C++ 【 Open3D 】点云随机渲染颜色

最新推荐文章于 2024-08-07 14:50:42 发布

向日葵xyz

最新推荐文章于 2024-08-07 14:50:42 发布

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文章标签： c++ 开发语言

本文链接：https://blog.csdn.net/hgaohr1021/article/details/140288921

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#include <open3d/Open3D.h>
#include <iostream>



using namespace std;

int main(int argc, char* argv[])
{
	// --------------------------------读取点云------------------------------------- 
	auto cloud = std::make_shared<open3d::geometry::PointCloud>();

	if (open3d::io::ReadPointCloud("hand.pcd", *cloud) == 0)
	{
		open3d::utility::LogInfo("点云读取失败！！！");
		return -1;
	}
	// ------------------------------点云随机赋色------------------------------------
	open3d::utility::LogInfo("点云随机赋色");
	if (!cloud->HasColors())
	{
		cloud->PaintUniformColor(Eigen::Vector3d(0, 0, 0));
	}
	srand(time(NULL));//设置随机数种子，使每次产生的随机序列不同
	for (size_t i = 0; i < cloud->points_.size(); i++)
	{
		double R = rand() % (256) + 0;
		double G = rand() % (256) + 0;
		double B = rand() % (256) + 0;
		R /= 255.0;
		G /= 255.0;
		B /= 255.0;
		Eigen::Vector3d RandomColor = { R, G, B };
		cloud->colors_[i] = RandomColor;
	}

	open3d::visualization::DrawGeometries({ cloud }, "Random Color Cloud", 1600, 900);

	return 0;
}