Python open3D没有属性'create_coordinate_frame‘

Question

我想在用Python在open3D中可视化一个点云时显示坐标。根据documentation，我编写了以下代码，其中第三行用于创建坐标。(假设point_cache是一个具有形状(442368, 3)的np.array )

pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(point_cache)
mesh_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.6, origin=[-2, -2, -2])
o3d.visualization.draw_geometries([pcd, mesh_frame])

但它显示了以下错误，表明TriangleMesh中没有名为create_coordinate_frame的属性。

---------------------------------------------------------------------------
AttributeError                            Traceback (most recent call last)
<ipython-input-20-2e528bfc7404> in <module>
      1 pcd = o3d.geometry.PointCloud()
      2 pcd.points = o3d.utility.Vector3dVector(point_cache)
----> 3 mesh_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.6, origin=[-2, -2, -2])
      4 o3d.visualization.draw_geometries([pcd, mesh_frame])

AttributeError: type object 'open3d.open3d.geometry.TriangleMesh' has no attribute 'create_coordinate_frame'

我想知道为什么会出现这个错误，因为第三行与文档完全相同。

我的open3D版本如下所示。

[Frost@CC’s Mac ~]$ python3 -m pip show open3d
Name: open3d
Version: 0.8.0.0
Summary: ['Open3D is an open-source library that supports rapid development of software that deals with 3D data.']
Home-page: http://www.open3d.org
Author: Open3D Team
Author-email: info@open3d.org
License: MIT
Location: /Library/Frameworks/Python.framework/Versions/3.6/lib/python3.6/site-packages
Requires: notebook, widgetsnbextension, ipywidgets, numpy
Required-by:

Answer 1

属性create_coordinate_frame不存在；您指的是create_mesh_coordinate_frame。这也不适用于您，因为它适用于网格，而不是点云。

要查看带轴的点云，我建议使用PyGEL 3D (pygel，gel3D，GEL -都一样)。在Jupyter笔记本中试试这个：

from PyGEL3D import gel
from PyGEL3D import js

m = gel.ply_load('filename.ply') # Also try gel.wrl_load() for WRL files ;-)
m_points = m.positions() # Extract (n, 3) array (or list) of n points
js.display(m, smooth=False) # Note we do not need to extract points to view cloud

如果你没有使用Jupyter Notebook，用js.display删除最后一行。将其替换为：

viewer = gel.GLManifoldViewer()
viewer.display(m)