python - 在 Open3D 中不打开 Visualizer 捕获深度图像？

Question

我希望批量处理 50,000 多个 3D 模型。我需要从不同角度捕捉深度图。使用 Open3D，如何在不启动可视化工具的情况下捕获此信息？希望加快这个过程？

Answer 1

你可以查看 Open3D OffScreen

它会在没有窗口的情况下渲染深度图或图像，换句话说，它可以在后台运行批处理。

这是例子。

import copy
from cv2 import cv2
import numpy as np
import open3d as o3d
import matplotlib.pyplot as plt

img_width, img_height = (1920, 1080)
pcd = o3d.io.read_triangle_mesh('bunny.ply')

mat = o3d.visualization.rendering.Material()
mat.shader = 'defaultUnlit'

renderer_pc = o3d.visualization.rendering.OffscreenRenderer(img_width, img_height)
renderer_pc.scene.set_background(np.array([0, 0, 0, 0]))
renderer_pc.scene.add_geometry("pcd", pcd, mat)

# Optionally set the camera field of view (to zoom in a bit)
vertical_field_of_view = 15.0  # between 5 and 90 degrees
aspect_ratio = img_width / img_height  # azimuth over elevation
near_plane = 0.1
far_plane = 50.0
fov_type = o3d.visualization.rendering.Camera.FovType.Vertical
renderer_pc.scene.camera.set_projection(vertical_field_of_view, aspect_ratio, near_plane, far_plane, fov_type)

# Look at the origin from the front (along the -Z direction, into the screen), with Y as Up.
center = [0, 0, 0]  # look_at target
eye = [0, 0, 2]  # camera position
up = [0, 1, 0]  # camera orientation
renderer_pc.scene.camera.look_at(center, eye, up)

depth_image = np.asarray(renderer_pc.render_to_depth_image())
np.save('depth', depth_image)

normalized_image = (depth_image - depth_image.min()) / (depth_image.max() - depth_image.min())
plt.imshow(normalized_image)
plt.savefig('depth.png')