Open3D绘制3D坐标，绘制点云

野性酷女 2023-06-06 04:55 128阅读 0赞

# Open3D绘制3D坐标，绘制点云 #

# -*-coding: utf-8 -*-
    """
        @Project: PyKinect2-OpenCV
        @File   : open3d_test.py
        @Author : panjq
        @E-mail : pan_jinquan@163.com
        @Date   : 2019-10-10 09:49:27
    """
    import open3d
    import numpy as np
    import cv2
    
    # 绘制open3d坐标系
    axis_pcd = open3d.create_mesh_coordinate_frame(size=0.5, origin=[0, 0, 0])
    # 在3D坐标上绘制点：坐标点[x,y,z]对应R，G，B颜色
    points = np.array([[0.1, 0.1, 0.1], [1, 0, 0], [0, 1, 0], [0, 0, 1]])
    colors = [[1, 1, 1], [1, 0, 0], [0, 1, 0], [0, 0, 1]]
    
    test_pcd = open3d.geometry.PointCloud()  # 定义点云
    
    # 方法1（非阻塞显示）
    vis = open3d.Visualizer()
    vis.create_window(window_name="Open3D1")
    vis.get_render_option().point_size = 3
    first_loop = True
    # 先把点云对象添加给Visualizer
    vis.add_geometry(axis_pcd)
    vis.add_geometry(test_pcd)
    while True:
        # 给点云添加显示的数据
        points -= 0.001
        test_pcd.points = open3d.utility.Vector3dVector(points)  # 定义点云坐标位置
        test_pcd.colors = open3d.Vector3dVector(colors)  # 定义点云的颜色
        # update_renderer显示当前的数据
        vis.update_geometry()
        vis.poll_events()
        vis.update_renderer()
        cv2.waitKey(100)
    
    # 方法2（阻塞显示）：调用draw_geometries直接把需要显示点云数据
    test_pcd.points = open3d.utility.Vector3dVector(points)  # 定义点云坐标位置
    test_pcd.colors = open3d.Vector3dVector(colors)  # 定义点云的颜色
    open3d.visualization.draw_geometries([test_pcd] + [axis_pcd], window_name="Open3D2")

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