{"id":730,"date":"2023-12-31T12:58:35","date_gmt":"2023-12-31T04:58:35","guid":{"rendered":"http:\/\/ai.gitpp.com\/?p=730"},"modified":"2023-12-31T12:58:35","modified_gmt":"2023-12-31T04:58:35","slug":"%e7%94%a8%e4%ba%8e-3d-%e6%95%b0%e6%8d%ae%e5%a4%84%e7%90%86%e7%9a%84c%e5%ba%93","status":"publish","type":"post","link":"http:\/\/ai.gitpp.com\/index.php\/2023\/12\/31\/%e7%94%a8%e4%ba%8e-3d-%e6%95%b0%e6%8d%ae%e5%a4%84%e7%90%86%e7%9a%84c%e5%ba%93\/","title":{"rendered":"\u7528\u4e8e 3D \u6570\u636e\u5904\u7406\u7684C++\u5e93"},"content":{"rendered":"\n<p><\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>Open3D\uff1a\u7528\u4e8e 3D \u6570\u636e\u5904\u7406\u7684\u73b0\u4ee3\u5e93<\/p>\n\n\n\n<p>github\u5730\u5740<\/p>\n\n\n\n<figure class=\"wp-block-embed\"><div class=\"wp-block-embed__wrapper\">\nhttps:\/\/github.com\/isl-org\/Open3D\n<\/div><\/figure>\n\n\n\n<p>\u5b98\u7f51<\/p>\n\n\n\n<p>www.open3d.org<\/p>\n\n\n\n<p>Open3D \u662f\u4e00\u4e2a\u5f00\u6e90\u5e93\uff0c<strong>\u7528\u4e8e\u5904\u74063D\u6570\u636e<\/strong>\uff0c\u5305\u62ec\u4f46\u4e0d\u9650\u4e8e\u70b9\u4e91\u3001\u7f51\u683c\u548c\u56fe\u50cf\u3002<\/p>\n\n\n\n<p>Open3D \u7684\u6838\u5fc3\u529f\u80fd\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>3D \u6570\u636e\u7ed3\u6784<\/li>\n\n\n\n<li>3D\u6570\u636e\u5904\u7406\u7b97\u6cd5<\/li>\n\n\n\n<li>\u573a\u666f\u91cd\u5efa<\/li>\n\n\n\n<li>\u8868\u9762\u5bf9\u51c6<\/li>\n\n\n\n<li>3D\u53ef\u89c6\u5316<\/li>\n\n\n\n<li>\u57fa\u4e8e\u7269\u7406\u7684\u6e32\u67d3 (PBR)<\/li>\n\n\n\n<li>PyTorch \u548c TensorFlow \u7684 3D \u673a\u5668\u5b66\u4e60\u652f\u6301<\/li>\n\n\n\n<li>\u9488\u5bf9\u6838\u5fc3 3D \u64cd\u4f5c\u7684 GPU \u52a0\u901f<\/li>\n\n\n\n<li>\u63d0\u4f9b C++ \u548c Python \u7248\u672c<\/li>\n<\/ul>\n\n\n\n<p>&nbsp;Open3D \u7684\u4e0d\u540c\u7ec4\u4ef6\u4ee5\u53ca\u5b83\u4eec\u5982\u4f55\u7ec4\u5408\u5728\u4e00\u8d77\u4ee5\u5b9e\u73b0\u5b8c\u6574\u7684\u7aef\u5230\u7aef\u7ba1\u9053\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/mmbiz.qpic.cn\/mmbiz_jpg\/ciaOAxzQ9MXJHT8KwCLUm8ZJ7803qny9QxnDYVmVCAaPcj6oicuomTpib5ibYYVuT46jMDNUiaqdKXe8TLia8fFuWrEA\/640?wx_fmt=jpeg&amp;from=appmsg&amp;wxfrom=5&amp;wx_lazy=1&amp;wx_co=1\" alt=\"\u56fe\u7247\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">C++ \u5feb\u901f\u5165\u95e8<\/h2>\n\n\n\n<p>\u67e5\u770b\u4ee5\u4e0b\u94fe\u63a5\u4ee5\u5f00\u59cb\u4f7f\u7528 