0. RGBD Images An Open3D RGBDImage is composed of two images:
RGBDImage.depth and RGBDImage.color We require the two images to be registered into the same camera frame and have the same resolution. There are 3 well known RGBD Datasets: Redwood NYU TUM 1. Redwood Dataset [Choi 2015] The Redwood format stored depth in a 16-bit single channel image.
The integer value represents the depth measurement in millimeters.
PaperNotes 02 ｜ ROCA 此篇笔记是论文阅读笔记系列的第 2 篇论文，摘抄、翻译了来自 Technical University of Munich 的 Can Gümeli, Angela Dai, Matthias Niessner 三位作者在 2021 年年底发表的论文ROCA: Robust CAD Model Retrieval and Alignment from a Single Image
代码：https://github.com/cangumeli/ROCA 主页：https://cangumeli.github.io/ROCA 论文：https://arxiv.org/abs/2112.01988 0. Abstract: 0.1. Introduce ROCA approach We present ROCA, a novel end-to-end approach that retrieves and aligns 3D CAD models from a shape database to a single input image.
我们提出了一种新的端到端的方法 —— ROCA，它从形状数据库中检索三维 CAD 模型并将其对准到单个输入图像。
1. Alpha Shapes The alpha shape is a generalization of a convex hull.
1.1. Convex Hull The Convex Hull (凸包) of a point cloud is the smallest convex set that contains all points.
Open3D contains compute_convex_hull() that computes the convex hull of a point cloud 1 2 3 4 5 6 7 8 9 10 11 bunny = o3d.data.BunnyMesh() mesh = o3d.io.read_triangle_mesh(bunny.path) mesh.compute_vertex_normals() # Sample a Point Cloud from Mesh pcd = mesh.
1. Polygon Mesh （WIKI）Compared to the Point Cloud geometry type, a Polygon Mesh is a collection of Vertices, Edges, Faces(triangles and quadrilaterals), Polygons and Surfaces
the study of Polygon Meshes is a large sub-field 3D Computer Graphics and Geometric Modeling 2. Read a 3D Mesh 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 import open3d as o3d import numpy as np knot_mesh = o3d.
PaperNotes 01 ｜ 3DMatch 此篇笔记是Paper 笔记系列的第 1 篇，翻译、摘抄了 2017 年的论文3DMatch: Learning Local Geometric Descriptors from RGB-D Reconstructions
https://3dmatch.cs.princeton.edu/paper_v2.pdf 0. Abstract 0.1. Challenges and Difficulties Matching local geometric features on real-world depth images is a challenging task due to the noisy, low resolution, and incomplete nature of 3D scan data. These difficulties limit the performance of current state-of-art methods, which are typically based on histograms over geometric properties.
0. Download and Install Open3D 1 2 3 4 5 6 7 8 # Install $ pip install open3d # Verify $ python -c "import open3d as o3d; print(o3d.__version__)" # 0.15.2 (2022.06.28) # Git Clone $ git clone https://github.com/isl-org/Open3D.git 1. Read and Write a Point Cloud. 1 2 3 4 5 6 7 8 9 10 import open3d as o3d if __name__ == "__main__": pcd_data = o3d.
