modelnet40_normal_resampled数据集 txt 转为 pcd并可视化（open3d）

modelnet40_normal_resampled数据集可视化

    f = open(f_file1)
    line = f.readline()
    points_list = []
    normals_list = []
    while line:
        points = []
        for i in line.split(',')[0:3]:
            if '\\n' in i:
                i.replace(' ', '')
            points.append(float(i))
        points_list.append(points)
        normals = []
        for i in line.split(',')[3:6]:
            if '\\n' in i:
                i.replace(' ', '')
            normals.append(float(i))
        normals_list.append(points)
        line = f.readline()
    f.close()
    points_data = np.array(points_list)
    normals_data = np.array(normals_list)
    pcd = o3d.geometry.PointCloud()
    pcd.points = o3d.utility.Vector3dVector(points_data)    # 点数据
    pcd.normals = o3d.utility.Vector3dVector(normals_data)  # 法线数据
    pcd.colors = o3d.utility.Vector3dVector(np.random.uniform(0, 1, (1, 3)))
    print(pcd)  # 输出点云个数
    # print(np.asarray(pcd.points))  # 输出点的三维坐标
    # pcd.paint_uniform_color([0, 1, 0])
    # # o3d.io.write_point_cloud("", pcd)   # 存储为pcd
    o3d.visualization.draw_geometries([pcd])