hits = pcd.ray_cast(viewpoint, ray)报错AttributeError: 'open3d.cpu.pybind.geometry.PointCloud' object has no attribute 'ray_cast'
时间: 2024-02-18 10:30:39 浏览: 22
这个错误是因为在 `open3d` 的版本中,`ray_cast` 方法已经被废弃了,新的方法是 `compute_point_cloud_distance`。
你需要将代码中的 `ray_cast` 方法替换为 `compute_point_cloud_distance` 方法,并且需要传递一个参数 `indices`,表示要计算距离的点的索引。下面是一个示例代码:
```python
import open3d as o3d
import numpy as np
# 创建点云
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(np.random.rand(100, 3))
# 计算点到视点的距离
viewpoint = np.array([0, 0, 0])
distances = pcd.compute_point_cloud_distance(viewpoint, indices=list(range(pcd.shape[0])))
print(distances)
```
这个代码会计算点云中所有点到视点的距离,并输出一个距离数组。你可以根据自己的需求修改代码来计算特定点的距离。
相关问题
inlier_cloud = pcd.select_down_sample(inliers) AttributeError: 'open3d.cpu.pybind.geometry.PointCloud' object has no attribute 'select_down_sample'
非常抱歉,我在之前的回答中提到的 `select_down_sample` 函数在 Open3D 0.10.0 版本中已经不再使用。在新版本中,可以使用 `select_by_index` 函数来实现类似的功能。
以下是修改后的代码:
```python
import open3d as o3d
import numpy as np
# 读取点云数据
pcd = o3d.io.read_point_cloud("your_point_cloud.pcd")
# 提取平面点云
plane_model, inliers = pcd.segment_plane(distance_threshold=0.01,
ransac_n=3,
num_iterations=1000)
inlier_cloud = pcd.select_by_index(inliers)
inlier_cloud.paint_uniform_color([1.0, 0, 0])
# 提取平面点云的边界点
boundary_points = o3d.geometry.PointCloud()
boundary_points.points = o3d.utility.Vector3dVector(np.asarray(inlier_cloud.compute_convex_hull()))
boundary_points.paint_uniform_color([0, 1.0, 0])
# 可视化
o3d.visualization.draw_geometries([inlier_cloud, boundary_points])
```
在上面的代码中,使用 `select_by_index` 函数代替了 `select_down_sample` 函数。其他部分的逻辑与之前的回答一致。
AttributeError: 'open3d.open3d_pybind.geometry.PointCloud' object has no attribute 'triangulate
很抱歉,我之前的回答有误。Open3D的PointCloud对象确实没有`triangulate`方法。为了将点云三角化,可以使用以下代码:
```python
import rospy
import moveit_msgs.msg as moveit_msgs
import open3d as o3d
import numpy as np
def point_cloud_to_scene(point_cloud_topic, camera_frame_id, scene_publisher):
# Subscribe to point cloud topic
point_cloud = rospy.wait_for_message(point_cloud_topic, sensor_msgs.msg.PointCloud2)
# Convert point cloud to numpy array
points = np.array(list(pc2.read_points(point_cloud, skip_nans=True)))
# Convert numpy array to Open3D point cloud
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(points)
# Triangulate point cloud
tri = o3d.geometry.TriangleMesh.create_from_point_cloud_alpha_shape(pcd, alpha=0.03)
# Convert Open3D triangle mesh to MoveIt scene
vertices = np.asarray(tri.vertices)
triangles = np.asarray(tri.triangles)
scene_msg = moveit_msgs.PlanningScene()
scene_msg.is_diff = True
object_msg = moveit_msgs.PlanningSceneWorld()
object_msg.collision_objects.append(moveit_msgs.CollisionObject())
object_msg.collision_objects[0].id = "point_cloud"
object_msg.collision_objects[0].header.frame_id = camera_frame_id
object_msg.collision_objects[0].meshes.append(moveit_msgs.Mesh())
object_msg.collision_objects[0].meshes[0].vertices = [moveit_msgs.Vertex(x=vertices[i][0], y=vertices[i][1], z=vertices[i][2]) for i in range(vertices.shape[0])]
object_msg.collision_objects[0].meshes[0].triangles = [moveit_msgs.Triangle(mesh.vertices[i][0], mesh.vertices[i][1], mesh.vertices[i][2]) for i in range(triangles.shape[0])]
scene_msg.world.collision_objects = object_msg.collision_objects
scene_publisher.publish(scene_msg)
```
这个函数会将点云转换为Open3D的PointCloud对象,然后使用`create_from_point_cloud_alpha_shape`函数进行三角化,生成Open3D的TriangleMesh对象。接下来,将TriangleMesh对象转换为MoveIt环境scene,并发布到MoveIt Planning Scene的话题上。
请注意,这个函数需要安装Open3D库。