Open3D生成规则点云（二）

https://blog.csdn.net/jiaojialulu/article/details/69348320 点云资源

本文将深入探讨Open3D库如何实现深度图像到点云的转换，并介绍相关概念和技术。 深度图像，也称为距离图像或深度地图，是一种特殊类型的二维图像，其中每个像素值代表对应场景点在相机坐标系中的深度。这种图像通常...

#include #include "stdafx.h" #define GLUT_DISABLE_ATEXIT_HACK #include //#pragma comment(lib, "glut32.lib") GLfloat AngleX;//旋转向量 GLfloat AngleY; void display(void) { glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glMatrixMode(GL_MODELVIEW); //这个函数其实就是对接下来要做什么进行一下声明 GL_MODELVIEW 模型视图 glLoadIdentity(); glPushMatrix();// 提供了相应的接口 { glRotatef(AngleX, 1.0f, 0.0f, 0.0f); glRotatef(AngleY, 0.0f, 1.0f, 0.0f); glBegin(GL_POLYGON); //前表面 glColor3f(1.0f,1.0f,1.0f);//颜色设置为白色 glVertex3f(50.0f, 50.0f, 50.0f); glColor3f(1.0f,1.0f,0.0f);//颜色设置为黄色 glVertex3f(50.0f, -50.0f, 50.0f); glColor3f(1.0f,0.0f,0.0f);//颜色设置为红色 glVertex3f(-50.0f, -50.0f, 50.0f); glColor3f(1.0f,0.0f,1.0f);//颜色设置为品红色 glVertex3f(-50.0f, 50.0f, 50.0f); glEnd(); glBegin(GL_POLYGON); //后表面 glColor3f(0.0f, 1.0f, 1.0f);//颜色设置为青色 glVertex3f(50.0f, 50.0f, -50.0f); glColor3f(0.0f, 1.0f, 0.0f);//颜色设置为绿色 glVertex3f(50.0f, -50.0f, -50.0f); glColor3f(0.0f, 0.0f, 0.0f);//颜色设置为黑色 glVertex3f(-50.0f, -50.0f, -50.0f); glColor3f(0.0f, 0.0f, 1.0f);//颜色设置为蓝色 glVertex3f(-50.0f, 50.0f, -50.0f); glEnd(); glBegin(GL_POLYGON); //右表面 glColor3ub((GLubyte)255, (GLubyte)255, (GLubyte)255);//颜色设置为白色 glVertex3f(50.0f, 50.0f, 50.0f); glColor3f(0.0f, 1.0f, 1.0f);//颜色设置为青色 glVertex3f(50.0f, 50.0f, -50.0f); glColor3f(0.0f, 1.0f, 0.0f);//颜色设置为绿色 glVertex3f(50.0f, -50.0f, -50.0f); glColor3ub((GLubyte)255, (GLubyte)255, (GLubyte)0);//颜色设置为黄色 glVertex3f(50.0f, -50.0f, 50.0f); glEnd(); glBegin(GL_POLYGON); //左表面 glColor3d(0.0, 0.0, 1.0);//颜色设置为蓝色 glVertex3f(-50.0f, 50.0f, -50.0f); glColor3f(0.0f, 0.0f, 0.0f);//颜色设置为黑色 glVertex3f(-50.0f, -50.0f, -50.0f); glColor3ub((GLubyte)255, (GLubyte)0, (GLubyte)0);//颜色设置为红色 glVertex3f(-50.0f, -50.0f, 50.0f); glColor3f(1.0f, 0.0f, 1.0f);//颜色设置为品红色 glVertex3f(-50.0f, 50.0f, 50.0f); glEnd(); glBegin(GL_POLYGON); //上表面 glColor3d(0.0, 1.0, 1.0);//颜色设置为青色 glVertex3f(50.0f, 50.0f, -50.0f); glColor3d(1.0, 1.0, 1.0);//颜色设置为白色 glVertex3f(50.0f, 50.0f, 50.0f); glColor3d(1.0, 0.0, 1.0);//颜色设置为品红色 glVertex3f(-50.0f, 50.0f, 50.0f); glColor3d(0.0, 0.0, 1.0);//颜色设置为蓝色 glVertex3f(-50.0f, 50.0f, -50.0f); glEnd(); glBegin(GL_POLYGON); //下表面 glColor3f(0.0f, 1.0f, 0.0f);//颜色设置为绿色 glVertex3f(50.0f, -50.0f, -50.0f); glColor3ub((GLubyte)255, (GLubyte)255, (GLubyte)0);//颜色设置为黄色 glVertex3f(50.0f, -50.0f, 50.0f); glColor3f(1.0f, 0.0f, 0.0f);//颜色设置为红色 glVertex3f(-50.0f, -50.0f, 50.0f); glColor3f(0.0f, 0.0f, 0.0f);//颜色设置为黑色 glVertex3f(-50.0f, -50.0f, -50.0f); glEnd(); } glPopMatrix(); glutSwapBuffers(); } void reshape(int w, int h) { GLfloat aspect = (GLfloat)w / (GLfloat)h; GLfloat nRange = 100.0f; glViewport(0, 0, w, h); glMatrixMode(GL_PROJECTION); //将当前矩阵指定为投影模式 glLoadIdentity(); //设置三维投影区 if (w 355.0f) { AngleX = 0.0f; } if (AngleX 355.0f) AngleY = 0.0f; if (AngleY < 0.0f) { AngleY = 355.0f; } glutPostRedisplay(); } void init() { AngleX = 45.0f; AngleY = 315.0f; glClearColor(0.0f, 0.0f, 0.0f, 1.0f); glEnable(GL_DEPTH_TEST); //初始化OpenGL glEnable(GL_DITHER); //抖动是激活的。 glShadeModel(GL_SMOOTH);//两点间颜色有过渡效果 } void main(int argc, char* argv[]) { glutInit(&argc;, argv); glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH); //使用双缓存 使用深度缓存。 glutInitWindowSize(480, 480); glutCreateWindow("OpenGL颜色立方体"); glutReshapeFunc(reshape); //窗口改变的时候调用的函数 glutDisplayFunc(display); glutSpecialFunc(key_board); //函数注册鼠标响应事件 init(); glutMainLoop(); }