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outlier_removal.py
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outlier_removal.py
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import open3d as o3d
import numpy as np
# Utility Functions
def load_mesh(path):
mesh = o3d.io.read_triangle_mesh(path, enable_post_processing=True)
return mesh
def mesh_to_array(data):
"""
Input:
Object file
Ouput:
Nx3 array
"""
xyz = np.asarray(data.vertices, dtype=np.float32)
return xyz
def array_to_pcd(data):
"""
Input:
Nx3 array
"""
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(data)
return pcd
obj = load_mesh("./data_aumc/1/scene.obj")
xyz = mesh_to_array(obj)
pcd = array_to_pcd(xyz) # target
pcd.paint_uniform_color([1, 0.706, 0])
o3d.visualization.draw_geometries([pcd])
# print("Downsample the point cloud with a voxel of 0.02")
# voxel_down_pcd = pcd.voxel_down_sample(voxel_size=0.02)
# voxel_down_pcd.paint_uniform_color([1, 0.706, 0])
# o3d.visualization.draw_geometries([voxel_down_pcd])
def display_inlier_outlier(cloud, ind):
inlier_cloud = cloud.select_by_index(ind)
outlier_cloud = cloud.select_by_index(ind, invert=True)
print("Showing outliers (red) and inliers (gray): ")
outlier_cloud.paint_uniform_color([1, 0, 0])
inlier_cloud.paint_uniform_color([0.8, 0.8, 0.8])
o3d.visualization.draw_geometries([inlier_cloud, outlier_cloud])
print("Statistical oulier removal")
cl, ind = pcd.remove_statistical_outlier(nb_neighbors=20,
std_ratio=2.0)
display_inlier_outlier(pcd, ind)
print("Radius oulier removal")
cl, ind = pcd.remove_radius_outlier(nb_points=500, radius=0.05)
display_inlier_outlier(pcd, ind)