Function pcd_from_np

lib/pointcloud.py:409–456

(array, columns="XYZI", estimate_normals=True, colors=None, radius=10, max_nn=30)

# convert numpy array to open3d point cloud
# supports 2D and 3D points, intensity and RGB colors or pcd objects (pcd.points and pcd.colors)
def pcd_from_np(array, columns="XYZI", estimate_normals=True, colors=None, radius=10, max_nn=30):
    pcd = o3d.geometry.PointCloud()

    # Convert the pointcloud and colors to numpy arrays if they are not already
    # TODO: merged from another version -> check if it's still valid
    if not isinstance(array, np.ndarray):
        array = np.asarray(array)
    if colors is not None and not isinstance(colors, np.ndarray):
        colors = np.asarray(colors)

    columns = columns.upper()
    zeros = np.zeros((array.shape[0], 1))

    # 3D points
    if "XYZ" in columns:
        points = array[:, 0:3]
        pcd.points = o3d.utility.Vector3dVector(points)
        color_i = 3

     # 2D points
    else:
        color_i = 2
        if "XY" in columns:
            pcd.points = o3d.utility.Vector3dVector(np.hstack((array[:, 0:2], zeros)))
        elif "XZ" in columns:
            pcd.points = o3d.utility.Vector3dVector(np.hstack((array[:, 0:1], zeros, array[:, 1:2])))
        elif "YZ" in columns:
            pcd.points = o3d.utility.Vector3dVector(np.hstack((zeros, array[:, 0:2])))
        else:
            raise ValueError("Unsupported point cloud type: " + type(array))
    
    if estimate_normals:
        pcd = estimate_point_normals(pcd, radius=radius, max_nn=max_nn)

    # colors
    if "I" in columns:  # ext == "XYZI" -> array.shape[1] == 4:
        intensities = array[:, color_i] / 255  # normalize intensity values

        # convert intensity to RGBA color
        pcd.colors = o3d.utility.Vector3dVector(np.column_stack([intensities, intensities, intensities]))

    elif "RGB" in columns:
        pcd.colors = o3d.utility.Vector3dVector(array[:, color_i:color_i+3] / 255)
    
    elif colors is not None:
        pcd.colors = o3d.utility.Vector3dVector(colors)

    return pcd


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