open3d按颜色区分点云深度

open3d按颜色区分点云深度

#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;
	}
	// ---------------------------计算深度取值范围----------------------------
	double maxXvalue = cloud->GetMaxBound()[0];
	double minXvalue = cloud->GetMinBound()[0];
	cout << "最大值为：: " << maxXvalue << ",最小值为: " << minXvalue << endl;
	// ----------------------根据深度对点云进行颜色渲染-----------------------
	cloud->colors_.resize(cloud->points_.size());
	open3d::visualization::ColorMapSummer colormap;
	for (size_t i = 0; i < cloud->points_.size(); ++i)
	{
		// 深度归一化
		double normZvalue = (cloud->points_[i][0] - minXvalue) / (maxXvalue - minXvalue);
		cloud->colors_[i] = colormap.GetColor(normZvalue); // 颜色渲染
	}
	open3d::io::WritePointCloudToPCD("DeepRender.pcd", *cloud, false);
	// ------------------------------结果可视化------------------------------
	open3d::visualization::DrawGeometries({ cloud }, u8"点云按深度赋色", 800, 600);

	return 0;
}