open3d连线可视化

写在前面

1、本文内容
open3d

2、平台/环境
windows10, visual studio 2019
通过cmake构建项目，跨平台通用；open3d
3、转载请注明出处：
https://blog.csdn.net/qq_41102371/article/details/135407857

准备

编译open3d：
https://blog.csdn.net/qq_41102371/article/details/121014372

代码

#include <iostream>
#include <chrono>

#include <open3d/Open3D.h>

int main(int argc, char *argv[])
{

    auto coordinate_1 = open3d::geometry::TriangleMesh::CreateCoordinateFrame(0.1);
    auto coordinate_2 = open3d::geometry::TriangleMesh::CreateCoordinateFrame(0.2);
    Eigen::Matrix4d trans_mat = Eigen::Matrix4d::Identity();
    trans_mat(0, 3) = 0.5;
    coordinate_2->Transform(trans_mat);/// a coordinate on (0, 0, 0.5)

    std::shared_ptr<open3d::geometry::LineSet> lineset_0(new open3d::geometry::LineSet);
    /// pointset
    lineset_0->points_.push_back({0, 0, 0});
    lineset_0->points_.push_back({0.5, 0, 0});
    lineset_0->points_.push_back({0.5, 0.5, 0});
    /// connect point to line
    lineset_0->lines_.push_back({0, 1});
    lineset_0->lines_.push_back({0, 2});
    lineset_0->lines_.push_back({1, 2});
    /// color for all lineset
    lineset_0->PaintUniformColor({1, 0, 0});
    /// color for line0
    lineset_0->colors_[0] = Eigen::Vector3d({1, 1, 0});
    /// visualize
    open3d::visualization::DrawGeometries({coordinate_1, coordinate_2, lineset_0}, "lineset visualize");

    return 0;
}

运行结果

参考

文中已列出

完

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