{"id":595,"date":"2024-05-02T22:59:08","date_gmt":"2024-05-02T13:59:08","guid":{"rendered":"https:\/\/chocottopro.com\/?p=595"},"modified":"2024-05-02T22:59:58","modified_gmt":"2024-05-02T13:59:58","slug":"%e3%80%90%e5%9b%b3%e8%a7%a3%e3%80%91open3d%e3%81%ae%e5%9f%ba%e6%9c%ac%e3%81%8b%e3%82%89%e5%bf%9c%e7%94%a8%e3%81%be%e3%81%a7%ef%bc%813d%e3%83%87%e3%83%bc%e3%82%bf%e5%87%a6%e7%90%86%e3%82%9210%e5%80%8d","status":"publish","type":"post","link":"https:\/\/chocottopro.com\/?p=595","title":{"rendered":"\u3010\u56f3\u89e3\u3011Open3D\u306e\u57fa\u672c\u304b\u3089\u5fdc\u7528\u307e\u3067\uff013D\u30c7\u30fc\u30bf\u51e6\u7406\u309210\u500d\u52b9\u7387\u5316\u3059\u308b\u30c6\u30af\u30cb\u30c3\u30af5\u9078"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">3D\u30c7\u30fc\u30bf\u51e6\u7406\u306e\u91cd\u8981\u6027\u304c\u9ad8\u307e\u308b\u4e2d\u3001Python\u5411\u3051\u306e\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u30e9\u30a4\u30d6\u30e9\u30ea\u300cOpen3D\u300d\u304c\u6ce8\u76ee\u3092\u96c6\u3081\u3066\u3044\u307e\u3059\u3002\u672c\u8a18\u4e8b\u3067\u306f\u3001Open3D\u306e\u57fa\u672c\u7684\u306a\u4f7f\u3044\u65b9\u304b\u3089\u5b9f\u8df5\u7684\u306a\u5fdc\u7528\u307e\u3067\u3001\u521d\u5b66\u8005\u3067\u3082\u7406\u89e3\u3067\u304d\u308b\u3088\u3046\u4e01\u5be7\u306b\u89e3\u8aac\u3057\u307e\u3059\u3002\u30b3\u30fc\u30c9\u30b5\u30f3\u30d7\u30eb\u3092\u4ea4\u3048\u306a\u304c\u3089\u30013D\u30c7\u30fc\u30bf\u51e6\u7406\u306e\u4e16\u754c\u3078\u306e\u7b2c\u4e00\u6b69\u3092\u8e0f\u307f\u51fa\u3057\u307e\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<div class=\"wp-block-sgb-block-simple sgb-box-simple sgb-box-simple--title-normal sgb-box-simple--with-border\"><div style=\"background-color:var(--wp--preset--color--sango-main);color:#FFF\" class=\"sgb-box-simple__title\">\u3053\u306e\u8a18\u4e8b\u3092\u8aad\u3093\u3060\u3089\u308f\u304b\u308b\u3053\u3068<\/div><div class=\"sgb-box-simple__body\" style=\"border-color:var(--wp--preset--color--sango-main);background-color:#FFF\">\n<ul class=\"wp-block-list\">\n<li>Open3D\u306e\u6982\u8981\u3068\u7279\u5fb4 <\/li>\n\n\n\n<li>\u70b9\u7fa4\u30fb\u30e1\u30c3\u30b7\u30e5\u30c7\u30fc\u30bf\u306e\u8aad\u307f\u8fbc\u307f\u3068\u53ef\u8996\u5316\u65b9\u6cd5 <\/li>\n\n\n\n<li>3D\u30c7\u30fc\u30bf\u306e\u30d5\u30a3\u30eb\u30bf\u30ea\u30f3\u30b0\u3084\u524d\u51e6\u7406\u306e\u30c6\u30af\u30cb\u30c3\u30af <\/li>\n\n\n\n<li>Open3D\u3068OpenCV\u3092\u7d44\u307f\u5408\u308f\u305b\u305f\u5fdc\u7528\u4f8b <\/li>\n\n\n\n<li>3D\u7269\u4f53\u8a8d\u8b58\u3084\u81ea\u5f8b\u30ed\u30dc\u30c3\u30c8\u3078\u306e\u6d3b\u7528\u65b9\u6cd5 <\/li>\n\n\n\n<li>Open3D\u5b66\u7fd2\u306e\u305f\u3081\u306e\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3068\u30ea\u30f3\u30af\u96c6<\/li>\n<\/ul>\n<\/div><\/div>\n\n\n\n<div class=\"toc\"><br \/>\n<b>Warning<\/b>:  Undefined array key \"is_admin\" in <b>\/home\/c7479301\/public_html\/chocottopro.com\/wp-content\/themes\/sango-theme\/library\/gutenberg\/dist\/classes\/Toc.php<\/b> on line <b>116<\/b><br \/>\n<br \/>\n<b>Warning<\/b>:  Undefined array key \"is_category_top\" in <b>\/home\/c7479301\/public_html\/chocottopro.com\/wp-content\/themes\/sango-theme\/library\/gutenberg\/dist\/classes\/Toc.php<\/b> on line <b>121<\/b><br \/>\n<br \/>\n<b>Warning<\/b>:  Undefined array key \"is_top\" in <b>\/home\/c7479301\/public_html\/chocottopro.com\/wp-content\/themes\/sango-theme\/library\/gutenberg\/dist\/classes\/Toc.php<\/b> on line <b>128<\/b><br \/>\n    <div id=\"toc_container\" class=\"sgb-toc--bullets js-smooth-scroll\" data-dialog-title=\"Table of Contents\">\n      <p class=\"toc_title\">\u76ee\u6b21 <\/p>\n      <ul class=\"toc_list\">  <li class=\"first\">    <a href=\"#i-0\">Open3D\u3068\u306f\uff1f3D\u30c7\u30fc\u30bf\u51e6\u7406\u306e\u9769\u547d\u7684\u30e9\u30a4\u30d6\u30e9\u30ea\uff01<\/a>    <ul class=\"menu_level_1\">      <li class=\"first\">        <a href=\"#i-1\">Open3D\u306e\u6982\u8981\u3068\u7279\u5fb4<\/a>      <\/li>      <li class=\"last\">        <a href=\"#i-2\">Open3D\u3092\u4f7f\u3046\u30e1\u30ea\u30c3\u30c8 \u2013 \u52b9\u7387\u30a2\u30c3\u30d7\uff06\u9ad8\u54c1\u8cea\u306a\u53ef\u8996\u5316<\/a>      <\/li>    <\/ul>  <\/li>  <li>    <a href=\"#i-3\">Open3D\u306e\u57fa\u672c \u2013 \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u304b\u3089\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u5b9f\u884c\u307e\u3067<\/a>    <ul class=\"menu_level_1\">      <li class=\"first\">        <a href=\"#i-4\">Python\u74b0\u5883\u306e\u6e96\u5099\u3068Open3D\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u624b\u9806<\/a>      <\/li>      <li class=\"last\">        <a href=\"#i-5\">\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3067\u5b66\u3076Open3D\u306e\u57fa\u672c\u6a5f\u80fd<\/a>      <\/li>    <\/ul>  <\/li>  <li>    <a href=\"#i-6\">Open3D\u6d3b\u7528\u30c6\u30af\u30cb\u30c3\u30af\u2460\uff1a\u70b9\u7fa4\u30c7\u30fc\u30bf\u306e\u8aad\u307f\u8fbc\u307f\u3068\u53ef\u8996\u5316<\/a>    <ul class=\"menu_level_1\">      <li class=\"first\">        <a href=\"#i-7\">\u70b9\u7fa4\u30c7\u30fc\u30bf\u306e\u30d5\u30a1\u30a4\u30eb\u5f62\u5f0f\u3068\u8aad\u307f\u8fbc\u307f\u65b9\u6cd5<\/a>      <\/li>      <li class=\"last\">        <a href=\"#i-8\">\u8272\u60c5\u5831\u3084\u6cd5\u7dda\u60c5\u5831\u306e\u53d6\u5f97\u3068\u53ef\u8996\u5316<\/a>      <\/li>    <\/ul>  <\/li>  <li>    <a href=\"#i-9\">Open3D\u6d3b\u7528\u30c6\u30af\u30cb\u30c3\u30af\u2461\uff1a\u30e1\u30c3\u30b7\u30e5\u30c7\u30fc\u30bf\u306e\u51e6\u7406\u3068\u7de8\u96c6<\/a>    <ul class=\"menu_level_1\">      <li class=\"first\">        <a href=\"#i-10\">\u30e1\u30c3\u30b7\u30e5\u30c7\u30fc\u30bf\u306e\u8aad\u307f\u8fbc\u307f\u3068\u53ef\u8996\u5316<\/a>      <\/li>      <li>        <a href=\"#i-11\">\u30e1\u30c3\u30b7\u30e5\u306e\u7c21\u7565\u5316\u3068\u7a74\u57cb\u3081\u51e6\u7406<\/a>      <\/li>      <li class=\"last\">        <a href=\"#i-12\">\u30e1\u30c3\u30b7\u30e5\u306e\u6cd5\u7dda\u63a8\u5b9a<\/a>      <\/li>    <\/ul>  <\/li>  <li>    <a href=\"#i-13\">Open3D\u6d3b\u7528\u30c6\u30af\u30cb\u30c3\u30af\u2462\uff1a3\u6b21\u5143\u753b\u50cf\u51e6\u7406\u3068\u306e\u9023\u643a<\/a>    <ul class=\"menu_level_1\">      <li class=\"first\">        <a href=\"#i-14\">OpenCV\u3092\u4f7f\u3063\u305f3\u6b21\u5143\u753b\u50cf\u51e6\u7406\u306e\u57fa\u790e<\/a>      <\/li>      <li class=\"last\">        <a href=\"#i-15\">Open3D\u3068OpenCV\u3092\u7d44\u307f\u5408\u308f\u305b\u305f\u5fdc\u7528\u4f8b<\/a>      <\/li>    <\/ul>  <\/li>  <li>    <a href=\"#i-16\">Open3D\u306e\u5fdc\u7528\u3068\u767a\u5c55 \u2013 \u5b9f\u8df5\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3067\u5dee\u3092\u3064\u3051\u308b\uff01<\/a>    <ul class=\"menu_level_1\">      <li class=\"first\">        <a href=\"#i-17\">\u81ea\u5f8b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u305f\u3081\u306e3D\u5730\u56f3\u751f\u6210<\/a>      <\/li>      <li>        <a href=\"#i-18\">\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u306a3D\u7269\u4f53\u8a8d\u8b58\u3068\u8ffd\u8de1<\/a>      <\/li>      <li class=\"last\">        <a href=\"#i-19\">\u5927\u898f\u6a21\u70b9\u7fa4\u30c7\u30fc\u30bf\u304b\u3089\u306eAI\u89e3\u6790<\/a>      <\/li>    <\/ul>  <\/li>  <li class=\"last\">    <a href=\"#i-20\">\u307e\u3068\u3081\uff06\u53c2\u8003\u60c5\u5831 \u2013 \u3055\u3089\u306bOpen3D\u3092\u6975\u3081\u308b\u305f\u3081\u306b<\/a>    <ul class=\"menu_level_1\">      <li class=\"first\">        <a href=\"#i-21\">Open3D\u5b66\u7fd2\u306e\u30dd\u30a4\u30f3\u30c8\u3068\u4eca\u5f8c\u306e\u5c55\u671b<\/a>      <\/li>      <li class=\"last\">        <a href=\"#i-22\">\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3084\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u3078\u306e\u30ea\u30f3\u30af\u96c6<\/a>      <\/li>    <\/ul>  <\/li><\/ul>\n      \n    <\/div><\/div><h2 