Open3D的open3d.geometry.LineSet类中的get_rotation_matrix_from_yzx方法可以返回以Y轴、Z轴和X轴为顺序排列的欧拉角的旋转矩阵。该方法适用于平移、旋转和缩放对象，可用于点云、网格和几何体等不同的几何形状。
open3d.geometry.LineSet.get_rotation_matrix_from_yzx(yzx)
yzx：以Y轴、Z轴和X轴为顺序排列的欧拉角。类型为Numpy数组，形状为(3,)，单位为弧度。import open3d as o3d
import numpy as np
# 创建LineSet对象
lines = [[0,1], [1,2], [2,3]]
colors = [[1,0,0], [0,1,0], [0,0,1]]
line_set = o3d.geometry.LineSet()
line_set.points = o3d.utility.Vector3dVector(np.zeros((4,3)))
line_set.lines = o3d.utility.Vector2iVector(lines)
line_set.colors = o3d.utility.Vector3dVector(colors)
# 对LineSet对象进行旋转
rotate_angle_yzx = np.array([0.0, np.pi/2, np.pi/2])
rotation_matrix = line_set.get_rotation_matrix_from_yzx(rotate_angle_yzx)
line_set.rotate(rotation_matrix)
# 可视化旋转后的LineSet对象
o3d.visualization.draw_geometries([line_set])