参考:
python:随机生成区分度较高的颜色
https://blog.csdn.net/yyliunianyy/article/details/102525437
import pcl
import pcl.pcl_visualization
import datetime
import colorsys
import random
def get_n_hls_colors(num):
hls_colors = []
i = 0
step = 360.0 / num
while i < 360:
h = i
s = 90 + random.random() * 10
l = 50 + random.random() * 10
_hlsc = [h / 360.0, l / 100.0, s / 100.0]
hls_colors.append(_hlsc)
i += step
return hls_colors
def ncolors(num):
rgb_colors = []
if num < 1:
return rgb_colors
hls_colors = get_n_hls_colors(num)
for hlsc in hls_colors:
_r, _g, _b = colorsys.hls_to_rgb(hlsc[0], hlsc[1], hlsc[2])
r, g, b = [int(x * 255.0) for x in (_r, _g, _b)]
rgb_colors.append([r, g, b])
return rgb_colors
def vis_draw_point_cloud(geoms, color_num):
colorbar = ncolors(color_num)
vis = pcl.pcl_visualization.PCLVisualizering
vis_create_window = pcl.pcl_visualization.PCLVisualizering()
title_str = datetime.datetime.now().strftime('%Y-%m-%d_%H-%M-%S')
for index, geom in enumerate(geoms):
point_color = pcl.pcl_visualization.PointCloudColorHandleringCustom(geom, colorbar[index][0], colorbar[index][1], colorbar[index][2])
vis.AddPointCloud_ColorHandler(vis_create_window, geom, point_color, id=title_str + '_' +'point_cloud_id{:0>3d}'.format(index), viewport=0)
while not vis.WasStopped(vis_create_window):
vis.Spin(vis_create_window)