1. read_image, write_image

读取jpg. png. bmp等文件

image_io.py

import open3d as o3d

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

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

if __name__ == "__main__":

    o3d.t.io.RealSenseSensor.list_devices()
    rscam = o3d.t.io.RealSenseSensor()  # 深度相机，比如D435i
    rscam.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 o3d

if __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)  # TriangleMesh
    print(mesh)
    print("Saving mesh to file: copy_of_knot.ply")
    o3d.io.write_triangle_mesh("copy_of_knot.ply", mesh)

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