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