Open3d显示点云数据

功能：python实现批量读取并显示bin格式的点云文件

import math
import numpy as np
import struct
import os
import open3d as o3d


def read_velodyne_bin(path):
    pc_list = []
    with open(path, 'rb') as f:
        content = f.read()
        pc_iter = struct.iter_unpack('ffff', content)
        for idx, point in enumerate(pc_iter):
            pc_list.append([point[0], point[1], point[2]])
    return np.asarray(pc_list, dtype=np.float32)


def show_point(data):
    pcd = o3d.geometry.PointCloud()
    # pcd.points = o3d.utility.Vector3dVector(origin)
    # o3d.visualization.draw_geometries([pcd])

    pcd.points = o3d.utility.Vector3dVector(data)
    o3d.visualization.draw_geometries([pcd])



def main():
    root_dir = '/home/gmm/snowyweather/Lidar'  # 激光雷达bin文件路径
    cat = os.listdir(root_dir)
    iteration_num = len(cat)
    for i in range(iteration_num):
        filename = os.path.join(root_dir, cat[i])
        db_np = read_velodyne_bin(filename)
        show_point(db_np)


if __name__ == main():
    main()

 读取显示的效果图如下