ground grid

grid.py

import numpy as np
import open3d as o3d

def grid_line(size=2):
    x = np.arange(-size, size + 1)
    y = np.array((-size, size))
    x_1 = np.repeat(x, 2)
    y_1 = np.tile(y, size * 2 + 1)
    z = np.zeros_like(x_1)
    x_line = np.vstack((x_1, y_1, z)).T
    y_line = np.vstack((y_1, x_1, z)).T
    # xy,yz,zxの設定
    points = np.concatenate((x_line, y_line))
    idx = np.arange(0, points.size).reshape(-1, 2)
    line_set = o3d.geometry.LineSet(
        points=o3d.utility.Vector3dVector(points),
        lines=o3d.utility.Vector2iVector(idx))

    print(points)
    o3d.visualization.draw(line_set, line_width=2)