class=\"wp-block-heading\" id=\"i-0\">Open3D\u3068\u306f\uff1f3D\u30c7\u30fc\u30bf\u51e6\u7406\u306e\u9769\u547d\u7684\u30e9\u30a4\u30d6\u30e9\u30ea\uff01<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd1\u5e74\u3001\u81ea\u52d5\u904b\u8ee2\u3084\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u30013D\u30d7\u30ea\u30f3\u30c6\u30a3\u30f3\u30b0\u306a\u3069\u306e\u5206\u91ce\u3067\u30013D\u30c7\u30fc\u30bf\u3092\u51e6\u7406\u3059\u308b\u30cb\u30fc\u30ba\u304c\u9ad8\u307e\u3063\u3066\u3044\u307e\u3059\u3002\u3057\u304b\u3057\u30013D\u30c7\u30fc\u30bf\u306f\u8907\u96d1\u3067\u5927\u898f\u6a21\u306a\u305f\u3081\u3001\u305d\u306e\u51e6\u7406\u306b\u306f\u5c02\u9580\u7684\u306a\u77e5\u8b58\u3068\u30c4\u30fc\u30eb\u304c\u5fc5\u8981\u3068\u3055\u308c\u3066\u304d\u307e\u3057\u305f\u3002\u305d\u3093\u306a\u4e2d\u30013D\u30c7\u30fc\u30bf\u51e6\u7406\u306e\u9769\u547d\u7684\u306a\u30bd\u30ea\u30e5\u30fc\u30b7\u30e7\u30f3\u3068\u3057\u3066\u6ce8\u76ee\u3092\u96c6\u3081\u3066\u3044\u308b\u306e\u304c\u3001Intel Labs\u304c\u958b\u767a\u3057\u305f\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u30e9\u30a4\u30d6\u30e9\u30ea\u300cOpen3D\u300d\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Open3D\u306f\u3001\u70b9\u7fa4\u3001\u4e09\u89d2\u30e1\u30c3\u30b7\u30e5\u3001\u30dc\u30af\u30bb\u30eb\u306a\u3069\u3001\u69d8\u3005\u306a3D\u30c7\u30fc\u30bf\u69cb\u9020\u3092\u76f4\u611f\u7684\u306b\u6271\u3046\u3053\u3068\u304c\u3067\u304d\u308bPython\u3068C++\u306e\u30e9\u30a4\u30d6\u30e9\u30ea\u3067\u3059\u30023D\u30c7\u30fc\u30bf\u306e\u5165\u51fa\u529b\u3001\u53ef\u8996\u5316\u3001\u30d5\u30a3\u30eb\u30bf\u30ea\u30f3\u30b0\u3001\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u306a\u3069\u30013D\u30c7\u30fc\u30bf\u51e6\u7406\u306b\u5fc5\u8981\u306a\u6a5f\u80fd\u3092\u8c4a\u5bcc\u306b\u63d0\u4f9b\u3057\u3066\u3044\u307e\u3059\u3002\u307e\u305f\u3001NumPy\u3084OpenCV\u3001PyTorch\u306a\u3069\u306e\u4eba\u6c17\u30e9\u30a4\u30d6\u30e9\u30ea\u3068\u306e\u9023\u643a\u3082\u30b9\u30e0\u30fc\u30ba\u306b\u884c\u3048\u308b\u305f\u3081\u3001\u65e2\u5b58\u306e\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306b\u3082\u5bb9\u6613\u306b\u7d44\u307f\u8fbc\u3080\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"i-1\">Open3D\u306e\u6982\u8981\u3068\u7279\u5fb4<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Open3D\u306f\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u7279\u5fb4\u3092\u6301\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u4f7f\u3044\u3084\u3059\u304f\u76f4\u611f\u7684\u306aAPI\u8a2d\u8a08<\/li>\n\n\n\n<li>C++\u3067\u5b9f\u88c5\u3055\u308c\u305f\u9ad8\u901f\u306a\u51e6\u7406\u30a8\u30f3\u30b8\u30f3<\/li>\n\n\n\n<li>Python\u30d0\u30a4\u30f3\u30c7\u30a3\u30f3\u30b0\u306b\u3088\u308b\u67d4\u8edf\u306a\u958b\u767a<\/li>\n\n\n\n<li>\u8c4a\u5bcc\u306a\u5e7e\u4f55\u51e6\u7406\u30fb3D\u30d3\u30b8\u30e7\u30f3\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u5b9f\u88c5<\/li>\n\n\n\n<li>\u4ed6\u306e\u30e9\u30a4\u30d6\u30e9\u30ea\u3068\u306e\u30b7\u30fc\u30e0\u30ec\u30b9\u306a\u9023\u643a<\/li>\n<\/ol>\n\n\n\n<p class=\"wp-block-paragraph\">\u7279\u306b\u3001Open3D\u304c\u63d0\u4f9b\u3059\u308b\u51e6\u7406\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306f\u591a\u5c90\u306b\u308f\u305f\u308a\u307e\u3059\u3002\u70b9\u7fa4\u306e\u30c0\u30a6\u30f3\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0\u3084\u6cd5\u7dda\u63a8\u5b9a\u3001ICP\uff08Iterative Closest Point\uff09\u306b\u3088\u308b\u70b9\u7fa4\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3001\u4e09\u89d2\u30e1\u30c3\u30b7\u30e5\u306e\u7c21\u7565\u5316\u3084\u30ea\u30b3\u30f3\u30b9\u30c8\u30e9\u30af\u30b7\u30e7\u30f3\u306a\u3069\u30013D\u30c7\u30fc\u30bf\u51e6\u7406\u306b\u5fc5\u8981\u306a\u6a5f\u80fd\u304c\u30ef\u30f3\u30b9\u30c8\u30c3\u30d7\u3067\u5229\u7528\u3067\u304d\u308b\u306e\u304c\u5927\u304d\u306a\u5f37\u307f\u3067\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"i-2\">Open3D\u3092\u4f7f\u3046\u30e1\u30ea\u30c3\u30c8 \u2013 \u52b9\u7387\u30a2\u30c3\u30d7\uff06\u9ad8\u54c1\u8cea\u306a\u53ef\u8996\u5316<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Open3D\u3092\u4f7f\u3046\u3053\u3068\u3067\u30013D\u30c7\u30fc\u30bf\u51e6\u7406\u306e\u30ef\u30fc\u30af\u30d5\u30ed\u30fc\u3092\u5927\u5e45\u306b\u52b9\u7387\u5316\u3067\u304d\u307e\u3059\u3002\u4f8b\u3048\u3070\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306aPython\u30b3\u30fc\u30c9\u3092\u66f8\u304f\u3060\u3051\u3067\u3001PLY\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u3093\u3067\u7f8e\u3057\u304f\u53ef\u8996\u5316\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">import open3d as o3d\n\n# PLY\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u70b9\u7fa4\u3092\u8aad\u307f\u8fbc\u307f\npcd = o3d.io.read_point_cloud(\"sample.ply\")\n\n# \u70b9\u7fa4\u306e\u60c5\u5831\u3092\u8868\u793a\nprint(pcd)\nprint(np.asarray(pcd.points))\n\n# \u70b9\u7fa4\u3092\u53ef\u8996\u5316\no3d.visualization.draw_geometries([pcd])<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u306e\u3088\u3046\u306b\u3001Open3D\u3092\u4f7f\u3048\u3070\u3001\u308f\u305a\u304b\u6570\u884c\u306e\u30b3\u30fc\u30c9\u3067\u8907\u96d1\u306a3D\u30c7\u30fc\u30bf\u51e6\u7406\u304c\u5b9f\u884c\u3067\u304d\u307e\u3059\u3002\u3057\u304b\u3082\u3001C++\u3067\u5b9f\u88c5\u3055\u308c\u305f\u9ad8\u901f\u306a\u51e6\u7406\u30a8\u30f3\u30b8\u30f3\u306b\u3088\u308a\u3001\u5927\u898f\u6a21\u306a\u30c7\u30fc\u30bf\u30bb\u30c3\u30c8\u3082\u52b9\u7387\u3088\u304f\u6271\u3046\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u307e\u305f\u3001Open3D\u304c\u63d0\u4f9b\u3059\u308b\u53ef\u8996\u5316\u6a5f\u80fd\u306f\u3001\u9ad8\u54c1\u8cea\u3067\u7f8e\u3057\u30443D\u30b0\u30e9\u30d5\u30a3\u30c3\u30af\u30b9\u3092\u5b9f\u73fe\u3057\u307e\u3059\u3002\u70b9\u7fa4\u3001\u30e1\u30c3\u30b7\u30e5\u3001\u30dc\u30af\u30bb\u30eb\u306a\u3069\u3001\u3042\u3089\u3086\u308b\u7a2e\u985e\u306e3D\u30c7\u30fc\u30bf\u3092\u3001\u30b7\u30a7\u30fc\u30c7\u30a3\u30f3\u30b0\u3084\u30e9\u30a4\u30c6\u30a3\u30f3\u30b0\u3092\u65bd\u3057\u3066\u9b45\u529b\u7684\u306b\u53ef\u8996\u5316\u3067\u304d\u307e\u3059\u3002\u30ab\u30e1\u30e9\u64cd\u4f5c\u3084\u30a2\u30cb\u30e1\u30fc\u30b7\u30e7\u30f3\u6a5f\u80fd\u3082\u5145\u5b9f\u3057\u3066\u3044\u308b\u305f\u3081\u3001\u30a4\u30f3\u30bf\u30e9\u30af\u30c6\u30a3\u30d6\u306a\u30c7\u30fc\u30bf\u63a2\u7d22\u306b\u3082\u5f79\u7acb\u3061\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Open3D\u306f\u3001GitHub\u3067\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u516c\u958b\u3055\u308c\u3066\u304a\u308a\u3001\u4e16\u754c\u4e2d\u306e\u958b\u767a\u8005\u304c\u30b3\u30f3\u30c8\u30ea\u30d3\u30e5\u30fc\u30c8\u3057\u3066\u3044\u307e\u3059\u3002\u5145\u5b9f\u3057\u305f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u3068\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u306b\u3088\u308a\u3001\u521d\u5fc3\u8005\u3067\u3082\u7c21\u5358\u306b\u4f7f\u3044\u65b9\u3092\u5b66\u3079\u307e\u3059\u30023D\u30c7\u30fc\u30bf\u51e6\u7406\u306e\u52b9\u7387\u5316\u3068\u53ef\u80fd\u6027\u306e\u62e1\u5f35\u3092\u5b9f\u73fe\u3059\u308b\u3001\u983c\u308c\u308b\u30c4\u30fc\u30eb\u3068\u8a00\u3048\u308b\u3067\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"i-3\">Open3D\u306e\u57fa\u672c \u2013 \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u304b\u3089\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u5b9f\u884c\u307e\u3067<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Open3D\u3092\u4f7f\u3063\u305f3D\u30c7\u30fc\u30bf\u51e6\u7406\u306e\u7b2c\u4e00\u6b69\u306f\u3001\u74b0\u5883\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u3068\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u306e\u5b9f\u884c\u3067\u3059\u3002\u3053\u3053\u3067\u306f\u3001Python\u3067\u306eOpen3D\u5c0e\u5165\u624b\u9806\u3068\u3001\u57fa\u672c\u7684\u306a\u6a5f\u80fd\u3092\u5b66\u3079\u308b\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3092\u7d39\u4ecb\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"i-4\">Python\u74b0\u5883\u306e\u6e96\u5099\u3068Open3D\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u624b\u9806<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Open3D\u306fPython 3.6\u4ee5\u4e0a\u306b\u5bfe\u5fdc\u3057\u3066\u3044\u307e\u3059\u3002\u307e\u305a\u3001Python\u306e\u74b0\u5883\u3092\u6574\u3048\u307e\u3057\u3087\u3046\u3002\u4eee\u60f3\u74b0\u5883\u306e\u4f5c\u6210\u3092\u304a\u3059\u3059\u3081\u3057\u307e\u3059\u3002venv\u3084conda\u3092\u4f7f\u3063\u3066\u3001\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u5c02\u7528\u306e\u74b0\u5883\u3092\u7528\u610f\u3059\u308b\u3053\u3068\u3067\u3001\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u7ba1\u7406\u304c\u5bb9\u6613\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5fc5\u8981\u306b\u5fdc\u3058\u3066\u3001NumPy\u3084Matplotlib\u306a\u3069\u306e\u95a2\u9023\u30e9\u30a4\u30d6\u30e9\u30ea\u3082\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u304a\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6b21\u306b\u3001Open3D\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u3059\u3002pip\u3092\u4f7f\u3046\u5834\u5408\u306f\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">pip