Open3D C++ API<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4e0b\u8f7dOpen3D\u4e8c\u8fdb\u5236\u5305\uff1aRelease\u6216\u6700\u65b0\u5f00\u53d1\u7248\u672c<\/li>\n\n\n\n<li>\u4ece\u6e90\u4ee3\u7801\u7f16\u8bd1 Open3D<\/li>\n\n\n\n<li>Open3D C++ API<\/li>\n<\/ul>\n\n\n\n<p>\u8981\u5728 C++ \u9879\u76ee\u4e2d\u4f7f\u7528 Open3D\uff0c\u8bf7\u67e5\u770b\u4ee5\u4e0b\u793a\u4f8b<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5728 CMake \u4e2d\u67e5\u627e\u9884\u5b89\u88c5\u7684 Open3D \u5305<\/li>\n\n\n\n<li>\u4f7f\u7528 Open3D \u4f5c\u4e3a CMake \u5916\u90e8\u9879\u76ee<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Open3D-\u67e5\u770b\u5668\u5e94\u7528\u7a0b\u5e8f<\/h2>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/mmbiz.qpic.cn\/mmbiz_png\/ciaOAxzQ9MXJHT8KwCLUm8ZJ7803qny9QbALsKUMriaE7DO1xk8mfWeX5TJtbNkb7yze3UT6n9mbal2cTSiaws19Q\/640?wx_fmt=png&amp;from=appmsg&amp;wxfrom=5&amp;wx_lazy=1&amp;wx_co=1\" alt=\"\u56fe\u7247\"\/><\/figure>\n\n\n\n<p>Open3D-Viewer \u662f\u4e00\u6b3e\u72ec\u7acb\u7684 3D \u67e5\u770b\u5668\u5e94\u7528\u7a0b\u5e8f\uff0c\u53ef\u5728 Debian (Ubuntu)\u3001macOS \u548c Windows \u4e0a\u4f7f\u7528\u3002\u4ece\u53d1\u5e03\u9875\u9762\u4e0b\u8f7d Open3D Viewer&nbsp;\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Open3D-ML<\/h2>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/mmbiz.qpic.cn\/mmbiz_gif\/ciaOAxzQ9MXJHT8KwCLUm8ZJ7803qny9QrVwcXmecicmsREgrDshMwjVBYAzXgrhhrhrrLjdar7PjXDI4Eqc9Ywg\/640?wx_fmt=gif&amp;from=appmsg&amp;wxfrom=5&amp;wx_lazy=1\" alt=\"\u56fe\u7247\"\/><\/figure>\n\n\n\n<p>Open3D-ML \u662f Open3D \u9488\u5bf9 3D \u673a\u5668\u5b66\u4e60\u4efb\u52a1\u7684\u6269\u5c55\u3002\u5b83\u6784\u5efa\u5728 Open3D \u6838\u5fc3\u5e93\u4e4b\u4e0a\uff0c\u5e76\u901a\u8fc7\u7528\u4e8e 3D \u6570\u636e\u5904\u7406\u7684\u673a\u5668\u5b66\u4e60\u5de5\u5177\u5bf9\u5176\u8fdb\u884c\u6269\u5c55\u3002\u8981\u5c1d\u8bd5\u4e00\u4e0b\uff0c\u8bf7\u4f7f\u7528 PyTorch \u6216 TensorFlow \u5b89\u88c5 Open3D \u5e76\u67e5\u770b&nbsp;Open3D-ML\u3002<\/p>\n\n\n\n<p><br>\u5b83\u65e8\u5728\u5e2e\u52a9\u5f00\u53d1\u4eba\u5458\u5feb\u901f\u5b9e\u73b03D\u6570\u636e\u5904\u7406\u548c\u53ef\u89c6\u5316\u3002Open3D \u7684\u7279\u70b9\u662f\u4f7f\u7528C++\u8fdb\u884c\u4e86\u5e95\u5c42\u4f18\u5316\uff0c\u540c\u65f6\u63d0\u4f9b\u4e86Python\u63a5\u53e3\uff0c\u4f7f\u5f97\u7528\u6237\u80fd\u591f\u65b9\u4fbf\u5730\u4f7f\u7528Python\u8c03\u7528\u8fd9\u4e9b\u9ad8\u6548\u76843D\u5904\u7406\u529f\u80fd\u3002<\/p>\n\n\n\n<p><strong>&nbsp;\u4e3b\u8981\u529f\u80fd<\/strong><\/p>\n\n\n\n<p>&#8211; 3D \u6570\u636e\u7ed3\u6784\uff1aOpen3D \u63d0\u4f9b\u4e86\u7528\u4e8e\u8868\u793a3D\u6570\u636e\u7684\u7ed3\u6784\uff0c\u5982\u70b9\u4e91\u3001\u7f51\u683c\u548c\u56fe\u50cf\u3002<\/p>\n\n\n\n<p>&#8211; 3D \u6570\u636e\u5904\u7406\u7b97\u6cd5\uff1a\u5305\u62ec\u70b9\u4e91\u6ee4\u6ce2\u3001\u8868\u9762\u91cd\u5efa\u3001\u7279\u5f81\u4f30\u8ba1\u7b49\u3002<\/p>\n\n\n\n<p>&#8211; \u573a\u666f\u91cd\u5efa\uff1a\u53ef\u4ee5\u4ece\u591a\u4e2a\u89c6\u89d2\u7684\u56fe\u50cf\u4e2d\u91cd\u5efa\u573a\u666f\u3002<\/p>\n\n\n\n<p>&#8211; \u8868\u9762\u5bf9\u9f50\uff1a\u7528\u4e8e\u5bf9\u9f50\u4e0d\u540c\u89c6\u89d2\u4e0b\u6355\u83b7\u7684\u8868\u9762\u3002<\/p>\n\n\n\n<p>&#8211; 3D \u53ef\u89c6\u5316\uff1a\u63d0\u4f9b\u7528\u4e8e\u6e32\u67d33D\u6570\u636e\u7684\u53ef\u89c6\u5316\u5de5\u5177\u3002<\/p>\n\n\n\n<p>&#8211; \u57fa\u4e8e\u7269\u7406\u6e32\u67d3 (PBR)\uff1a\u652f\u6301\u57fa\u4e8e\u7269\u7406\u7684\u6e32\u67d3\uff0c\u7528\u4e8e\u66f4\u771f\u5b9e\u7684\u89c6\u89c9\u6548\u679c\u3002<\/p>\n\n\n\n<p>&#8211; \u652f\u6301\u4f7f\u7528 PyTorch \u548c TensorFlow \u7684 3D \u673a\u5668\u5b66\u4e60\uff1a\u53ef\u4ee5\u4e0e\u6d41\u884c\u7684\u673a\u5668\u5b66\u4e60\u6846\u67b6\u96c6\u6210\uff0c\u8fdb\u884c3D\u6570\u636e\u7684\u6df1\u5ea6\u5b66\u4e60\u3002<\/p>\n\n\n\n<p>&#8211; \u5185\u6838 3D \u64cd\u4f5c\u7684 GPU \u52a0\u901f\uff1a\u5bf9\u4e8e\u652f\u6301\u7684\u64cd\u4f5c\uff0cOpen3D \u63d0\u4f9b\u4e86GPU\u52a0\u901f\u7248\u672c\uff0c\u4ee5\u63d0\u5347\u5904\u7406\u901f\u5ea6\u3002<\/p>\n\n\n\n<p><strong>&nbsp;\u4f7f\u7528\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Python\u5feb\u901f\u5165\u95e8<\/h2>\n\n\n\n<p>\u9884\u6784\u5efa\u7684 pip \u5305\u652f\u6301 Ubuntu 18.04+\u3001macOS 10.15+ \u548c Windows 10+\uff0864 \u4f4d\uff09\u4ee5\u53ca Python 3.8-3.11\u3002# Install<br>pip install open3d # or<br>pip install open3d-cpu # Smaller CPU only wheel on x86_64 Linux (v0.17+)<\/p>\n\n\n\n<p># Verify installation<br>python -c &#8220;import open3d as o3d; print(o3d.