50 lines
1.5 KiB
Python
50 lines
1.5 KiB
Python
import logging
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import numpy as np
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import open3d as o3d
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def read_stl(stl_path: str, save_path: str, view_pointcloud: bool = False) -> None:
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mesh = o3d.io.read_triangle_mesh(stl_path)
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mesh.scale(0.001, center=[0, 0, 0])
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mesh.compute_vertex_normals()
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pcd_model = mesh.sample_points_uniformly(number_of_points=50000)
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# pcd_model = pcd_model.voxel_down_sample(voxel_size=0.01)
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center = pcd_model.get_center().flatten()
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R = np.eye(4)
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R[0, 3], R[1, 3], R[2, 3] = -center
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pcd_model.transform(R)
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R = np.array(
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[[0, 0, 1, 0],
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[0, 1, 0, 0],
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[-1, 0, 0, 0],
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[0, 0, 0, 1]],
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)
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pcd_model.transform(R)
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if view_pointcloud:
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point = [
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[0, 0, 0], [1, 0, 0], [0, 1, 0], [0, 0, 1]
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] # 画点：原点、第一主成分、第二主成分
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lines = [
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[0, 1], [0, 2], [0, 3]
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] # 画出三点之间两两连线
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colors = [
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[1, 0, 0], [0, 1, 0], [0, 0, 1]
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]
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# 构造open3d中的LineSet对象，用于主成分显示
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line_set = o3d.geometry.LineSet(points=o3d.utility.Vector3dVector(point), lines=o3d.utility.Vector2iVector(lines))
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line_set.colors = o3d.utility.Vector3dVector(colors)
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o3d.visualization.draw_geometries([pcd_model, line_set])
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# success = o3d.io.write_point_cloud(save_path, pcd_model)
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# logging.info(f"PCD_0, 写入结果: {success}")
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if __name__ == "__main__":
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read_stl() |