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.init_pcd_files_list()
        self.init_open3d(name, width, height)

    def init_open3d(self, name, width, height):
        self.vis = o3d.visualization.VisualizerWithKeyCallback()
        self.vis.create_window(window_name=name, width=width, height=height)
        opt = self.vis.get_render_option()
        opt.background_color = np.asarray([0, 0, 0])
        opt.point_size = 2
        self.vis.register_key_callback(90, lambda temp: self.last())
        self.vis.register_key_callback(32, lambda temp: self.next())

    def show_pcd(self):
        # 初始化显示pcd第一帧
        self.pcd = o3d.io.read_point_cloud(self.pcd_files_list[self.index])
        self.vis.add_geometry(self.pcd)
        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: int(Path(p).stem))

    def update(self, index):
        pcd = o3d.io.read_point_cloud(self.pcd_files_list[index])
        self.vis.clear_geometries()  # 清空vis点云
        self.vis.add_geometry(pcd)  # 增加vis中的点云
        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("\"")
        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