open3D visualization::Visualizer的使用：rendering的设置(C++)附带坐标系绘制

使用open3d做点云可视化时需要一些额外设置才能够有更好的效果。visualization::DrawGeometries这种原始的绘制方法通常不满足要求，因为颗粒度太粗，且无法做其它渲染设置。

    // draw a coordinate frame
    std::shared_ptr<open3d::geometry::TriangleMesh> coord_frame =             open3d::geometry::TriangleMesh::CreateCoordinateFrame(100);

    // down smaple the pointcloud
    std::shared_ptr<open3d::geometry::PointCloud> down_sampled_points = point_cloud->RandomDownSample(0.01);
    
    // visualize the downsampled pointcloud
    open3d::visualization::Visualizer down_sample_vis;
    down_sample_vis.CreateVisualizerWindow("down sampled vis");
    // get the vis window rendering option
    open3d::visualization::RenderOption& render_opt= down_sample_vis.GetRenderOption();
    // set the point rendering size
    render_opt.SetPointSize(0.1);
    // set the rendering background color
    render_opt.background_color_ = Eigen::Vector3d(0,0,0);
    down_sample_vis.AddGeometry(down_sampled_points);
    down_sample_vis.AddGeometry(coord_frame);
    down_sample_vis.Run();

可视化效果如下：

不做渲染设置原始显示情况：