\n<\/p>\n<p><p>NumPy\u662fPython\u4e2d\u5904\u7406\u6570\u7ec4\u548c\u77e9\u9635\u7684\u57fa\u7840\u5e93\uff0c\u4e5f\u53ef\u4ee5\u7528\u4e8e\u70b9\u4e91\u6570\u636e\u5904\u7406\u3002\u901a\u8fc7\u5c06\u70b9\u4e91\u6570\u636e\u8f6c\u6362\u4e3aNumPy\u6570\u7ec4\uff0c\u53ef\u4ee5\u65b9\u4fbf\u5730\u8fdb\u884c\u6570\u636e\u5904\u7406\u548c\u8ba1\u7b97\u3002<\/p>\n<\/p>\n<p><h4>1\u3001\u8bfb\u53d6\u70b9\u4e91\u6570\u636e<\/h4>\n<\/p>\n<p><p>\u53ef\u4ee5\u4f7f\u7528Open3D\u8bfb\u53d6\u70b9\u4e91\u6570\u636e\uff0c\u7136\u540e\u5c06\u5176\u8f6c\u6362\u4e3aNumPy\u6570\u7ec4\u3002\u4ee5\u4e0b\u662f\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-python\">import open3d as o3d<\/p>\n<p>import numpy as np<\/p>\n<h2><strong>\u8bfb\u53d6\u70b9\u4e91\u6570\u636e<\/strong><\/h2>\n<p>pcd = o3d.io.read_point_cloud(&quot;path\/to\/your\/pointcloud.pcd&quot;)<\/p>\n<h2><strong>\u5c06\u70b9\u4e91\u6570\u636e\u8f6c\u6362\u4e3aNumPy\u6570\u7ec4<\/strong><\/h2>\n<p>points = np.asarray(pcd.points)<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><h4>2\u3001\u70b9\u4e91\u6570\u636e\u6ee4\u6ce2<\/h4>\n<\/p>\n<p><p>\u53ef\u4ee5\u4f7f\u7528NumPy\u8fdb\u884c\u70b9\u4e91\u6570\u636e\u7684\u7b80\u5355\u6ee4\u6ce2\u5904\u7406\uff0c\u5982\u53bb\u9664\u67d0\u4e2a\u8303\u56f4\u5185\u7684\u70b9\u3002\u4ee5\u4e0b\u662f\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-python\"># \u8fdb\u884c\u7b80\u5355\u6ee4\u6ce2\u5904\u7406\uff0c\u53bb\u9664Z\u8f74\u8303\u56f4\u57280.5\u4ee5\u4e0b\u7684\u70b9<\/p>\n<p>filtered_points = points[points[:, 2] &gt; 0.5]<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><h3>\u4e94\u3001\u4f7f\u7528Matplotlib\u8fdb\u884c\u70b9\u4e91\u6570\u636e\u53ef\u89c6\u5316<\/h3>\n<\/p>\n<p><p>Matplotlib\u662fPython\u4e2d\u5e38\u7528\u7684\u7ed8\u56fe\u5e93\uff0c\u53ef\u4ee5\u7528\u4e8e\u70b9\u4e91\u6570\u636e\u7684\u7b80\u5355\u53ef\u89c6\u5316\u3002\u901a\u8fc7\u5c06\u70b9\u4e91\u6570\u636e\u8f6c\u6362\u4e3aNumPy\u6570\u7ec4\uff0c\u53ef\u4ee5\u4f7f\u7528Matplotlib\u8fdb\u884c\u7ed8\u5236\u3002<\/p>\n<\/p>\n<p><h4>1\u3001\u8bfb\u53d6\u70b9\u4e91\u6570\u636e<\/h4>\n<\/p>\n<p><p>\u53ef\u4ee5\u4f7f\u7528Open3D\u8bfb\u53d6\u70b9\u4e91\u6570\u636e\uff0c\u7136\u540e\u5c06\u5176\u8f6c\u6362\u4e3aNumPy\u6570\u7ec4\u3002\u4ee5\u4e0b\u662f\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-python\">import open3d as o3d<\/p>\n<p>import numpy as np<\/p>\n<h2><strong>\u8bfb\u53d6\u70b9\u4e91\u6570\u636e<\/strong><\/h2>\n<p>pcd = o3d.io.read_point_cloud(&quot;path\/to\/your\/pointcloud.pcd&quot;)<\/p>\n<h2><strong>\u5c06\u70b9\u4e91\u6570\u636e\u8f6c\u6362\u4e3aNumPy\u6570\u7ec4<\/strong><\/h2>\n<p>points = np.asarray(pcd.points)<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><h4>2\u3001\u70b9\u4e91\u6570\u636e\u53ef\u89c6\u5316<\/h4>\n<\/p>\n<p><p>\u53ef\u4ee5\u4f7f\u7528Matplotlib\u7ed8\u5236\u70b9\u4e91\u6570\u636e\u7684\u6563\u70b9\u56fe\u3002\u4ee5\u4e0b\u662f\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-python\">import matplotlib.pyplot as plt<\/p>\n<h2><strong>\u7ed8\u5236\u70b9\u4e91\u6570\u636e\u7684\u6563\u70b9\u56fe<\/strong><\/h2>\n<p>fig = plt.figure()<\/p>\n<p>ax = fig.add_subplot(111, projection=&#39;3d&#39;)<\/p>\n<p>ax.scatter(points[:, 0], points[:, 1], points[:, 2], s=1)<\/p>\n<p>plt.show()<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><h3>\u516d\u3001\u70b9\u4e91\u6570\u636e\u5904\u7406\u7684\u5e94\u7528\u5b9e\u4f8b<\/h3>\n<\/p>\n<p><h4>1\u3001\u70b9\u4e91\u6570\u636e\u914d\u51c6<\/h4>\n<\/p>\n<p><p>\u70b9\u4e91\u6570\u636e\u914d\u51c6\u662f\u5c06\u591a\u4e2a\u70b9\u4e91\u6570\u636e\u5bf9\u9f50\uff0c\u901a\u5e38\u7528\u4e8e\u6784\u5efa\u5b8c\u6574\u76843D\u6a21\u578b\u3002Open3D\u63d0\u4f9b\u4e86ICP\uff08Iterative Closest Point\uff09\u7b97\u6cd5\u8fdb\u884c\u70b9\u4e91\u914d\u51c6\u3002\u4ee5\u4e0b\u662f\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-python\">import open3d as o3d<\/p>\n<h2><strong>\u8bfb\u53d6\u4e24\u4e2a\u70b9\u4e91\u6570\u636e<\/strong><\/h2>\n<p>source = o3d.io.read_point_cloud(&quot;path\/to\/source_pointcloud.pcd&quot;)<\/p>\n<p>target = o3d.io.read_point_cloud(&quot;path\/to\/target_pointcloud.pcd&quot;)<\/p>\n<h2><strong>\u8fdb\u884c\u70b9\u4e91\u914d\u51c6<\/strong><\/h2>\n<p>threshold = 0.02<\/p>\n<p>trans_init = np.eye(4)<\/p>\n<p>reg_p2p = o3d.pipelines.registration.registration_icp(<\/p>\n<p>    source, target, threshold, trans_init,<\/p>\n<p>    o3d.pipelines.registration.TransformationEstimationPointToPoint()<\/p>\n<p>)<\/p>\n<h2><strong>\u663e\u793a\u914d\u51c6\u7ed3\u679c<\/strong><\/h2>\n<p>source.transform(reg_p2p.transformation)<\/p>\n<p>o3d.visualization.draw_geometries([source, target])<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><h4>2\u3001\u70b9\u4e91\u6570\u636e\u5206\u5272<\/h4>\n<\/p>\n<p><p>\u70b9\u4e91\u6570\u636e\u5206\u5272\u662f\u5c06\u70b9\u4e91\u6570\u636e\u5206\u4e3a\u591a\u4e2a\u90e8\u5206\uff0c\u901a\u5e38\u7528\u4e8e\u8bc6\u522b\u548c\u63d0\u53d6\u7279\u5b9a\u7684\u7269\u4f53\u3002Open3D\u63d0\u4f9b\u4e86\u591a\u79cd\u5206\u5272\u65b9\u6cd5\uff0c\u5305\u62ec\u5e73\u9762\u5206\u5272\u3001\u805a\u7c7b\u5206\u5272\u7b49\u3002\u4ee5\u4e0b\u662f\u4f7f\u7528RANSAC\u7b97\u6cd5\u8fdb\u884c\u5e73\u9762\u5206\u5272\u7684\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n<\/p>\n<p><pre><code class=\"language-python\">import open3d as o3d<\/p>\n<h2><strong>\u8bfb\u53d6\u70b9\u4e91\u6570\u636e<\/strong><\/h2>\n<p>pcd = o3d.io.read_point_cloud(&quot;path\/to\/your\/pointcloud.pcd&quot;)<\/p>\n<h2><strong>\u8fdb\u884c\u5e73\u9762\u5206\u5272<\/strong><\/h2>\n<p>plane_model, inliers = pcd.segment_plane(distance_threshold=0.01, ransac_n=3, num_iterations=1000)<\/p>\n<p>inlier_cloud = pcd.select_by_index(inliers)<\/p>\n<p>outlier_cloud = pcd.select_by_index(inliers, invert=True)<\/p>\n<h2><strong>\u663e\u793a\u5206\u5272\u7ed3\u679c<\/strong><\/h2>\n<p>inlier_cloud.p<a href=\"https:\/\/docs.pingcode.com\/blog\/59162.html\" target=\"_blank\">AI<\/a>nt_uniform_color([1, 0, 0])<\/p>\n<p>outlier_cloud.paint_uniform_color([0, 1, 0])<\/p>\n<p>o3d.visualization.draw_geometries([inlier_cloud, outlier_cloud])<\/p>\n<p><\/code><\/pre>\n<\/p>\n<p><h3>\u4e03\u3001\u603b\u7ed3<\/h3>\n<\/p>\n<p><p>Python\u63d0\u4f9b\u4e86\u591a\u79cd\u8fdb\u884c\u70b9\u4e91\u6570\u636e\u5904\u7406\u7684\u65b9\u6cd5\uff0c\u5305\u62ec\u4f7f\u7528PCL\u5e93\u3001Open3D\u5e93\u3001NumPy\u548cMatplotlib\u7b49\u3002\u5176\u4e2d\uff0cOpen3D\u5e93\u662f\u6700\u4e3a\u5e38\u7528\u4e14\u529f\u80fd\u5f3a\u5927\u7684\u65b9\u6cd5\uff0c\u652f\u6301\u70b9\u4e91\u6570\u636e\u7684\u8bfb\u53d6\u3001\u5199\u5165\u3001\u5904\u7406\u548c\u53ef\u89c6\u5316\u3002\u901a\u8fc7\u5b66\u4e60\u548c\u638c\u63e1\u8fd9\u4e9b\u65b9\u6cd5\uff0c\u53ef\u4ee5\u6709\u6548\u5730\u8fdb\u884c\u70b9\u4e91\u6570\u636e\u5904\u7406\uff0c\u5e94\u7528\u4e8e\u8ba1\u7b97\u673a\u89c6\u89c9\u3001\u673a\u5668\u4eba\u3001\u81ea\u52a8\u9a7e\u9a76\u7b49\u9886\u57df\u3002<\/p>\n<\/p>\n<h2><strong>\u76f8\u5173\u95ee\u7b54FAQs\uff1a<\/strong><\/h2>\n<p> <strong>\u5982\u4f55\u4f7f\u7528Python\u52a0\u8f7d\u70b9\u4e91\u6570\u636e\uff1f<\/strong><br \/>Python\u63d0\u4f9b\u4e86\u591a\u79cd\u5e93\u6765\u52a0\u8f7d\u548c\u5904\u7406\u70b9\u4e91\u6570\u636e\uff0c\u4f8b\u5982Open3D\u548cPCL\uff08Point Cloud Library\uff09\u3002\u4f7f\u7528Open3D\uff0c\u53ef\u4ee5\u901a\u8fc7<code>read_point_cloud<\/code>\u51fd\u6570\u8f7b\u677e\u8bfb\u53d6\u5e38\u89c1\u683c\u5f0f\u7684\u70b9\u4e91\u6587\u4ef6\uff08\u5982.ply\u548c.xyz\uff09\u3002\u786e\u4fdd\u5b89\u88c5\u4e86\u76f8\u5e94\u7684\u5e93\uff0c\u7136\u540e\u901a\u8fc7\u4ee5\u4e0b\u4ee3\u7801\u52a0\u8f7d\u70b9\u4e91\u6570\u636e\uff1a<\/p>\n<pre><code class=\"language-python\">import open3d as o3d\n\npoint_cloud = o3d.io.read_point_cloud(&quot;path_to_file.ply&quot;)\n<\/code><\/pre>\n<p><strong>Python\u4e2d\u6709\u54ea\u4e9b\u5e93\u9002\u5408\u8fdb\u884c\u70b9\u4e91\u6570\u636e\u5904\u7406\uff1f<\/strong><br \/>\u5728Python\u4e2d\uff0c\u6709\u51e0\u4e2a\u6d41\u884c\u7684\u5e93\u9002\u5408\u5904\u7406\u70b9\u4e91\u6570\u636e\uff0c\u5305\u62ecOpen3D\u3001PCL\uff08\u901a\u8fc7Python\u7ed1\u5b9a\uff09\u3001NumPy\u548cSciPy\u3002Open3D\u662f\u4e00\u4e2a\u529f\u80fd\u5f3a\u5927\u7684\u5e93\uff0c\u4e13\u6ce8\u4e8e3D\u6570\u636e\u5904\u7406\uff0c\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u529f\u80fd\uff0c\u5982\u70b9\u4e91\u53ef\u89c6\u5316\u3001\u4e0b\u91c7\u6837\u3001\u6cd5\u7ebf\u4f30\u8ba1\u7b49\u3002PCL\u662f\u4e00\u4e2a\u6210\u719f\u7684C++\u5e93\uff0c\u5176Python\u7ed1\u5b9a\u5141\u8bb8\u7528\u6237\u5229\u7528\u5176\u5f3a\u5927\u7684\u7b97\u6cd5\u548c\u6570\u636e\u7ed3\u6784\u3002<\/p>\n<p><strong>\u5982\u4f55\u5bf9\u70b9\u4e91\u6570\u636e\u8fdb\u884c\u53ef\u89c6\u5316\uff1f<\/strong><br \/>\u53ef\u89c6\u5316\u70b9\u4e91\u6570\u636e\u662f\u7406\u89e3\u6570\u636e\u7684\u91cd\u8981\u6b65\u9aa4\u3002\u4f7f\u7528Open3D\uff0c\u53ef\u4ee5\u901a\u8fc7<code>draw_geometries<\/code>\u51fd\u6570\u8f7b\u677e\u5b9e\u73b0\u70b9\u4e91\u7684\u53ef\u89c6\u5316\u3002\u4f8b\u5982\uff1a<\/p>\n<pre><code class=\"language-python\">o3d.visualization.draw_geometries([point_cloud])\n<\/code><\/pre>\n<p>\u8fd9\u6bb5\u4ee3\u7801\u5c06\u6253\u5f00\u4e00\u4e2a\u7a97\u53e3\uff0c\u5c55\u793a\u52a0\u8f7d\u7684\u70b9\u4e91\u6570\u636e\uff0c\u7528\u6237\u53ef\u4ee5\u901a\u8fc7\u65cb\u8f6c\u3001\u7f29\u653e\u7b49\u64cd\u4f5c\u6765\u67e5\u770b\u70b9\u4e91\u7684\u4e0d\u540c\u89d2\u5ea6\u3002\u4e3a\u4e86\u5b9e\u73b0\u66f4\u590d\u6742\u7684\u53ef\u89c6\u5316\u6548\u679c\uff0c\u53ef\u4ee5\u7ed3\u5408\u989c\u8272\u3001\u6cd5\u7ebf\u7b49\u4fe1\u606f\u8fdb\u884c\u5c55\u793a\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"Python\u8fdb\u884c\u70b9\u4e91\u6570\u636e\u5904\u7406\u7684\u65b9\u6cd5\u5305\u62ec\uff1a\u4f7f\u7528PCL\u5e93\u3001\u7528Open3D\u5e93\u3001\u4f7f\u7528NumPy\u8fdb\u884c\u6570\u636e\u5904\u7406\u3001\u5e94\u7528Mat [&hellip;]","protected":false},"author":3,"featured_media":1103482,"comment_status":"closed","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[37],"tags":[],"acf":[],"_links":{"self":[{"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/posts\/1103472"}],"collection":[{"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/users\/3"}],"replies":[{"embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/comments?post=1103472"}],"version-history":[{"count":"1","href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/posts\/1103472\/revisions"}],"predecessor-version":[{"id":1103486,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/posts\/1103472\/revisions\/1103486"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/media\/1103482"}],"wp:attachment":[{"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/media?parent=1103472"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/categories?post=1103472"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/docs.pingcode.com\/wp-json\/wp\/v2\/tags?post=1103472"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}