python-pcl可视化

读取pcd文件

path = 'test_pcd.pcd'
cloud = pcl.load(path)
print(cloud.size)
print('共计' + str(cloud.width * cloud.height) + '个点')

for i in range(0, cloud.size):
    x_row = cloud[i][0]
    y_row = cloud[i][1]
    z_row = cloud[i][2]
    point_3d = []
    point_3d.append([x_row, y_row, z_row])
    print(point_3d)

可视化有两种方法
一个是CloudViewing

import pcl
import pcl.pcl_visualization

path = 'test_pcd.pcd'
cloud = pcl.load(path)

visual = pcl.pcl_visualization.CloudViewing()
visual.ShowMonochromeCloud(cloud)

flag = 'True'
while flag:
    flag = not(visual.WasStopped())

一个是PCLVisualizering

import pcl
import pcl.pcl_visualization

def main():
    cloud = pcl.load('bun0.pcd')  # 加载点云文件
    viewer = pcl.pcl_visualization.PCLVisualizering(b'cloud')  # 创建viewer对象
    viewer.AddPointCloud(cloud)  # 添加点云
  
    v = True
    while v:
        v = not(viewer.WasStopped())
        viewer.SpinOnce()

if __name__ == '__main__':
    main()