点云连续可视化（附open3d python代码）

实现了无阻塞的点云可视化操作

 

import open3d as o3d
import numpy as np
import copy

if __name__ == "__main__":

    source_raw = o3d.io.read_point_cloud("lidar1.pcd")
    target_raw = o3d.io.read_point_cloud("lidar2.pcd")
    source = source_raw.voxel_down_sample(voxel_size=0.2)
    target = target_raw.voxel_down_sample(voxel_size=0.2)
    # wechat: 394467238 

    flip_transform = [[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]]
    source.transform(flip_transform)
    target.transform(flip_transform)

    vis = o3d.visualization.Visualizer()
    vis.create_window()
    vis.add_geometry(source)
    vis.add_geometry(target)
    # threshold = 0.05
    icp_iteration = 1000
    save_image = False

    for i in