一个使用open3d进行点云显示的demo

具体使用教程，最好去官网，我这里就是一个模板代码而已

     Show3D=True
    if Show3D:
        '''-------Initializing the 3d visualizer-------'''
        vis = o3d.visualization.Visualizer()
        vis.create_window()
        render_option = vis.get_render_option()
        render_option.point_size = 4
        render_option.background_color = np.asarray([220 / 255.0, 220 / 255.0, 220 / 255.0])
        pcd = o3d.geometry.PointCloud()

        boxlist = []
        for i in range(0, 100):
            line_set = o3d.geometry.LineSet()
            boxlist.append(line_set)
        '''-------------Open3d:pcd---------------'''

        pcd.colors = o3d.utility.Vector3dVector(np.asarray(color))

        # pcd = pcd.voxel_down_sample(voxel_size=0.02)
        # vis.clear_geometries()
        if fileidx == 0:
            if Show_annotation and os.path.exists(LidarBoxname):
                for i in range(0, len(boxlist)):
                    vis.add_geometry(boxlist[i])
            vis.add_geometry(pcd)
            vis.run()  # block show
        else:
            vis.update_geometry(pcd)
            if Show_annotation and os.path.exists(LidarBoxname) and len(boxes3d)>0:
                # print(" {0}".format(len(boxes3d)))
                for i in range(0, len(boxlist)):
                    vis.update_geometry(boxlist[i])

            else:
                for i in range(0, len(boxlist)):
                    vis.update_geometry(boxlist[i])

            # vis.destroy_window()
        '''-------------Open3d:pcd---------------'''
        vis.update_geometry(pcd)
        vis.poll_events()
        vis.update_renderer()
        '''--------------------Open3d:pcd------------------'''