install open3d<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">Anaconda\u3092\u4f7f\u3063\u3066\u3044\u308b\u5834\u5408\u306f\u3001conda-forge\u30c1\u30e3\u30f3\u30cd\u30eb\u3092\u8ffd\u52a0\u3057\u3066\u304b\u3089\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">conda install -c open3d-admin -c conda-forge open3d<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u308c\u3067\u3001Python\u3067Open3D\u3092\u4f7f\u3046\u6e96\u5099\u304c\u6574\u3044\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"i-5\">\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3067\u5b66\u3076Open3D\u306e\u57fa\u672c\u6a5f\u80fd<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Open3D\u306e\u57fa\u672c\u7684\u306a\u4f7f\u3044\u65b9\u3092\u5b66\u3076\u306b\u306f\u3001\u8c4a\u5bcc\u306b\u7528\u610f\u3055\u308c\u3066\u3044\u308b\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3092\u5b9f\u969b\u306b\u5b9f\u884c\u3057\u3066\u307f\u308b\u306e\u304c\u4e00\u756a\u3067\u3059\u3002\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u3084GitHub\u306eexamples\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u306f\u3001\u70b9\u7fa4\u306e\u8aad\u307f\u8fbc\u307f\u3001\u53ef\u8996\u5316\u3001\u51e6\u7406\u306a\u3069\u3001\u69d8\u3005\u306a\u64cd\u4f5c\u3092\u30c7\u30e2\u3059\u308b\u30b3\u30fc\u30c9\u304c\u53ce\u9332\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ee5\u4e0b\u306f\u3001\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u3093\u3067\u53ef\u8996\u5316\u3059\u308b\u7c21\u5358\u306a\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3067\u3059\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">import open3d as o3d\n\n# \u70b9\u7fa4\u30c7\u30fc\u30bf\u306e\u8aad\u307f\u8fbc\u307f\npcd = o3d.io.read_point_cloud(\"bunny.ply\")\n\n# \u70b9\u7fa4\u306e\u53ef\u8996\u5316\no3d.visualization.draw_geometries([pcd])<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">bunny.ply\u3092\u540c\u3058\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u7f6e\u3044\u3066\u3053\u306e\u30b3\u30fc\u30c9\u3092\u5b9f\u884c\u3059\u308b\u3068\u3001Stanford Bunny\u306e\u70b9\u7fa4\u30c7\u30fc\u30bf\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6b21\u306f\u3001\u30e1\u30c3\u30b7\u30e5\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u3093\u3067\u53ef\u8996\u5316\u3059\u308b\u30b5\u30f3\u30d7\u30eb\u3067\u3059\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">import open3d as o3d\n\n# \u30e1\u30c3\u30b7\u30e5\u30c7\u30fc\u30bf\u306e\u8aad\u307f\u8fbc\u307f\nmesh = o3d.io.read_triangle_mesh(\"knot.ply\")\n\n# \u30e1\u30c3\u30b7\u30e5\u306e\u53ef\u8996\u5316\no3d.visualization.draw_geometries([mesh])<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u306e\u30b3\u30fc\u30c9\u3092\u5b9f\u884c\u3059\u308b\u3068\u3001\u30ce\u30c3\u30c8\u306e\u5f62\u72b6\u3092\u3057\u305f\u30e1\u30c3\u30b7\u30e5\u30c7\u30fc\u30bf\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6700\u5f8c\u306b\u3001\u70b9\u7fa4\u306e\u4e0b\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0\u3068\u6cd5\u7dda\u63a8\u5b9a\u3092\u884c\u3046\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3092\u7d39\u4ecb\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">import open3d as o3d\n\n# \u70b9\u7fa4\u30c7\u30fc\u30bf\u306e\u8aad\u307f\u8fbc\u307f\npcd = o3d.io.read_point_cloud(\"room.ply\")\n\n# \u30c0\u30a6\u30f3\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0\ndownpcd = pcd.voxel_down_sample(voxel_size=0.05)\n\n# \u6cd5\u7dda\u63a8\u5b9a\ndownpcd.estimate_normals(\n    search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1, max_nn=30))\n\n# \u7d50\u679c\u306e\u53ef\u8996\u5316\no3d.visualization.draw_geometries([downpcd])<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u306e\u30b3\u30fc\u30c9\u3067\u306f\u3001\u90e8\u5c4b\u306e\u30b7\u30fc\u30f3\u306e\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u307f\u3001\u30dc\u30af\u30bb\u30eb\u30c0\u30a6\u30f3\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0\u3067\u70b9\u7fa4\u3092\u9593\u5f15\u3044\u305f\u5f8c\u3001\u6cd5\u7dda\u63a8\u5b9a\u3092\u884c\u3063\u3066\u3044\u307e\u3059\u3002\u63a8\u5b9a\u3055\u308c\u305f\u6cd5\u7dda\u60c5\u5831\u306f\u70b9\u7fa4\u306e\u8272\u3067\u53ef\u8996\u5316\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u308c\u3089\u306e\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3092\u5b9f\u884c\u3057\u3066\u7d50\u679c\u3092\u78ba\u8a8d\u3059\u308b\u3053\u3068\u3067\u3001Open3D\u306e\u57fa\u672c\u7684\u306a\u6a5f\u80fd\u3092\u52b9\u7387\u7684\u306b\u5b66\u7fd2\u3067\u304d\u307e\u3059\u3002\u3055\u3089\u306b\u3001\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u306e\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3084API\u30ea\u30d5\u30a1\u30ec\u30f3\u30b9\u3092\u53c2\u7167\u3059\u308c\u3070\u3001\u3088\u308a\u9ad8\u5ea6\u306a\u4f7f\u3044\u65b9\u3082\u30de\u30b9\u30bf\u30fc\u3067\u304d\u308b\u3067\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Open3D\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3068\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u306e\u5b9f\u884c\u306f\u30013D\u30c7\u30fc\u30bf\u51e6\u7406\u306e\u4e16\u754c\u306b\u8e0f\u307f\u51fa\u3059\u305f\u3081\u306e\u7b2c\u4e00\u6b69\u3067\u3059\u3002\u305c\u3072\u3001\u5b9f\u969b\u306b\u30b3\u30fc\u30c9\u3092\u66f8\u3044\u3066\u52d5\u304b\u3057\u306a\u304c\u3089\u3001Open3D\u306e\u53ef\u80fd\u6027\u3092\u4f53\u611f\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"i-6\">Open3D\u6d3b\u7528\u30c6\u30af\u30cb\u30c3\u30af\u2460\uff1a\u70b9\u7fa4\u30c7\u30fc\u30bf\u306e\u8aad\u307f\u8fbc\u307f\u3068\u53ef\u8996\u5316<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">3D\u30c7\u30fc\u30bf\u51e6\u7406\u306b\u304a\u3044\u3066\u3001\u70b9\u7fa4\u306f\u6700\u3082\u57fa\u672c\u7684\u3067\u91cd\u8981\u306a\u30c7\u30fc\u30bf\u69cb\u9020\u306e\u4e00\u3064\u3067\u3059\u3002Open3D\u3092\u4f7f\u3048\u3070\u3001\u69d8\u3005\u306a\u30d5\u30a1\u30a4\u30eb\u5f62\u5f0f\u306e\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u7c21\u5358\u306b\u8aad\u307f\u8fbc\u307f\u3001\u53ef\u8996\u5316\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u3001\u70b9\u7fa4\u30c7\u30fc\u30bf\u306e\u53d6\u308a\u6271\u3044\u306b\u95a2\u3059\u308b\u57fa\u672c\u7684\u306a\u30c6\u30af\u30cb\u30c3\u30af\u3092\u7d39\u4ecb\u3057\u307e\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"i-7\">\u70b9\u7fa4\u30c7\u30fc\u30bf\u306e\u30d5\u30a1\u30a4\u30eb\u5f62\u5f0f\u3068\u8aad\u307f\u8fbc\u307f\u65b9\u6cd5<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u6271\u3046\u4e0a\u3067\u77e5\u3063\u3066\u304a\u304f\u3079\u304d\u30d5\u30a1\u30a4\u30eb\u5f62\u5f0f\u306b\u306f\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u3082\u306e\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>PLY\uff08Polygon File Format\uff09\uff1a\u6700\u3082\u3088\u304f\u4f7f\u308f\u308c\u308b\u5f62\u5f0f\u306e\u4e00\u3064\u3067\u3001\u8272\u3084\u6cd5\u7dda\u306e\u60c5\u5831\u3082\u542b\u3081\u3089\u308c\u307e\u3059\u3002<\/li>\n\n\n\n<li>PCD\uff08Point Cloud Data\uff09\uff1aPCL\u30e9\u30a4\u30d6\u30e9\u30ea\u3067\u4f7f\u308f\u308c\u308b\u5f62\u5f0f\u3067\u3001\u30d0\u30a4\u30ca\u30ea\u3068ASCII\u306e\u4e21\u65b9\u3092\u30b5\u30dd\u30fc\u30c8\u3057\u307e\u3059\u3002<\/li>\n\n\n\n<li>XYZ\uff1a\u30b7\u30f3\u30d7\u30eb\u306a\u30c6\u30ad\u30b9\u30c8\u5f62\u5f0f\u3067\u3001\u5404\u884c\u306bXYZ\u5ea7\u6a19\u3092\u8a18\u8ff0\u3057\u307e\u3059\u3002<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">Open3D\u3067\u306f\u3001<code>o3d.io.read_point_cloud(filename)<\/code>\u95a2\u6570\u3092\u4f7f\u3063\u3066\u3001\u3053\u308c\u3089\u306e\u5f62\u5f0f\u306e\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u3080\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u30d5\u30a1\u30a4\u30eb\u5f62\u5f0f\u306f\u81ea\u52d5\u7684\u306b\u5224\u5225\u3055\u308c\u308b\u306e\u3067\u3001\u62e1\u5f35\u5b50\u3092\u6c17\u306b\u3059\u308b\u5fc5\u8981\u306f\u3042\u308a\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8aad\u307f\u8fbc\u3093\u3060\u70b9\u7fa4\u30c7\u30fc\u30bf\u306f\u3001<code>o3d.geometry.PointCloud<\/code>\u30af\u30e9\u30b9\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u3068\u3057\u3066\u8fd4\u3055\u308c\u307e\u3059\u3002\u3053\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u306b\u306f\u3001\u70b9\u306e\u5ea7\u6a19\u3084\u8272\u3001\u6cd5\u7dda\u306a\u3069\u306e\u60c5\u5831\u304c\u683c\u7d0d\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ee5\u4e0b\u306f\u3001PLY\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u70b9\u7fa4\u3092\u8aad\u307f\u8fbc\u307f\u3001\u60c5\u5831\u3092\u8868\u793a\u3059\u308b\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3067\u3059\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">import