我们需要在轨迹中连接直线表示回环,需要需要绘制连接两个点云点的直线
如下图
import open3d as o3d
import numpy as np
def polygon():
#绘制顶点
polygon_points = np.array([[1, 0, 0], [0, 1, 0], [0, 0, 1],[0,0,5]])
lines = [[0, 1], [1, 2], [2, 3],[3,0]] #连接的顺序,封闭链接
color = [[1, 0, 0] for i in range(len(lines))]
#添加顶点,点云
points_pcd = o3d.geometry.PointCloud()
points_pcd.points = o3d.utility.Vector3dVector(polygon_points)
points_pcd.paint_uniform_color([0, 0.3, 0]) #点云颜色
#绘制线条
lines_pcd = o3d.geometry.LineSet()
lines_pcd.lines = o3d.utility.Vector2iVector(lines)