C++ 【 Open3D 】点云按高程进行赋色

news2024/9/17 8:35:29

一、 Open3D中根据点云的高程度信息为点云中的每个点附上颜色，并保存颜色渲染结果！

#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("hand.pcd", *cloud) == 0)
	{
		open3d::utility::LogInfo("点云读取失败！！！");
		return -1;
	}
	// ---------------------------计算高程取值范围----------------------------
	double maxZvalue = cloud->GetMaxBound()[2];
	double minZvalue = cloud->GetMinBound()[2];
	cout << "最大值为：: " << maxZvalue << ",最小值为: " << minZvalue << endl;
	// ----------------------根据高程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)
	{
		// 高程归一化
		double normZvalue = (cloud->points_[i][2] - minZvalue) / (maxZvalue - minZvalue);
		cloud->colors_[i] = colormap.GetColor(normZvalue); // 颜色渲染
	}
	open3d::io::WritePointCloudToPCD("Elevation.pcd", *cloud, false);
	// ------------------------------结果可视化------------------------------
	open3d::visualization::DrawGeometries({ cloud }, u8"点云按高程赋色", 800, 600);


	return 0;
}