open3d as o3d\n\n# PLY\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u70b9\u7fa4\u3092\u8aad\u307f\u8fbc\u307f\npcd = o3d.io.read_point_cloud(\"bunny.ply\")\n\n# \u70b9\u7fa4\u306e\u60c5\u5831\u3092\u8868\u793a\nprint(pcd)\nprint(np.asarray(pcd.points))<\/pre>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"i-8\">\u8272\u60c5\u5831\u3084\u6cd5\u7dda\u60c5\u5831\u306e\u53d6\u5f97\u3068\u53ef\u8996\u5316<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u70b9\u7fa4\u30c7\u30fc\u30bf\u306b\u8272\u60c5\u5831\u304c\u542b\u307e\u308c\u3066\u3044\u308b\u5834\u5408\u306f\u3001<code>pcd.colors<\/code>\u5c5e\u6027\u3092\u4f7f\u3063\u3066\u30a2\u30af\u30bb\u30b9\u3067\u304d\u307e\u3059\u3002<code>draw_geometries()<\/code>\u95a2\u6570\u3067\u70b9\u7fa4\u3092\u53ef\u8996\u5316\u3059\u308b\u969b\u3001\u8272\u60c5\u5831\u3082\u81ea\u52d5\u7684\u306b\u53cd\u6620\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ee5\u4e0b\u306f\u3001\u8272\u60c5\u5831\u3092\u6301\u3064\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u307f\u3001\u53ef\u8996\u5316\u3059\u308b\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3067\u3059\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\"># \u8272\u60c5\u5831\u3092\u6301\u3064PLY\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u70b9\u7fa4\u3092\u8aad\u307f\u8fbc\u307f\ncolored_pcd = o3d.io.read_point_cloud(\"colored_point_cloud.ply\")\n\n# \u8272\u60c5\u5831\u3092\u8868\u793a\nprint(np.asarray(colored_pcd.colors))\n\n# \u8272\u60c5\u5831\u4ed8\u304d\u306e\u70b9\u7fa4\u3092\u53ef\u8996\u5316\no3d.visualization.draw_geometries([colored_pcd])<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u540c\u69d8\u306b\u3001\u6cd5\u7dda\u60c5\u5831\u304c\u542b\u307e\u308c\u3066\u3044\u308b\u5834\u5408\u306f\u3001<code>pcd.normals<\/code>\u5c5e\u6027\u3067\u30a2\u30af\u30bb\u30b9\u3067\u304d\u307e\u3059\u3002\u6cd5\u7dda\u60c5\u5831\u304c\u306a\u3044\u5834\u5408\u306f\u3001<code>estimate_normals()<\/code>\u95a2\u6570\u3092\u4f7f\u3063\u3066\u63a8\u5b9a\u3059\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6cd5\u7dda\u60c5\u5831\u306f\u3001<code>draw_geometries()<\/code>\u95a2\u6570\u306e<code>point_show_normal<\/code>\u5f15\u6570\u3092<code>True<\/code>\u306b\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3067\u3001\u53ef\u8996\u5316\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ee5\u4e0b\u306f\u3001\u6cd5\u7dda\u60c5\u5831\u3092\u6301\u3064\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u307f\u3001\u53ef\u8996\u5316\u3059\u308b\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3067\u3059\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\"># \u6cd5\u7dda\u60c5\u5831\u3092\u6301\u3064PLY\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u70b9\u7fa4\u3092\u8aad\u307f\u8fbc\u307f\npcd_with_normals = o3d.io.read_point_cloud(\"point_cloud_with_normals.ply\")\n\n# \u6cd5\u7dda\u60c5\u5831\u3092\u8868\u793a\nprint(np.asarray(pcd_with_normals.normals))\n\n# \u6cd5\u7dda\u60c5\u5831\u3092\u53ef\u8996\u5316\no3d.visualization.draw_geometries([pcd_with_normals], point_show_normal=True)<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ee5\u4e0a\u306e\u3088\u3046\u306b\u3001Open3D\u3092\u4f7f\u3048\u3070\u3001\u70b9\u7fa4\u30c7\u30fc\u30bf\u306e\u8aad\u307f\u8fbc\u307f\u3068\u53ef\u8996\u5316\u304c\u975e\u5e38\u306b\u7c21\u5358\u306b\u884c\u3048\u307e\u3059\u3002\u69d8\u3005\u306a\u30d5\u30a1\u30a4\u30eb\u5f62\u5f0f\u306b\u5bfe\u5fdc\u3057\u3066\u3044\u308b\u305f\u3081\u3001\u591a\u304f\u306e3D\u30c7\u30fc\u30bf\u3092\u6271\u3046\u3053\u3068\u304c\u3067\u304d\u308b\u3067\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u307e\u305f\u3001\u8272\u3084\u6cd5\u7dda\u306e\u60c5\u5831\u3082\u9069\u5207\u306b\u53d6\u5f97\u30fb\u53ef\u8996\u5316\u3067\u304d\u308b\u306e\u3067\u3001\u70b9\u7fa4\u30c7\u30fc\u30bf\u306e\u7279\u5fb4\u3092\u3088\u308a\u8a73\u7d30\u306b\u628a\u63e1\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u3053\u308c\u3089\u306e\u57fa\u672c\u30c6\u30af\u30cb\u30c3\u30af\u3092\u62bc\u3055\u3048\u308b\u3053\u3068\u3067\u3001\u3088\u308a\u9ad8\u5ea6\u306a\u70b9\u7fa4\u51e6\u7406\u306b\u3082\u30b9\u30e0\u30fc\u30ba\u306b\u79fb\u884c\u3067\u304d\u308b\u306f\u305a\u3067\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"i-9\">Open3D\u6d3b\u7528\u30c6\u30af\u30cb\u30c3\u30af\u2461\uff1a\u30e1\u30c3\u30b7\u30e5\u30c7\u30fc\u30bf\u306e\u51e6\u7406\u3068\u7de8\u96c6<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u70b9\u7fa4\u30c7\u30fc\u30bf\u3068\u4e26\u3093\u3067\u3001\u30e1\u30c3\u30b7\u30e5\u306f3D\u30c7\u30fc\u30bf\u3092\u8868\u73fe\u3059\u308b\u91cd\u8981\u306a\u5f62\u5f0f\u306e\u4e00\u3064\u3067\u3059\u3002Open3D\u306f\u3001\u30e1\u30c3\u30b7\u30e5\u30c7\u30fc\u30bf\u306e\u8aad\u307f\u8fbc\u307f\u3084\u53ef\u8996\u5316\u3060\u3051\u3067\u306a\u304f\u3001\u7c21\u7565\u5316\u3084\u7a74\u57cb\u3081\u51e6\u7406\u3001\u6cd5\u7dda\u63a8\u5b9a\u306a\u3069\u3001\u69d8\u3005\u306a\u7de8\u96c6\u6a5f\u80fd\u3082\u63d0\u4f9b\u3057\u3066\u3044\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u3001Open3D\u3092\u4f7f\u3063\u305f\u30e1\u30c3\u30b7\u30e5\u30c7\u30fc\u30bf\u306e\u51e6\u7406\u30c6\u30af\u30cb\u30c3\u30af\u3092\u898b\u3066\u3044\u304d\u307e\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"i-10\">\u30e1\u30c3\u30b7\u30e5\u30c7\u30fc\u30bf\u306e\u8aad\u307f\u8fbc\u307f\u3068\u53ef\u8996\u5316<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Open3D\u3067\u306f\u3001<code>o3d.io.read_triangle_mesh(filename)<\/code>\u95a2\u6570\u3092\u4f7f\u3063\u3066\u3001\u30e1\u30c3\u30b7\u30e5\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u3080\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u8aad\u307f\u8fbc\u3093\u3060\u30e1\u30c3\u30b7\u30e5\u306f\u3001<code>o3d.geometry.TriangleMesh<\/code>\u30af\u30e9\u30b9\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u3068\u3057\u3066\u8fd4\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ee5\u4e0b\u306f\u3001PLY\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u30e1\u30c3\u30b7\u30e5\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u8fbc\u307f\u3001\u60c5\u5831\u3092\u8868\u793a\u3057\u3001\u53ef\u8996\u5316\u3059\u308b\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3067\u3059\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">import open3d as o3d\n\n# \u30e1\u30c3\u30b7\u30e5\u30c7\u30fc\u30bf\u306e\u8aad\u307f\u8fbc\u307f\nmesh = o3d.io.read_triangle_mesh(\"bunny.ply\")\n\n# \u30e1\u30c3\u30b7\u30e5\u306e\u60c5\u5831\u3092\u8868\u793a\nprint(mesh)\nprint(np.asarray(mesh.vertices))\nprint(np.asarray(mesh.triangles))\n\n# \u30e1\u30c3\u30b7\u30e5\u3092\u53ef\u8996\u5316\no3d.visualization.draw_geometries([mesh])<\/pre>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"i-11\">\u30e1\u30c3\u30b7\u30e5\u306e\u7c21\u7565\u5316\u3068\u7a74\u57cb\u3081\u51e6\u7406<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u9ad8\u89e3\u50cf\u5ea6\u306e\u30e1\u30c3\u30b7\u30e5\u30c7\u30fc\u30bf\u306f\u3001\u51e6\u7406\u306b\u6642\u9593\u304c\u304b\u304b\u308a\u3001\u30e1\u30e2\u30ea\u3082\u5927\u91cf\u306b\u6d88\u8cbb\u3057\u307e\u3059\u3002\u305d\u3053\u3067\u3001<code>simplify_vertex_clustering(voxel_size)<\/code>\u95a2\u6570\u3092\u4f7f\u3063\u3066\u3001\u30e1\u30c3\u30b7\u30e5\u3092\u7c21\u7565\u5316\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<code>voxel_size<\/code>\u30d1\u30e9\u30e1\u30fc\u30bf\u3067\u30dc\u30af\u30bb\u30eb\u306e\u30b5\u30a4\u30ba\u3092\u6307\u5b9a\u3057\u3001\u7c21\u7565\u5316\u306e\u5ea6\u5408\u3044\u3092\u5236\u5fa1\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ee5\u4e0b\u306f\u3001\u30e1\u30c3\u30b7\u30e5\u3092\u7c21\u7565\u5316\u3057\u3001\u53ef\u8996\u5316\u3059\u308b\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3067\u3059\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\"># \u30e1\u30c3\u30b7\u30e5\u306e\u7c21\u7565\u5316\nsimplified_mesh = mesh.simplify_vertex_clustering(voxel_size=0.05)\n\n# \u7c21\u7565\u5316\u3055\u308c\u305f\u30e1\u30c3\u30b7\u30e5\u3092\u53ef\u8996\u5316\no3d.visualization.draw_geometries([simplified_mesh])<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u307e\u305f\u3001\u30e1\u30c3\u30b7\u30e5\u30c7\u30fc\u30bf\u306b\u306f\u7a74\u304c\u5b58\u5728\u3059\u308b\u3053\u3068\u304c\u3042\u308a\u307e\u3059\u3002<code>fill_holes()<\/code>\u95a2\u6570\u3092\u4f7f\u3048\u3070\u3001\u3053\u308c\u3089\u306e\u7a74\u3092\u81ea\u52d5\u7684\u306b\u57cb\u3081\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ee5\u4e0b\u306f\u3001\u30e1\u30c3\u30b7\u30e5\u306e\u7a74\u3092\u57cb\u3081\u3001\u53ef\u8996\u5316\u3059\u308b\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3067\u3059\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\"># \u30e1\u30c3\u30b7\u30e5\u306e\u7a74\u57cb\u3081\u51e6\u7406\nfilled_mesh = mesh.fill_holes()\n\n# \u7a74\u57cb\u3081\u51e6\u7406\u3055\u308c\u305f\u30e1\u30c3\u30b7\u30e5\u3092\u53ef\u8996\u5316\no3d.visualization.draw_geometries([filled_mesh])<\/pre>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"i-12\">\u30e1\u30c3\u30b7\u30e5\u306e\u6cd5\u7dda\u63a8\u5b9a<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u30e1\u30c3\u30b7\u30e5\u30c7\u30fc\u30bf\u306b\u6cd5\u7dda\u60c5\u5831\u304c\u542b\u307e\u308c\u3066\u3044\u306a\u3044\u5834\u5408\u3001<code>compute_vertex_normals()<\/code>\u95a2\u6570\u3092\u4f7f\u3063\u3066\u3001\u9802\u70b9\u6cd5\u7dda\u3092\u63a8\u5b9a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u63a8\u5b9a\u3055\u308c\u305f\u6cd5\u7dda\u60c5\u5831\u306f\u3001<code>mesh.vertex_normals<\/code>\u5c5e\u6027\u306b\u683c\u7d0d\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ee5\u4e0b\u306f\u3001\u30e1\u30c3\u30b7\u30e5\u306e\u6cd5\u7dda\u3092\u63a8\u5b9a\u3057\u3001\u53ef\u8996\u5316\u3059\u308b\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3067\u3059\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\"># \u30e1\u30c3\u30b7\u30e5\u306e\u6cd5\u7dda\u63a8\u5b9a\nmesh.compute_vertex_normals()\n\n# \u6cd5\u7dda\u60c5\u5831\u3092\u8868\u793a\nprint(np.asarray(mesh.vertex_normals))\n\n# \u6cd5\u7dda\u60c5\u5831\u3092\u53ef\u8996\u5316\no3d.visualization.draw_geometries([mesh], mesh_show_back_face=True)<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ee5\u4e0a\u306e\u3088\u3046\u306b\u3001Open3D\u3092\u4f7f\u3048\u3070\u3001\u30e1\u30c3\u30b7\u30e5\u30c7\u30fc\u30bf\u306e\u51e6\u7406\u3084\u7de8\u96c6\u304c\u975e\u5e38\u306b\u7c21\u5358\u306b\u884c\u3048\u307e\u3059\u3002\u7c21\u7565\u5316\u3084\u7a74\u57cb\u3081\u51e6\u7406\u306b\u3088\u308a\u3001\u30e1\u30c3\u30b7\u30e5\u306e\u54c1\u8cea\u3092\u5411\u4e0a\u3055\u305b\u3064\u3064\u3001\u52b9\u7387\u7684\u306b\u51e6\u7406\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u3067\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u307e\u305f\u3001\u6cd5\u7dda\u63a8\u5b9a\u6a5f\u80fd\u3092\u6d3b\u7528\u3059\u308b\u3053\u3068\u3067\u3001\u30e1\u30c3\u30b7\u30e5\u306e\u898b\u305f\u76ee\u3092\u3088\u308a\u8a73\u7d30\u306b\u5236\u5fa1\u3059\u308b\u3053\u3068\u3082\u53ef\u80fd\u3067\u3059\u3002\u3053\u308c\u3089\u306e\u6a5f\u80fd\u3092\u7d44\u307f\u5408\u308f\u305b\u308b\u3053\u3068\u3067\u30013D\u30c7\u30fc\u30bf\u51e6\u7406\u306b\u304a\u3051\u308b\u69d8\u3005\u306a\u8ab2\u984c\u306b\u5bfe\u5fdc\u3067\u304d\u308b\u306f\u305a\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u305c\u3072\u3001\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3092\u5b9f\u884c\u3057\u306a\u304c\u3089\u3001Open3D\u306e\u30e1\u30c3\u30b7\u30e5\u51e6\u7406\u6a5f\u80fd\u3092\u4f53\u9a13\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002\u5b9f\u8df5\u7684\u306a\u30c6\u30af\u30cb\u30c3\u30af\u3092\u8eab\u306b\u3064\u3051\u308b\u3053\u3068\u3067\u3001\u3088\u308a\u9ad8\u5ea6\u306a3D\u30c7\u30fc\u30bf\u51e6\u7406\u306e\u4e16\u754c\u304c\u958b\u3051\u308b\u3067\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"i-13\">Open3D\u6d3b\u7528\u30c6\u30af\u30cb\u30c3\u30af\u2462\uff1a3\u6b21\u5143\u753b\u50cf\u51e6\u7406\u3068\u306e\u9023\u643a<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">3D\u30c7\u30fc\u30bf\u51e6\u7406\u306b\u304a\u3044\u3066\u306f\u30012\u6b21\u5143\u306e\u753b\u50cf\u51e6\u7406\u6280\u8853\u3068\u306e\u9023\u643a\u304c\u91cd\u8981\u306a\u30c6\u30fc\u30de\u306e\u4e00\u3064\u3067\u3059\u3002Open3D\u306f\u30012D\u753b\u50cf\u51e6\u7406\u306e\u30c7\u30d5\u30a1\u30af\u30c8\u30b9\u30bf\u30f3\u30c0\u30fc\u30c9\u3067\u3042\u308bOpenCV\u3068\u306e\u89aa\u548c\u6027\u304c\u9ad8\u304f\u3001\u4e21\u8005\u3092\u7d44\u307f\u5408\u308f\u305b\u308b\u3053\u3068\u3067\u3001\u3088\u308a\u591a\u5f69\u306a3D\u30d3\u30b8\u30e7\u30f3\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u3092\u958b\u767a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u3001Open3D\u3068OpenCV\u3092\u9023\u643a\u3055\u305b\u308b\u305f\u3081\u306e\u30c6\u30af\u30cb\u30c3\u30af\u3092\u7d39\u4ecb\u3057\u307e\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"i-14\">OpenCV\u3092\u4f7f\u3063\u305f3\u6b21\u5143\u753b\u50cf\u51e6\u7406\u306e\u57fa\u790e<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">OpenCV\u306f\u3001\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u30d3\u30b8\u30e7\u30f3\u3068\u753b\u50cf\u51e6\u7406\u306e\u305f\u3081\u306e\u5f37\u529b\u306a\u30e9\u30a4\u30d6\u30e9\u30ea\u3067\u3059\u3002\u672c\u6765\u306f2\u6b21\u5143\u753b\u50cf\u3092\u6271\u3046\u305f\u3081\u306e\u30c4\u30fc\u30eb\u3067\u3059\u304c\u30013\u6b21\u5143\u753b\u50cf\u51e6\u7406\u306b\u3082\u5fdc\u7528\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Open3D\u306ePointCloud\u3084TriangleMesh\u304b\u3089\u751f\u6210\u3057\u305f2D\u753b\u50cf\u306b\u5bfe\u3057\u3066\u3001OpenCV\u306e\u753b\u50cf\u51e6\u7406\u95a2\u6570\u3092\u9069\u7528\u3059\u308b\u3053\u3068\u3067\u30013D\u30c7\u30fc\u30bf\u306e\u7279\u5fb4\u62bd\u51fa\u3084\u89e3\u6790\u3092\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u308b\u306e\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Open3D\u3068OpenCV\u3092\u7d44\u307f\u5408\u308f\u305b\u308b\u305f\u3081\u306b\u306f\u3001\u30c7\u30fc\u30bf\u5f62\u5f0f\u306e\u5909\u63db\u304c\u5fc5\u8981\u3067\u3059\u3002\u4ee5\u4e0b\u306e\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3067\u306f\u3001Open3D\u306ePointCloud\u3092OpenCV\u306e\u753b\u50cf\u5f62\u5f0f\u306b\u5909\u63db\u3057\u3001\u3055\u3089\u306bOpenCV\u3067\u51e6\u7406\u3057\u305f\u753b\u50cf\u3092Open3D\u306e\u753b\u50cf\u5f62\u5f0f\u306b\u5909\u63db\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">import open3d as o3d\nimport numpy as np\nimport cv2\n\n# Open3D\u306ePointCloud\u3092OpenCV\u306e\u753b\u50cf\u5f62\u5f0f\u306b\u5909\u63db\npcd = o3d.io.read_point_cloud(\"bunny.ply\")\ncolor_image = np.asarray(pcd.colors).astype(np.uint8)\ncolor_image = cv2.cvtColor(color_image, cv2.COLOR_RGB2BGR)\n\n# OpenCV\u306e\u753b\u50cf\u3092Open3D\u306e\u753b\u50cf\u5f62\u5f0f\u306b\u5909\u63db\ngray_image = cv2.cvtColor(color_image, cv2.COLOR_BGR2GRAY)\nod_image = o3d.geometry.Image(gray_image)<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u306e\u3088\u3046\u306b\u3001<code>np.asarray()<\/code>\u95a2\u6570\u3084<code>o3d.geometry.Image()<\/code>\u95a2\u6570\u306a\u3069\u3092\u4f7f\u3063\u3066\u3001\u30c7\u30fc\u30bf\u5f62\u5f0f\u3092\u67d4\u8edf\u306b\u5909\u63db\u3059\u308b\u3053\u3068\u304c\u3001Open3D\u3068OpenCV\u306e\u9023\u643a\u306e\u9375\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"i-15\">Open3D\u3068OpenCV\u3092\u7d44\u307f\u5408\u308f\u305b\u305f\u5fdc\u7528\u4f8b<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Open3D\u3068OpenCV\u3092\u7d44\u307f\u5408\u308f\u305b\u308b\u3053\u3068\u3067\u3001\u69d8\u3005\u306a3D\u30d3\u30b8\u30e7\u30f3\u30bf\u30b9\u30af\u306b\u53d6\u308a\u7d44\u3080\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u4ee5\u4e0b\u306b\u3001\u3044\u304f\u3064\u304b\u306e\u5fdc\u7528\u4f8b\u3092\u793a\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>3D\u30c7\u30fc\u30bf\u304b\u30892D\u753b\u50cf\u3092\u751f\u6210\u3057\u3001OpenCV\u3067\u753b\u50cf\u51e6\u7406\u3092\u884c\u3046\u3002<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f8b\u3048\u3070\u30013D\u70b9\u7fa4\u304b\u3089\u6df1\u5ea6\u753b\u50cf\u3092\u751f\u6210\u3057\u3001\u30a8\u30c3\u30b8\u691c\u51fa\u3092\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/li>\n<\/ul>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\"># 