使用Open3D绘制三角形

不念不忘少年蓝@ 2023-06-06 10:49 21阅读 0赞

# 使用Open3D绘制立体三维三角形 #

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9wYW5qaW5xdWFuLmJsb2cuY3Nkbi5uZXQ_size_16_color_FFFFFF_t_70][]

# -*-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
    
    
    def triangle_pcd():
        '''
        定义三角形的点云
        :return:
        '''
        triangle_points = np.array([[1, 0, 0], [0, 1, 0], [0, 0, 1]], dtype=np.float32)
        lines = [[0, 1], [1, 2], [2, 0]]  # Right leg
        colors = [[0, 0, 1] for i in range(len(lines))]  # Default blue
        # 定义三角形的三个角点
        point_pcd = open3d.geometry.PointCloud()  # 定义点云
        point_pcd.points = open3d.Vector3dVector(triangle_points)
    
        # 定义三角形三条连接线
        line_pcd = open3d.LineSet()
        line_pcd.lines = open3d.Vector2iVector(lines)
        line_pcd.colors = open3d.Vector3dVector(colors)
        line_pcd.points = open3d.Vector3dVector(triangle_points)
    
        return line_pcd, point_pcd
    
    
    if __name__ == "__main__":
        # 绘制open3d坐标系
        axis_pcd = open3d.geometry.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([[1, 0, 0]], dtype=np.float64)
        colors = [[1, 0, 0]]
    
        # 方法1（非阻塞显示）
        vis = open3d.Visualizer()
        vis.create_window(window_name='Open3D_1', width=600, height=600, left=10, top=10, visible=True)
        vis.get_render_option().point_size = 10  # 设置点的大小
        # 先把点云对象添加给Visualizer
        vis.add_geometry(axis_pcd)
    
        line_pcd, point_pcd = triangle_pcd()
        vis.add_geometry(line_pcd)
        vis.add_geometry(point_pcd)
    
        while True:
            # 主机减少点云的大小
            points = np.asarray(line_pcd.points) - [0.001, 0.001, 0.001]
            line_pcd.points = open3d.utility.Vector3dVector(points)
            point_pcd.points = open3d.utility.Vector3dVector(points)
            # update_renderer显示当前的数据
            vis.update_geometry()
            vis.poll_events()
            vis.update_renderer()
            cv2.waitKey(100)

[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9wYW5qaW5xdWFuLmJsb2cuY3Nkbi5uZXQ_size_16_color_FFFFFF_t_70]: /images/20230601/71e61e7326b54c68838029a663853176.png