使用pangolin对数据集indoor3d_sem_seg_hdf5_data中的h5格式点云进行简单可视化

示例代码如下：

import h5py
import numpy as np
import OpenGL.GL as gl
import pangolin

def load_h5(h5_filename):
    f = h5py.File(h5_filename)
    data = f['data'][:]
    label = f['label'][:]
    return (data, label)

def load_h5_data_label_seg(h5_filename):
    f = h5py.File(h5_filename)
    data = f['data'][:]
    label = f['label'][:]
    seg = f['pid'][:]
    return (data, label, seg)

ply0 = load_h5("/home/zhijun/dataset/indoor3d_sem_seg_hdf5_data/ply_data_all_0.h5")

pangolin.CreateWindowAndBind('Main', 640, 480)
gl.glEnable(gl.GL_DEPTH_TEST)

# Define Projection and initial ModelView matrix
scam = pangolin.OpenGlRenderState(
    pangolin.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.2, 200),
    pangolin.ModelViewLookAt(-2, 2, -2, 0, 0, 0, pangolin.AxisDirection.AxisY))
handler = pangolin.Handler3D(scam)

# Create Interactive