使用Open3D进行PCD拟合平面的Python代码示例

使用Open3D进行PCD拟合平面的Python代码示例

import open3d as o3d  
import numpy as np  
  
# 读取点云数据  
pcd = o3d.io.read_point_cloud("2023042501.pcd")  
  
# 创建PCD图  
pcd_graph = o3d.geometry.PointCloudGraph(pcd)  
  
# 选择要拟合的平面  
plane_center = o3d.geometry.Vector3d(0.0, 0.0, 0.0)  
plane_normal = o3d.geometry.Vector3d(1.0, 0.0, 0.0)  
plane_vertices = o3d.geometry.Vector3d(0.0, 0.0, 0.0)  
  
# 创建平面  
plane = o3d.geometry.Plane(plane_center, plane_normal)  
  
# 添加点云数据到平面  
plane_vertices = o3d.geometry.Vector3d(pcd.vertices[0], pcd.vertices[1], pcd.vertices[2])  
o3d.geometry.centroid(plane)  
plane.set_vertex_data_multi(plane_vertices)  
  
plane_vertices = o3d.geometry.Vector3d(pcd.vertices[0], pcd.vertices[1], pcd.vertices[2])  
o3d.geometry.center(plane)  
plane.set_vertex_data_multi(plane_vertices)  
  
plane_vertices = o3d.geometry.Vector3d(pcd.vertices[0], pcd.vertices[1], pcd.vertices[2])  
o3d.geometry.normal(plane)  
plane.set_vertex_data_multi(plane_vertices)  
  
# 显示结果  
o3d.visualization.draw_geometries([pcd_graph, plane])  
  
# 输出平面参数  
print("平面参数:", plane_center, plane_normal, plane_vertices)

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