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def rotate_Geometry(pcd,is_pointcloud=True):

#Rotationsmatrix um die Z-Achse


  alpha = m.radians(angle_against_true_north)
  #rotation Matrix for Z-Axis
  rotationMatrix = [[m.cos(alpha),-m.sin(alpha)],
                      [m.sin(alpha), m.cos(alpha),0],
                      [0,0,1]]

  print(rotationMatrix)

#Rotate Pointcloud
  if is_pointcloud == True:
    print("Es wird ein PointCloud()-Objekt verarbeitet")
    pcd_rotate = o3d.geometry.PointCloud.rotate(pcd,rotationMatrix,center=True)

    return pcd_rotate,angle_against_true_north

#Rotate Points_np.shape()
  if is_pointcloud == False:
    print("Keine Punktwolke als Input")
 

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#Imports

import open3d as o3d
import numpy as np
import pandas as pd
import math as m


# Randam Numpy-Array for testing
x = np.linspace(-3, 3, 401)
mesh_x, mesh_y = np.meshgrid(x, x)
z = np.sinc((np.power(mesh_x, 2) + np.power(mesh_y, 2)))
z_norm = (z - z.min()) / (z.max() - z.min())
xyz = np.zeros((np.size(mesh_x), 3))
xyz[:, 0] = np.reshape(mesh_x, -1)
xyz[:, 1] = np.reshape(mesh_y, -1)
xyz[:, 2] = np.reshape(z_norm, -1)
print('xyz')
print(xyz)

pcd_test = o3d.geometry.PointCloud()
pcd_test.points = o3d.utility.Vector3dVector(xyz)
print(pcd_test)
pcd_rotate, alpha = rotate_Geometry(pcd_test,is_pointcloud=True)

#Save Cropped PointCloud 
path_outcloud = ('/gdrive/My Drive/Colab Notebooks/Georeferenzierung/CropPointCloud/PointCloud/pcd_rotate_{}.pcd'.format(alpha))
o3d.io.write_point_cloud(path_outcloud, pcd_rotate)

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[[0.5417082102827399, -0.8405666034956842], [0.8405666034956842, 0.5417082102827399, 0], [0, 0, 1]]
Es wird ein PointCloud()-Objekt verarbeitet

---------------------------------------------------------------------------

TypeError                                 Traceback (most recent call last)

<ipython-input-262-a72bd2c346d8> in <module>()
      3 pcd_offground = pcd_offground.voxel_down_sample(voxel_size=0.05)
      4 #print(pcd_offground)
----> 5 pcd_rotate, alpha = rotate_Geometry(pcd_test,is_pointcloud=True)
      6 #Save Cropped PointCloud
      7 path_outcloud = ('/gdrive/My Drive/Colab Notebooks/Georeferenzierung/CropPointCloud/PointCloud/pcd_rotate_{}.pcd'.format(alpha))

<ipython-input-244-32aa39b15edc> in rotate_Geometry(pcd, is_pointcloud)
     15     if is_pointcloud == True:
     16       print("Es wird ein PointCloud()-Objekt verarbeitet")
---> 17       pcd_rotate = o3d.geometry.PointCloud.rotate(pcd,rotationMatrix,center=True)
     18 
     19       return pcd_rotate,angle_against_true_north

TypeError: rotate(): incompatible function arguments. The following argument types are supported:
    1. (self: open3d.open3d.geometry.Geometry3D, R: numpy.ndarray[float64[3, 3]], center: bool = True) -> open3d.open3d.geometry.Geometry3D

Invoked with: geometry::PointCloud with 160801 points., [[0.5417082102827399, -0.8405666034956842], [0.8405666034956842, 0.5417082102827399, 0], [0, 0, 1]]; kwargs: center=True

Code: Alles auswählen

def rotate_geometry(pcd, angle_against_true_north):
    #Rotationsmatrix um die Z-Achse
    alpha = math.radians(angle_against_true_north)
    rotation_matrix = [[math.cos(alpha), -math.sin(alpha), 0],
                      [math.sin(alpha),  math.cos(alpha), 0],
                      [0,0,1]]
    pcd_rotate = pcd.rotate(rotation_matrix, center=True)
    return pcd_rotate