读取pcd文件
path = 'test_pcd.pcd'
cloud = pcl.load(path)
print(cloud.size)
print('共计' + str(cloud.width * cloud.height) + '个点')
for i in range(0, cloud.size):
x_row = cloud[i][0]
y_row = cloud[i][1]
z_row = cloud[i][2]
point_3d = []
point_3d.append([x_row, y_row, z_row])
print(point_3d)
可视化有两种方法
一个是CloudViewing
import pcl
import pcl.pcl_visualization
path = 'test_pcd.pcd'
cloud = pcl.load(path)
visual = pcl.pcl_visualization.CloudViewing()
visual.ShowMonochromeCloud(cloud)
flag = 'True'
while flag:
flag = not(visual.WasStopped())
一个是PCLVisualizering
import pcl
import pcl.pcl_visualization
def main():
cloud = pcl.load('bun0.pcd') # 加载点云文件
viewer = pcl.pcl_visualization.PCLVisualizering(b'cloud') # 创建viewer对象
viewer.AddPointCloud(cloud) # 添加点云
v = True
while v:
v = not(viewer.WasStopped())
viewer.SpinOnce()
if __name__ == '__main__':
main()