import open3d as o3d
import numpy as np
import cv2
import matplotlib.pyplot as plt
 
# 创建一些点云数据
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(np.random.rand(100, 3))
 
# 设置相机参数
fx = 525.0  # 焦距
fy = 525.0
cx = 319.5  # 主点
cy = 239.5
depth_scale = 1000.0  # 深度缩放因子
intrinsic = np.identity(3)
intrinsic[0, 0] = fx
intrinsic[0, 2] = cx
intrinsic[1, 1] = fy
intrinsic[1, 2] = cy
 
# 将点云投影到图像平面
pcd.transform(intrinsic)
 
# 转换为OpenCV的图像格式
points = np.asarray(pcd.points)
depth = points[:, 2]
depth[depth < 0] = 0  # 设置负的深度值为0
depth /= depth_scale  # 归一化深度
h, w = int(cy + 1), int(cx + 1)
image = np.zeros((h, w, 3), dtype=np.uint8)
for i in range(points.shape[0]):
    x, y, z = points[i]
    if 0 <= int(y) < h and 0 <= int(x) < w:
        image[int(y), int(x)] = (int(255 * (1 - z / depth[i])), int(255 * (1 - z / depth[i])), int(255 * (1 - z / depth[i])))
 
# 显示结果
plt.imshow(cv2.cvtColor(image, cv2.COLOR_BGR2RGB))
plt.show()