__version__)&#8221;<\/p>\n\n\n\n<p># Python API<br>python -c &#8220;import open3d as o3d; \\<br>mesh = o3d.geometry.TriangleMesh.create_sphere(); \\<br>mesh.compute_vertex_normals(); \\<br>o3d.visualization.draw(mesh, raw_mode=True)&#8221;<\/p>\n\n\n\n<p># Open3D CLI<br>open3d example visualization\/draw<\/p>\n\n\n\n<p>\u8981\u83b7\u53d6 Open3D \u7684\u6700\u65b0\u529f\u80fd\uff0c\u8bf7\u5b89\u88c5&nbsp;\u5f00\u53d1 pip \u5305\u3002\u8981\u4ece\u6e90\u4ee3\u7801\u7f16\u8bd1 Open3D\uff0c\u8bf7\u53c2\u9605&nbsp;\u4ece\u6e90\u4ee3\u7801\u7f16\u8bd1\u3002<\/p>\n\n\n\n<p>\u8981\u4f7f\u7528Open3D\uff0c\u9996\u5148\u9700\u8981\u5b89\u88c5Open3D\u5e93\u3002\u8fd9\u53ef\u4ee5\u901a\u8fc7Python\u7684\u5305\u7ba1\u7406\u5de5\u5177pip\u5b8c\u6210\uff1a<\/p>\n\n\n\n<p>&#8220;`bash<\/p>\n\n\n\n<p>&nbsp; &nbsp; &nbsp;&nbsp;pip install open3d<\/p>\n\n\n\n<p>&#8220;`<\/p>\n\n\n\n<p>\u5b89\u88c5\u5b8c\u6210\u540e\uff0c\u5c31\u53ef\u4ee5\u5728Python\u4ee3\u7801\u4e2d\u5bfc\u5165\u5e76\u4f7f\u7528Open3D\u4e86\uff1a<\/p>\n\n\n\n<p>&#8220;`python<\/p>\n\n\n\n<p>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp;import open3d as o3d<\/p>\n\n\n\n<p># \u8bfb\u53d6\u70b9\u4e91\u6570\u636e<\/p>\n\n\n\n<p>&nbsp; &nbsp; &nbsp; &nbsp;point_cloud = o3d.io.read_point_cloud(&#8220;path\/to\/pointcloud.ply&#8221;)<\/p>\n\n\n\n<p># \u67e5\u770b\u70b9\u4e91<\/p>\n\n\n\n<p>&nbsp;&nbsp;&nbsp; print(point_cloud)<\/p>\n\n\n\n<p># \u53ef\u89c6\u5316\u70b9\u4e91<\/p>\n\n\n\n<p>&nbsp;&nbsp;&nbsp; o3d.visualization.draw_geometries([point_cloud])<\/p>\n\n\n\n<p>&#8220;`<\/p>\n\n\n\n<p><strong>&nbsp;Open3D-Viewer app<\/strong><\/p>\n\n\n\n<p>Open3D \u8fd8\u63d0\u4f9b\u4e86\u4e00\u4e2a\u540d\u4e3aOpen3D-Viewer\u7684\u72ec\u7acb\u5e94\u7528\u7a0b\u5e8f\uff0c\u5b83\u5141\u8bb8\u7528\u6237\u4ea4\u4e92\u5f0f\u5730\u67e5\u770b\u548c\u7f16\u8f913D\u6570\u636e\u3002<\/p>\n\n\n\n<p><strong>&nbsp;Open3D-ML<\/strong><\/p>\n\n\n\n<p>Open3D \u7684\u673a\u5668\u5b66\u4e60\u63a5\u53e3Open3D-ML\uff0c\u652f\u6301\u5c06Open3D\u7684\u529f\u80fd\u4e0ePyTorch\u548cTensorFlow\u7b49\u673a\u5668\u5b66\u4e60\u6846\u67b6\u96c6\u6210\uff0c\u4f7f\u5f97\u53ef\u4ee5\u65b9\u4fbf\u5730\u5728\u673a\u5668\u5b66\u4e60\u5de5\u4f5c\u6d41\u7a0b\u4e2d\u4f7f\u75283D\u6570\u636e\u5904\u7406\u3002<\/p>\n\n\n\n<p><strong>&nbsp;\u603b\u7ed3<\/strong><\/p>\n\n\n\n<p>Open3D \u662f\u4e00\u4e2a\u5f3a\u5927\u7684\u5de5\u5177\uff0c\u5b83\u4e3a\u5f00\u53d1\u4eba\u5458\u63d0\u4f9b\u4e86\u4e00\u4e2a\u4e30\u5bcc\u7684\u5de5\u5177\u96c6\uff0c\u7528\u4e8e\u5904\u7406\u548c\u5206\u67903D\u6570\u636e\u3002\u65e0\u8bba\u662f\u5728\u5b66\u672f\u7814\u7a76\u8fd8\u662f\u5de5\u4e1a\u5e94\u7528\u4e2d\uff0cOpen3D \u90fd\u53ef\u4ee5\u4f5c\u4e3a\u4e00\u4e2a\u5f3a\u5927\u7684\u5de5\u5177\uff0c\u5e2e\u52a9\u7528\u6237\u9ad8\u6548\u5730\u5b8c\u62103D\u6570\u636e\u5904\u7406\u4efb\u52a1\u3002<\/p>\n\n\n\n<p>Open3D\uff1a\u7528\u4e8e 3D \u6570\u636e\u5904\u7406\u7684\u73b0\u4ee3\u5e93<\/p>\n\n\n\n<p>github\u5730\u5740<\/p>\n\n\n\n<figure class=\"wp-block-embed\"><div class=\"wp-block-embed__wrapper\">\nhttps:\/\/github.com\/isl-org\/Open3D\n<\/div><\/figure>\n\n\n\n<p>\u5b98\u7f51<\/p>\n\n\n\n<p>www.open3d.org<\/p>\n\n\n\n<p>Open3D \u662f\u4e00\u4e2a\u5f00\u6e90\u5e93\uff0c<strong>\u7528\u4e8e\u5904\u74063D\u6570\u636e<\/strong>\uff0c\u5305\u62ec\u4f46\u4e0d\u9650\u4e8e\u70b9\u4e91\u3001\u7f51\u683c\u548c\u56fe\u50cf\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Open3D\uff1a\u7528\u4e8e 3D \u6570\u636e\u5904\u7406\u7684\u73b0\u4ee3\u5e93 github\u5730\u5740 \u5b98\u7f51 www.open3d.org Open3D [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[39],"tags":[],"class_list":["post-730","post","type-post","status-publish","format-standard","hentry","category-c"],"blocksy_meta":"","_links":{"self":[{"href":"http:\/\/ai.gitpp.com\/index.php\/wp-json\/wp\/v2\/posts\/730","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/ai.gitpp.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/ai.gitpp.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/ai.gitpp.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/ai.gitpp.com\/index.php\/wp-json\/wp\/v2\/comments?post=730"}],"version-history":[{"count":1,"href":"http:\/\/ai.gitpp.com\/index.php\/wp-json\/wp\/v2\/posts\/730\/revisions"}],"predecessor-version":[{"id":731,"href":"http:\/\/ai.gitpp.com\/index.php\/wp-json\/wp\/v2\/posts\/730\/revisions\/731"}],"wp:attachment":[{"href":"http:\/\/ai.gitpp.com\/index.php\/wp-json\/wp\/v2\/media?parent=730"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/ai.gitpp.com\/index.php\/wp-json\/wp\/v2\/categories?post=730"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/ai.gitpp.com\/index.php\/wp-json\/wp\/v2\/tags?post=730"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}