Open3D绘制3D坐标，绘制点云

Open3D绘制3D坐标，绘制点云

# -*-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

# 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")