使用Open3D绘制立体三维三角形
![](https://img-blog.csdnimg.cn/20191011114701332.png?x-oss-process=image/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 : [email protected]
@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)