python 使用open3d 显示pcd点云

需求

• 读取包含pcd文件的文件夹路径
• 依次显示pcd点云

代码

#! /usr/bin/env python
# -*- coding: utf-8 -*-#
# -------------------------------------------------------------------------------
# Name:         Open3dShowPcd
# Author:       yunhgu
# Date:         2021/12/22 9:07
# Description: 
# -------------------------------------------------------------------------------
from pathlib import Path

import numpy as np
import open3d as o3d
from traceback import format_exc


class PtVis:
    def __init__(self, name='空格进入下一帧 Z退回上一帧', width=1024, height=768, pcd_files_path=""):
        self.pcd_files_path = pcd_files_path
        self.pcd_files_list = []
        self.index = 0
        self.pcd = None
        self.vis = None
        self.name = name
        self.width = width
        self.height = height
        self.axis_pcd = o3d.geometry.TriangleMesh().create_coordinate_frame()
        self.init_pcd_files_list()

    def init_setting(self):
        opt = self.vis.get_render_option()
        # 设置背景颜色和点大小
        opt.background_color = np.asarray([0, 0, 0])
        opt.point_size = 2

    def show_pcd(self):
        # 绘制open3d坐标系
        self.vis = o3d.visualization.VisualizerWithKeyCallback()
        self.vis.create_window(window_name=f"{Path(self.pcd_files_list[0]).name} {self.name}", width=self.width,
                               height=self.height)
        # 修改显示
        self.init_setting()
        # 初始化显示pcd第一帧
        self.pcd = o3d.io.read_point_cloud(self.pcd_files_list[0])
        self.vis.add_geometry(self.pcd)
        self.vis.add_geometry(self.axis_pcd)
        # 设置键盘响应事件
        self.vis.register_key_callback(90, lambda temp: self.last())
        self.vis.register_key_callback(32, lambda temp: self.next())
        self.vis.run()

    def next(self):
        if 0 <= self.index < len(self.pcd_files_list) - 1:
            self.index += 1
        self.update(self.index)

    def last(self):
        if 0 < self.index <= len(self.pcd_files_list) - 1:
            self.index -= 1
        self.update(self.index)

    def init_pcd_files_list(self):
        for file in Path(self.pcd_files_path).rglob("*.pcd"):
            self.pcd_files_list.append(str(file))
        self.pcd_files_list = sorted(self.pcd_files_list, key=lambda p: Path(p).stem)

    def update(self, index):
        new_pcd_file = self.pcd_files_list[index]
        self.vis.create_window(window_name=f"{Path(new_pcd_file).name} {self.name}", width=self.width,
                               height=self.height)
        self.pcd = o3d.io.read_point_cloud(new_pcd_file)
        self.vis.clear_geometries()  # 清空vis点云
        self.vis.add_geometry(self.pcd)  # 增加vis中的点云
        self.vis.add_geometry(self.axis_pcd)
        self.vis.poll_events()
        self.vis.update_renderer()

    def close(self):
        self.vis.destroy_window()


if __name__ == '__main__':
    pt = None
    try:
        pcd_file_path = input("请输入要展示的pcd文件夹:").strip("\"")
        # pcd_file_path = r"C:\Users\pc\Desktop\docker\output\result"
        pt = PtVis(pcd_files_path=pcd_file_path)
        print(f"{pcd_file_path}共有PCD个数:{len(pt.pcd_files_list)}")
        pt.show_pcd()
    except Exception as e:
        print(f"运行出错请联系开发人员:{format_exc}{e}")
    finally:
        pt.close()

展示示例