3D\u70b9\u7fa4\u304b\u3089\u6df1\u5ea6\u753b\u50cf\u3092\u751f\u6210\u3057\u3001\u30a8\u30c3\u30b8\u691c\u51fa\npcd = o3d.io.read_point_cloud(\"room.ply\")\ndepth_image = np.asarray(pcd.compute_depth_image())\nedges = cv2.Canny(depth_image, 100, 200)<\/pre>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\">\n<li>OpenCV\u3067\u51e6\u7406\u3057\u305f2D\u753b\u50cf\u30923D\u30c7\u30fc\u30bf\u306b\u6295\u5f71\u3059\u308b\u3002<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f8b\u3048\u3070\u30012D\u753b\u50cf\u3067\u306e\u7269\u4f53\u691c\u51fa\u7d50\u679c\u30923D\u70b9\u7fa4\u306b\u30de\u30c3\u30d4\u30f3\u30b0\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/li>\n<\/ul>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\"># 2D\u753b\u50cf\u3067\u306e\u7269\u4f53\u691c\u51fa\u7d50\u679c\u30923D\u70b9\u7fa4\u306b\u30de\u30c3\u30d4\u30f3\u30b0\nimg = cv2.imread(\"room.jpg\")\ndetections = object_detection(img)  # \u7269\u4f53\u691c\u51fa\u95a2\u6570\u3092\u5225\u9014\u5b9a\u7fa9\nfor det in detections:\n    bbox = det[\"bbox\"]\n    pcd_roi = pcd.crop(o3d.geometry.AxisAlignedBoundingBox(bbox_to_aabb(bbox)))\n    o3d.visualization.draw_geometries([pcd_roi])<\/pre>\n\n\n\n<ol class=\"wp-block-list\" start=\"3\">\n<li>3D\u30c7\u30fc\u30bf\u30682D\u753b\u50cf\u3092\u7d71\u5408\u3057\u3066\u89e3\u6790\u3059\u308b\u3002<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f8b\u3048\u3070\u30013D\u70b9\u7fa4\u3068RGB\u753b\u50cf\u3092\u7d44\u307f\u5408\u308f\u305b\u3066\u3001\u30bb\u30de\u30f3\u30c6\u30a3\u30c3\u30af\u30bb\u30b0\u30e1\u30f3\u30c6\u30fc\u30b7\u30e7\u30f3\u3092\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u306e\u3088\u3046\u306b\u3001Open3D\u3068OpenCV\u3092\u7d44\u307f\u5408\u308f\u305b\u308b\u3053\u3068\u3067\u30013D\u30c7\u30fc\u30bf\u30682D\u753b\u50cf\u306e\u9577\u6240\u3092\u751f\u304b\u3057\u305f\u591a\u69d8\u306a\u89e3\u6790\u304c\u53ef\u80fd\u306b\u306a\u308a\u307e\u3059\u30023D\u70b9\u7fa4\u304b\u3089\u751f\u6210\u3057\u305f2D\u753b\u50cf\u306b\u5bfe\u3057\u3066\u3001OpenCV\u306e\u8c4a\u5bcc\u306a\u753b\u50cf\u51e6\u7406\u95a2\u6570\u3092\u9069\u7528\u3059\u308b\u3053\u3068\u3067\u30013D\u30c7\u30fc\u30bf\u306e\u7279\u5fb4\u3092\u3088\u308a\u8a73\u7d30\u306b\u6349\u3048\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u3067\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u307e\u305f\u30012D\u753b\u50cf\u3067\u306e\u89e3\u6790\u7d50\u679c\u30923D\u30c7\u30fc\u30bf\u306b\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u3059\u308b\u3053\u3068\u3067\u30013D\u7a7a\u9593\u3067\u306e\u7269\u4f53\u691c\u51fa\u3084\u30bb\u30b0\u30e1\u30f3\u30c6\u30fc\u30b7\u30e7\u30f3\u306a\u3069\u306e\u9ad8\u5ea6\u306a\u30bf\u30b9\u30af\u306b\u3082\u53d6\u308a\u7d44\u3081\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Open3D\u3068OpenCV\u306e\u9023\u643a\u306f\u30013D\u30d3\u30b8\u30e7\u30f3\u306e\u53ef\u80fd\u6027\u3092\u5927\u304d\u304f\u5e83\u3052\u308b\u30a2\u30d7\u30ed\u30fc\u30c1\u3060\u3068\u8a00\u3048\u307e\u3059\u3002\u305c\u3072\u3001\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3092\u53c2\u8003\u306b\u3001\u72ec\u81ea\u306e\u30a2\u30a4\u30c7\u30a2\u3092\u5b9f\u8df5\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u30022D\u30683D\u306e\u30b7\u30fc\u30e0\u30ec\u30b9\u306a\u878d\u5408\u306b\u3088\u308a\u3001\u3088\u308a\u6d1e\u5bdf\u529b\u306e\u9ad8\u30443D\u30c7\u30fc\u30bf\u89e3\u6790\u304c\u5b9f\u73fe\u3067\u304d\u308b\u306f\u305a\u3067\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"i-16\">Open3D\u306e\u5fdc\u7528\u3068\u767a\u5c55 \u2013 \u5b9f\u8df5\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3067\u5dee\u3092\u3064\u3051\u308b\uff01<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Open3D\u306f\u30013D\u30c7\u30fc\u30bf\u51e6\u7406\u306e\u57fa\u672c\u7684\u306a\u6a5f\u80fd\u3092\u63d0\u4f9b\u3059\u308b\u3060\u3051\u3067\u306a\u304f\u3001\u3088\u308a\u9ad8\u5ea6\u306a\u5fdc\u7528\u5206\u91ce\u3067\u3082\u6d3b\u8e8d\u3057\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u3001\u81ea\u5f8b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u3001\u30ea\u30a2\u30eb\u30bf\u30a4\u30e03D\u7269\u4f53\u8a8d\u8b58\u3001\u5927\u898f\u6a21\u70b9\u7fa4\u30c7\u30fc\u30bf\u306eAI\u89e3\u6790\u306a\u3069\u3001\u5b9f\u8df5\u7684\u306a\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306b\u304a\u3051\u308bOpen3D\u306e\u6d3b\u7528\u65b9\u6cd5\u3092\u898b\u3066\u3044\u304d\u307e\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"i-17\">\u81ea\u5f8b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306e\u305f\u3081\u306e3D\u5730\u56f3\u751f\u6210<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u81ea\u5f8b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306b\u3068\u3063\u3066\u3001\u74b0\u5883\u306e3D\u5730\u56f3\u306f\u6b20\u304b\u305b\u307e\u305b\u3093\u3002Open3D\u3092\u4f7f\u3048\u3070\u3001LiDAR\u30bb\u30f3\u30b5\u30fc\u304b\u3089\u53d6\u5f97\u3057\u305f\u70b9\u7fa4\u30c7\u30fc\u30bf\u304b\u3089\u3001\u9ad8\u54c1\u8cea\u306a3D\u5730\u56f3\u3092\u751f\u6210\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u70b9\u7fa4\u306e\u4f4d\u7f6e\u5408\u308f\u305b\uff08\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\uff09\u3084\u3001\u30ce\u30a4\u30ba\u9664\u53bb\u3001\u30c0\u30a6\u30f3\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0\u306a\u3069\u306e\u524d\u51e6\u7406\u304c\u5fc5\u8981\u306b\u306a\u308a\u307e\u3059\u304c\u3001Open3D\u306f\u3053\u308c\u3089\u306e\u51e6\u7406\u3092\u7c21\u5358\u306b\u884c\u3046\u305f\u3081\u306e\u95a2\u6570\u3092\u63d0\u4f9b\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ee5\u4e0b\u306f\u3001\u8907\u6570\u306e\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u4f4d\u7f6e\u5408\u308f\u305b\u3057\u3001\u7d71\u5408\u3057\u30663D\u5730\u56f3\u3092\u751f\u6210\u3059\u308b\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3067\u3059\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">import open3d as o3d\n\n# \u70b9\u7fa4\u30c7\u30fc\u30bf\u306e\u8aad\u307f\u8fbc\u307f\npcd1 = o3d.io.read_point_cloud(\"room1.ply\")\npcd2 = o3d.io.read_point_cloud(\"room2.ply\")\n\n# \u70b9\u7fa4\u306e\u4f4d\u7f6e\u5408\u308f\u305b\nreg_p2p = o3d.pipelines.registration.registration_icp(\n    pcd1, pcd2, max_correspondence_distance=0.05, estimation_method=o3d.pipelines.registration.TransformationEstimationPointToPoint())\n\n# \u4f4d\u7f6e\u5408\u308f\u305b\u7d50\u679c\u306e\u9069\u7528\npcd2.transform(reg_p2p.transformation)\n\n# \u70b9\u7fa4\u306e\u7d71\u5408\npcd_combined = o3d.geometry.PointCloud()\npcd_combined += pcd1\npcd_combined += pcd2\n\n# \u7d71\u5408\u3055\u308c\u305f\u70b9\u7fa4\u306e\u53ef\u8996\u5316\no3d.visualization.draw_geometries([pcd_combined])<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u751f\u6210\u3055\u308c\u305f3D\u5730\u56f3\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u3084\u7d4c\u8def\u8a08\u753b\u306b\u6d3b\u7528\u3067\u304d\u307e\u3059\u3002Open3D\u3092\u4f7f\u3048\u3070\u3001\u81ea\u5f8b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u306b\u4e0d\u53ef\u6b20\u306a3D\u5730\u56f3\u751f\u6210\u3092\u52b9\u7387\u7684\u306b\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u308b\u306e\u3067\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"i-18\">\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u306a3D\u7269\u4f53\u8a8d\u8b58\u3068\u8ffd\u8de1<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Open3D\u306f\u3001RGB-D\u753b\u50cf\u304b\u3089\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u306b3D\u7269\u4f53\u8a8d\u8b58\u3068\u8ffd\u8de1\u3092\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u7269\u4f53\u306e3D\u30e2\u30c7\u30eb\u3068\u306e\u30de\u30c3\u30c1\u30f3\u30b0\u3084\u3001\u70b9\u7fa4\u306e\u7279\u5fb4\u62bd\u51fa\u3001\u30af\u30e9\u30b9\u30bf\u30ea\u30f3\u30b0\u306a\u3069\u306e\u6280\u8853\u3092\u7d44\u307f\u5408\u308f\u305b\u308b\u3053\u3068\u3067\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u30de\u30cb\u30d4\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3084\u4eba\u3068\u306e\u30a4\u30f3\u30bf\u30e9\u30af\u30b7\u30e7\u30f3\u306b\u5fdc\u7528\u53ef\u80fd\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ee5\u4e0b\u306f\u3001RGB-D\u753b\u50cf\u304b\u3089\u70b9\u7fa4\u3092\u751f\u6210\u3057\u3001\u5e73\u9762\u691c\u51fa\u3068\u9664\u53bb\u3001\u30af\u30e9\u30b9\u30bf\u30ea\u30f3\u30b0\u306b\u3088\u308b\u7269\u4f53\u691c\u51fa\u3092\u884c\u3046\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3067\u3059\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">import