open3d点云按ID染色

open3d 中点云按id信息染色，并保存到pcd文件

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

using namespace std;

int main()
{
	//-------------------------------读取点云---------------------------------
	auto cloud = std::make_shared<open3d::geometry::PointCloud>();

	if (open3d::io::ReadPointCloud("E://data//b9.pcd", *cloud) == 0)
	{
		open3d::utility::LogInfo("点云读取失败！！！");
		return -1;
	}
	double maxID = cloud->points_.size();
	double minID = 0.0;
	cout << "最大值为：: " << maxID << ",最小值为: " << minID << endl;
	// ----------------------根据ID对点云进行颜色渲染-----------------------
	cloud->colors_.resize(cloud->points_.size());
	open3d::visualization::ColorMapJet colormap;
	for (size_t i = 0; i < cloud->points_.size(); ++i)
	{
		// ID序号归一化
		double normID = (i - minID) / (maxID - minID);
		cloud->colors_[i] = colormap.GetColor(normID); // 颜色渲染
	}
	open3d::io::WritePointCloudToPCD("RenderByIndinces.pcd", *cloud, false);
	// ------------------------------结果可视化------------------------------
	open3d::visualization::DrawGeometries({ cloud }, u8"点云按ID赋色", 800, 600);


	return 0;
}