C++ 【 Open3D 】点云按高程进行赋色

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;
}