open3d as o3d\nimport numpy as np\n\n# RGB-D\u753b\u50cf\u304b\u3089\u306e\u70b9\u7fa4\u751f\u6210\ncolor_raw = o3d.io.read_image(\"color.png\")\ndepth_raw = o3d.io.read_image(\"depth.png\")\nrgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(\n    color_raw, depth_raw, convert_rgb_to_intensity=False)\npcd = o3d.geometry.PointCloud.create_from_rgbd_image(\n    rgbd_image, o3d.camera.PinholeCameraIntrinsic(\n        o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault))\n\n# \u5e73\u9762\u691c\u51fa\u3068\u9664\u53bb\nplane_model, inliers = pcd.segment_plane(distance_threshold=0.01, ransac_n=3, num_iterations=1000)\npcd = pcd.select_by_index(inliers, invert=True)\n\n# \u30af\u30e9\u30b9\u30bf\u30ea\u30f3\u30b0\u306b\u3088\u308b\u7269\u4f53\u691c\u51fa\nlabels = np.array(pcd.cluster_dbscan(eps=0.02, min_points=10, print_progress=True))\nmax_label = labels.max()\nprint(f\"point cloud has {max_label + 1} clusters\")\n\n# \u691c\u51fa\u3055\u308c\u305f\u7269\u4f53\u3054\u3068\u306b\u8272\u3092\u5272\u308a\u5f53\u3066\u3066\u53ef\u8996\u5316\ncolors = plt.get_cmap(\"tab20\")(labels \/ (max_label if max_label &gt; 0 else 1))\ncolors[labels &lt; 0] = 0\npcd.colors = o3d.utility.Vector3dVector(colors[:, :3])\no3d.visualization.draw_geometries([pcd])<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u306e\u3088\u3046\u306b\u3001Open3D\u3092\u4f7f\u3048\u3070\u3001\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u306a3D\u7269\u4f53\u8a8d\u8b58\u3068\u8ffd\u8de1\u3092\u5b9f\u73fe\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u3053\u308c\u306f\u3001\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u3060\u3051\u3067\u306a\u304f\u3001\u62e1\u5f35\u73fe\u5b9f\uff08AR\uff09\u3084\u30d0\u30fc\u30c1\u30e3\u30eb\u30ea\u30a2\u30ea\u30c6\u30a3\uff08VR\uff09\u306a\u3069\u306e\u5206\u91ce\u3067\u3082\u5fdc\u7528\u53ef\u80fd\u306a\u6280\u8853\u3067\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"i-19\">\u5927\u898f\u6a21\u70b9\u7fa4\u30c7\u30fc\u30bf\u304b\u3089\u306eAI\u89e3\u6790<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd1\u5e74\u3001\u6a5f\u68b0\u5b66\u7fd2\u3084\u30c7\u30a3\u30fc\u30d7\u30e9\u30fc\u30cb\u30f3\u30b0\u306e\u767a\u5c55\u306b\u4f34\u3044\u30013D\u30c7\u30fc\u30bf\u306b\u5bfe\u3059\u308bAI\u89e3\u6790\u306e\u30cb\u30fc\u30ba\u304c\u9ad8\u307e\u3063\u3066\u3044\u307e\u3059\u3002Open3D\u306f\u3001\u5927\u898f\u6a21\u306a\u70b9\u7fa4\u30c7\u30fc\u30bf\u306b\u5bfe\u3057\u3066\u3001\u3053\u308c\u3089\u306e\u5148\u9032\u7684\u306a\u624b\u6cd5\u3092\u9069\u7528\u3059\u308b\u305f\u3081\u306e\u6a5f\u80fd\u3092\u63d0\u4f9b\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u70b9\u7fa4\u306e\u7279\u5fb4\u91cf\u8a08\u7b97\u3001\u30c7\u30fc\u30bf\u62e1\u5f35\u3001\u30cb\u30e5\u30fc\u30e9\u30eb\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u3068\u306e\u9023\u643a\u306a\u3069\u3001AI\u3092\u6d3b\u7528\u3057\u305f3D\u30c7\u30fc\u30bf\u89e3\u6790\u306b\u5fc5\u8981\u306a\u8981\u7d20\u3092\u3001Open3D\u3092\u4f7f\u3063\u3066\u52b9\u7387\u7684\u306b\u5b9f\u88c5\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ee5\u4e0b\u306f\u3001Lyft\u306e\u30c7\u30fc\u30bf\u30bb\u30c3\u30c8\u3092Open3D\u3067\u8aad\u307f\u8fbc\u307f\u3001PointNet\u30e2\u30c7\u30eb\u3092\u4f7f\u3063\u3066\u70b9\u7fa4\u306e\u5206\u985e\u3092\u884c\u3046\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3067\u3059\u3002<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">import open3d as o3d\nimport torch\nimport torch.nn as nn\nimport torch.nn.functional as F\n\n# \u70b9\u7fa4\u30c7\u30fc\u30bf\u30bb\u30c3\u30c8\u306e\u8aad\u307f\u8fbc\u307f\ntrain_data = o3d.data.LyftPointCloudData(dataset_path=\"\/lyft\/train\")\ntest_data = o3d.data.LyftPointCloudData(dataset_path=\"\/lyft\/test\")\n\n# \u70b9\u7fa4\u306e\u524d\u51e6\u7406\u3068\u30c7\u30fc\u30bf\u62e1\u5f35\ndef preprocess_point_cloud(pcd):\n    pcd = pcd.voxel_down_sample(voxel_size=0.05)\n    pcd, _ = pcd.remove_statistical_outlier(nb_neighbors=20, std_ratio=2.0)\n    pcd.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1, max_nn=30))\n    return pcd\n\ntrain_data = train_data.map(preprocess_point_cloud)\ntest_data = test_data.map(preprocess_point_cloud)\n\n# PointNet\u30e2\u30c7\u30eb\u306e\u5b9a\u7fa9\nclass Net(nn.Module):\n    def __init__(self):\n        super(Net, self).__init__()\n        self.conv1 = nn.Conv1d(3, 64, 1)\n        self.conv2 = nn.Conv1d(64, 128, 1)\n        self.conv3 = nn.Conv1d(128, 1024, 1)\n        self.fc1 = nn.Linear(1024, 512)\n        self.fc2 = nn.Linear(512, 256)\n        self.fc3 = nn.Linear(256, 9)\n\n    def forward(self, x):\n        x = F.relu(self.conv1(x))\n        x = F.relu(self.conv2(x))\n        x = F.relu(self.conv3(x))\n        x = torch.max(x, 2, keepdim=True)[0]\n        x = x.view(-1, 1024)\n        x = F.relu(self.fc1(x))\n        x = F.relu(self.fc2(x))\n        x = self.fc3(x)\n        return x\n\n# \u30e2\u30c7\u30eb\u306e\u5b66\u7fd2\nmodel = Net()\ncriterion = nn.CrossEntropyLoss()\noptimizer = torch.optim.Adam(model.parameters(), lr=0.001)\n\nfor epoch in range(100):\n    for i, data in enumerate(train_data):\n        points = torch.from_numpy(np.asarray(data.point_cloud.points)).float()\n        label = torch.tensor(data.label).long()\n\n        optimizer.zero_grad()\n        output = model(points.transpose(1, 0).unsqueeze(0))\n        loss = criterion(output, label.unsqueeze(0))\n        loss.backward()\n        optimizer.step()\n\n# \u30c6\u30b9\u30c8\u30c7\u30fc\u30bf\u3067\u306e\u8a55\u4fa1\ncorrect = 0\ntotal = 0\nwith torch.no_grad():\n    for data in test_data:\n        points = torch.from_numpy(np.asarray(data.point_cloud.points)).float()\n        label = torch.tensor(data.label).long()\n        output = model(points.transpose(1, 0).unsqueeze(0))\n        _, predicted = torch.max(output.data, 1)\n        total += label.size(0)\n        correct += (predicted == label).sum().item()\n\nprint('Accuracy: %d %%' % (100 * correct \/ total))<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u306e\u3088\u3046\u306b\u3001Open3D\u3092\u4f7f\u3048\u3070\u3001\u5927\u898f\u6a21\u306a\u70b9\u7fa4\u30c7\u30fc\u30bf\u306b\u5bfe\u3057\u3066\u6a5f\u68b0\u5b66\u7fd2\u3084\u30c7\u30a3\u30fc\u30d7\u30e9\u30fc\u30cb\u30f3\u30b0\u3092\u9069\u7528\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u30023D\u7269\u4f53\u306e\u5206\u985e\u3001\u30bb\u30b0\u30e1\u30f3\u30c6\u30fc\u30b7\u30e7\u30f3\u3001\u751f\u6210\u30e2\u30c7\u30eb\u306a\u3069\u3001\u69d8\u3005\u306aAI\u30bf\u30b9\u30af\u306b\u5fdc\u7528\u53ef\u80fd\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u308c\u3089\u306e\u5b9f\u8df5\u7684\u306a\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306f\u3001Open3D\u306e\u5fdc\u7528\u7bc4\u56f2\u306e\u5e83\u3055\u3068\u53ef\u80fd\u6027\u3092\u793a\u3057\u3066\u3044\u307e\u3059\u30023D\u30c7\u30fc\u30bf\u51e6\u7406\u306e\u57fa\u790e\u304b\u3089\u5fdc\u7528\u307e\u3067\u3001Open3D\u306f\u5f37\u529b\u306a\u30c4\u30fc\u30eb\u3068\u306a\u308b\u3067\u3057\u3087\u3046\u3002\u305c\u3072\u3001\u3053\u308c\u3089\u306e\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3092\u53c2\u8003\u306b\u3001\u72ec\u81ea\u306e\u30a2\u30a4\u30c7\u30a2\u3092\u5b9f\u8df5\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002Open3D\u3092\u4f7f\u3044\u3053\u306a\u3059\u3053\u3068\u3067\u30013D\u30d3\u30b8\u30e7\u30f3\u306e\u4e16\u754c\u3067\u5dee\u3092\u3064\u3051\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u306f\u305a\u3067\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"i-20\">\u307e\u3068\u3081\uff06\u53c2\u8003\u60c5\u5831 \u2013 \u3055\u3089\u306bOpen3D\u3092\u6975\u3081\u308b\u305f\u3081\u306b<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u672c\u8a18\u4e8b\u3067\u306f\u3001Open3D\u306e\u57fa\u672c\u7684\u306a\u4f7f\u3044\u65b9\u304b\u3089\u5b9f\u8df5\u7684\u306a\u5fdc\u7528\u307e\u3067\u3001\u5e45\u5e83\u3044\u30c8\u30d4\u30c3\u30af\u3092\u6271\u3063\u3066\u304d\u307e\u3057\u305f\u3002\u3053\u3053\u3067\u5b66\u3093\u3060\u77e5\u8b58\u3092\u6d3b\u304b\u3057\u3066\u3001\u3055\u3089\u306bOpen3D\u3092\u6975\u3081\u308b\u305f\u3081\u306e\u30dd\u30a4\u30f3\u30c8\u3068\u53c2\u8003\u60c5\u5831\u3092\u7d39\u4ecb\u3057\u307e\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"i-21\">Open3D\u5b66\u7fd2\u306e\u30dd\u30a4\u30f3\u30c8\u3068\u4eca\u5f8c\u306e\u5c55\u671b<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Open3D\u3092\u52b9\u679c\u7684\u306b\u5b66\u3076\u305f\u3081\u306b\u306f\u3001\u4ee5\u4e0b\u306e\u70b9\u306b\u6ce8\u76ee\u3059\u308b\u3053\u3068\u304c\u91cd\u8981\u3067\u3059\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u57fa\u672c\u7684\u306a3D\u30c7\u30fc\u30bf\u69cb\u9020\uff08\u70b9\u7fa4\u3001\u30e1\u30c3\u30b7\u30e5\u3001RGBD\u753b\u50cf\u306a\u3069\uff09\u306e\u7406\u89e3\u3092\u6df1\u3081\u308b\u3002<\/li>\n\n\n\n<li>3D\u30c7\u30fc\u30bf\u306e\u524d\u51e6\u7406\uff08\u30d5\u30a3\u30eb\u30bf\u30ea\u30f3\u30b0\u3001\u30c0\u30a6\u30f3\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0\u3001\u30ce\u30a4\u30ba\u9664\u53bb\u306a\u3069\uff09\u306e\u30c6\u30af\u30cb\u30c3\u30af\u3092\u7fd2\u5f97\u3059\u308b\u3002<\/li>\n\n\n\n<li>3D\u30c7\u30fc\u30bf\u306e\u53ef\u8996\u5316\u304a\u3088\u3073\u64cd\u4f5c\u65b9\u6cd5\uff08\u56de\u8ee2\u3001\u62e1\u5927\u7e2e\u5c0f\u3001\u30ab\u30e9\u30fc\u30de\u30c3\u30d7\u306a\u3069\uff09\u306b\u7fd2\u719f\u3059\u308b\u3002<\/li>\n\n\n\n<li>3D\u30c7\u30fc\u30bf\u89e3\u6790\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\uff08\u30ec\u30b8\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u3001\u30bb\u30b0\u30e1\u30f3\u30c6\u30fc\u30b7\u30e7\u30f3\u3001\u7279\u5fb4\u62bd\u51fa\u306a\u3069\uff09\u306e\u4ed5\u7d44\u307f\u3092\u7406\u89e3\u3059\u308b\u3002<\/li>\n\n\n\n<li>\u5b9f\u8df5\u7684\u306a\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306b\u53d6\u308a\u7d44\u307f\u3001Open3D\u306e\u5fdc\u7528\u529b\u3092\u8eab\u306b\u3064\u3051\u308b\u3002<\/li>\n<\/ol>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u308c\u3089\u306e\u57fa\u790e\u3092\u56fa\u3081\u308b\u3053\u3068\u3067\u3001Open3D\u3092\u4f7f\u3044\u3053\u306a\u3059\u4e0a\u3067\u5fc5\u8981\u306a\u77e5\u8b58\u3068\u30b9\u30ad\u30eb\u3092\u8eab\u306b\u3064\u3051\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u307e\u305f\u3001\u4eca\u5f8c\u306eOpen3D\u306e\u5c55\u671b\u3068\u3057\u3066\u306f\u3001AI\u3068\u306e\u878d\u5408\u306b\u3088\u308b\u30a4\u30f3\u30c6\u30ea\u30b8\u30a7\u30f3\u30c8\u306a3D\u30c7\u30fc\u30bf\u51e6\u7406\u304c\u4e3b\u6d41\u306b\u306a\u308b\u3068\u4e88\u60f3\u3055\u308c\u307e\u3059\u30023D\u6df1\u5c64\u5b66\u7fd2\u3068\u306e\u9023\u643a\u3084\u3001\u5927\u898f\u6a21\u30c7\u30fc\u30bf\u306e\u4e26\u5217\u51e6\u7406\u306a\u3069\u3001\u3088\u308a\u9ad8\u5ea6\u306a\u6280\u8853\u3068\u306e\u7d44\u307f\u5408\u308f\u305b\u306b\u3082\u6ce8\u76ee\u304c\u96c6\u307e\u308b\u3067\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"i-22\">\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3084\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u3078\u306e\u30ea\u30f3\u30af\u96c6<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Open3D\u3092\u3055\u3089\u306b\u5b66\u3076\u305f\u3081\u306b\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u30ea\u30bd\u30fc\u30b9\u3092\u6d3b\u7528\u3059\u308b\u3053\u3068\u3092\u304a\u3059\u3059\u3081\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Open3D\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8:<a href=\"http:\/\/www.open3d.org\/docs\/release\/\"> http:\/\/www.open3d.org\/docs\/release\/<\/a><\/li>\n\n\n\n<li>GETTING STARTED: \u74b0\u5883\u69cb\u7bc9\u306e\u5b66\u4fee<\/li>\n\n\n\n<li>TUTORIAL: \u5b9f\u8df5\u7684\u306a\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3092\u901a\u3058\u305fOpen3D\u306e\u4f7f\u3044\u65b9\u306e\u5b66\u7fd2<\/li>\n\n\n\n<li>PYTHON EXAMPLES: python\u306e\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9<\/li>\n\n\n\n<li>Open3D Github\u30ea\u30dd\u30b8\u30c8\u30ea: <a href=\"https:\/\/github.com\/isl-org\/Open3D\">https:\/\/github.com\/isl-org\/Open3D<\/a><\/li>\n\n\n\n<li>\u6700\u65b0\u306e\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u3084\u30b5\u30f3\u30d7\u30eb\u30c7\u30fc\u30bf\u30bb\u30c3\u30c8\u304c\u5165\u624b\u53ef\u80fd<\/li>\n\n\n\n<li>Issue tracker\u3092\u901a\u3058\u3066\u3001\u958b\u767a\u8005\u3068\u306e\u30b3\u30df\u30e5\u30cb\u30b1\u30fc\u30b7\u30e7\u30f3\u304c\u53ef\u80fd<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u308c\u3089\u306e\u60c5\u5831\u6e90\u3092\u6d3b\u7528\u3059\u308b\u3053\u3068\u3067\u3001Open3D\u306b\u3064\u3044\u3066\u3088\u308a\u6df1\u304f\u5b66\u3076\u3053\u3068\u304c\u3067\u304d\u308b\u3067\u3057\u3087\u3046\u3002\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u3084\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3092\u4e00\u901a\u308a\u8aad\u3093\u3060\u5f8c\u306f\u3001\u5b9f\u969b\u306b\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3092\u5b9f\u884c\u3057\u3066\u307f\u308b\u3053\u3068\u3092\u304a\u3059\u3059\u3081\u3057\u307e\u3059\u3002\u624b\u3092\u52d5\u304b\u3057\u306a\u304c\u3089\u5b66\u3076\u3053\u3068\u3067\u3001Open3D\u306e\u4f7f\u3044\u65b9\u304c\u8eab\u306b\u3064\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u307e\u305f\u3001Github\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u63a2\u7d22\u3059\u308b\u3053\u3068\u3067\u3001\u6700\u65b0\u306e\u6a5f\u80fd\u3084\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3092\u5165\u624b\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u958b\u767a\u8005\u3068\u306e\u30b3\u30df\u30e5\u30cb\u30b1\u30fc\u30b7\u30e7\u30f3\u3092\u901a\u3058\u3066\u3001\u3088\u308a\u9ad8\u5ea6\u306a\u4f7f\u3044\u65b9\u3084Tips\u3092\u5b66\u3076\u3053\u3068\u3082\u53ef\u80fd\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Open3D\u306f\u30013D\u30d3\u30b8\u30e7\u30f3\u5206\u91ce\u306b\u304a\u3044\u3066\u91cd\u8981\u306a\u5f79\u5272\u3092\u679c\u305f\u3059\u30e9\u30a4\u30d6\u30e9\u30ea\u3067\u3059\u3002\u672c\u8a18\u4e8b\u3067\u7d39\u4ecb\u3057\u305f\u57fa\u672c\u7684\u306a\u4f7f\u3044\u65b9\u3092\u30de\u30b9\u30bf\u30fc\u3057\u305f\u5f8c\u306f\u3001\u5fdc\u7528\u7684\u306a\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306b\u30c1\u30e3\u30ec\u30f3\u30b8\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u30023D\u7269\u4f53\u8a8d\u8b58\u3001\u81ea\u5f8b\u30ed\u30dc\u30c3\u30c8\u3001\u62e1\u5f35\u73fe\u5b9f\u306a\u3069\u3001\u69d8\u3005\u306a\u5206\u91ce\u3067Open3D\u3092\u6d3b\u7528\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">3D\u30c7\u30fc\u30bf\u51e6\u7406\u306e\u4e16\u754c\u306f\u3001\u307e\u3060\u307e\u3060\u767a\u5c55\u306e\u4f59\u5730\u304c\u5927\u304d\u3044\u9818\u57df\u3067\u3059\u3002Open3D\u3092\u6df1\u304f\u5b66\u3073\u3001\u81ea\u3089\u306e\u624b\u3067\u65b0\u305f\u306a\u53ef\u80fd\u6027\u3092\u5207\u308a\u62d3\u3044\u3066\u3044\u304f\u3053\u3068\u304c\u3001\u30a8\u30f3\u30b8\u30cb\u30a2\u3084\u30ea\u30b5\u30fc\u30c1\u30e3\u30fc\u306b\u6c42\u3081\u3089\u308c\u3066\u3044\u307e\u3059\u3002\u672c\u8a18\u4e8b\u304c\u305d\u306e\u4e00\u52a9\u3068\u306a\u308c\u3070\u5e78\u3044\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6700\u5f8c\u306b\u3001Open3D\u306e\u5b66\u7fd2\u3068\u3054\u81ea\u8eab\u306e\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3067\u306e\u5fdc\u7528\u3092\u5fc3\u3088\u308a\u5fdc\u63f4\u3057\u3066\u304a\u308a\u307e\u3059\u30023D\u30d3\u30b8\u30e7\u30f3\u306e\u672a\u6765\u3092\u5207\u308a\u62d3\u304f\u4e00\u4eba\u3068\u3057\u3066\u3001\u305c\u3072Open3D\u3092\u5b58\u5206\u306b\u6d3b\u7528\u3057\u3066\u304f\u3060\u3055\u3044\u3002Happy 3D coding!<\/p>\n","protected":false},"excerpt":{"rendered":"<p>3D\u30c7\u30fc\u30bf\u51e6\u7406\u306e\u91cd\u8981\u6027\u304c\u9ad8\u307e\u308b\u4e2d\u3001Python\u5411\u3051\u306e\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u30e9\u30a4\u30d6\u30e9\u30ea\u300cOpen3D\u300d\u304c\u6ce8\u76ee\u3092\u96c6\u3081\u3066\u3044\u307e\u3059\u3002\u672c\u8a18\u4e8b\u3067\u306f\u3001Open3D\u306e\u57fa\u672c\u7684\u306a\u4f7f\u3044\u65b9\u304b\u3089\u5b9f\u8df5\u7684\u306a\u5fdc\u7528\u307e\u3067\u3001\u521d\u5b66\u8005\u3067\u3082\u7406\u89e3\u3067\u304d\u308b\u3088\u3046\u4e01\u5be7\u306b\u89e3\u8aac\u3057\u307e\u3059\u3002\u30b3 &#8230; 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