open3d之使用vtk显示点云

# -*- coding:utf-8 -*-
import vtk
import numpy as np
import open3d as o3d
from vtk.util.numpy_support import numpy_to_vtk

if __name__ == '__main__':
    pcd = o3d.io.read_point_cloud(
        "/home/ancy/PycharmProjects/learn/Open3D/examples/test_data/RGBD/example_tsdf_pcd.ply")

    # 新建 vtkPoints 实例
    points = vtk.vtkPoints()
    # 导入点数据
    points.SetData(numpy_to_vtk(np.asarray(pcd.points)))
    # 新建 vtkPolyData 实例
    polydata = vtk.vtkPolyData()
    # 设置点坐标
    polydata.SetPoints(points)
    # 顶点相关的 filter
    vertex = vtk.vtkVertexGlyphFilter()
    vertex.SetInputData(polydata)
    # mapper 实例
    mapper = vtk.vtkPolyDataMapper()
    # 关联 filter 输出
    mapper.SetInputConnection(vertex.GetOutputPort())
    # actor 实例
    actor = vtk.vtkActor()
    # 关联 mapper
    actor.SetMapper(mapper)
    # render
    render = vtk.vtkRenderer()
    render.SetBackground(0, 0, 0)
    # Renderer Window
    window = vtk.vtkRenderWindow()
    window.AddRenderer(render)
    window.SetSize(1000, 1000)
    # System Event
    win_render = vtk.vtkRenderWindowInteractor()
    win_render.SetRenderWindow(window)
    # Style
    win_render.SetInteractorStyle(vtk.vtkInteractorStyleMultiTouchCamera())
    # Insert Actor
    render.AddActor(actor)
    win_render.Initialize()
    win_render.Start()