目录

1. read_image, write_image

2. read_point_cloud, write_point_cloud

3. 深度相机IO操作

4. Mesh文件读取

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1. read_image, write_image

读取jpg. png. bmp等文件

image_io.py

import open3d as o3dif __name__ == "__main__":img_data = o3d.data.JuneauImage()print(f"Reading image from file: Juneau.jpg stored at {img_data.path}")# 1. readimg = o3d.io.read_image(img_data.path)  # JuneauImage.jpgprint(img)  # open3d.geometry.Image. Image of size 800x489, with 3 channels.print("Saving image to file: copy_of_Juneau.jpg")# 2. writeo3d.io.write_image("copy_of_Juneau.jpg", img)  # open3d.geometry.Image

2. read_point_cloud, write_point_cloud

读写点云pcd, ply等文件

point_cloud_io.py

import open3d as o3dif __name__ == "__main__":pcd_data = o3d.data.PCDPointCloud()print(f"Reading pointcloud from file: fragment.pcd stored at {pcd_data.path}")# 1. read PointCloud.pcdpcd = o3d.io.read_point_cloud(pcd_data.path)  print(pcd)print("Saving pointcloud to file: copy_of_fragment.pcd")# 2. write PointCloudo3d.io.write_point_cloud("copy_of_fragment.pcd", pcd)

3. 深度相机IO操作

读取深度相机

realsense_io.py 

"""Demonstrate RealSense camera discovery and frame capture"""import open3d as o3dif __name__ == "__main__":o3d.t.io.RealSenseSensor.list_devices()rscam = o3d.t.io.RealSenseSensor()  # 深度相机，比如D435irscam.start_capture()print(rscam.get_metadata())for fid in range(5):rgbd_frame = rscam.capture_frame()o3d.io.write_image(f"color{fid:05d}.jpg", rgbd_frame.color.to_legacy())  # 彩色图像. tensor转o3d.io.write_image(f"depth{fid:05d}.png", rgbd_frame.depth.to_legacy())  # 深度图像print("Frame: {}, time: {}s".format(fid, rscam.get_timestamp() * 1e-6))rscam.stop_capture()

4. Mesh文件读取

读取mesh网格数据，ply等文件

triangle_mesh_io.py

import open3d as o3dif __name__ == "__main__":knot_data = o3d.data.KnotMesh()print(f"Reading mesh from file: knot.ply stored at {knot_data.path}")mesh = o3d.io.read_triangle_mesh(knot_data.path)  # TriangleMeshprint(mesh)print("Saving mesh to file: copy_of_knot.ply")o3d.io.write_triangle_mesh("copy_of_knot.ply", mesh)