open3d相关操作总结

open3d其实有很多交互式命令，在运行程序打开了open3d渲染的窗口后，鼠标点击窗口，按H就会弹出，交互命令的帮助，如下图所示：

其中比较常用的有：
Q ：退出当前窗口
H：打印帮助命令
P：对当前窗口进行截图，重点来了，按下P的时候，在你的工程目录下，会增加一个当前窗口的png图像以及对应的json相机参数。

其中ScreenCamera_2024-01-11-11-08-22.json的内容如下，包含当前视角相机的外参extrinsic，内参以及图像信息等等：

{"class_name" : "PinholeCameraParameters","extrinsic" : [0.99946264692571185,-8.6398302849258375e-05,-0.032778192988375789,0.0,0.0054931702559795721,-0.98541262313045108,0.17009346623460431,0.0,-0.032314740920959963,-0.1701821221823753,-0.98488263402738219,0.0,0.016156891452814959,0.085091532028104933,17.120130331518144,1.0],"intrinsic" : {"height" : 1080,"intrinsic_matrix" : [935.30743608719376,0.0,0.0,0.0,935.30743608719376,0.0,959.5,539.5,1.0],"width" : 1920},"version_major" : 1,"version_minor" : 0
}

Ctrl+C && Ctrl +V:调整视图视角后，Ctrl+C是拷贝了当前的相机视角状态，Ctrl + V复制粘贴到需要的地方就OK了，view status信息如下：

{"class_name" : "ViewTrajectory","interval" : 29,"is_loop" : false,"trajectory" : [{"boundingbox_max" : [ 6.0000009536743164, 6.0000009536743164, 2.0000000119209291 ],"boundingbox_min" : [ -6.0, -6.0, -1.0 ],"field_of_view" : 60.0,"front" : [ 0.0, 0.0, 1.0 ],"lookat" : [ 4.76837158203125e-07, 4.76837158203125e-07, 0.50000000596046457 ],"up" : [ 0.0, 1.0, 0.0 ],"zoom" : 0.69999999999999996}],"version_major" : 1,"version_minor" : 0
}