open3d-sequence.py

import numpy as np
import open3d as o3d
from tqdm import tqdm

def visualize_sequence(args):
    # Setup for Open3D visualization.
    first = True
    pcd = o3d.geometry.PointCloud()
    visualizer = o3d.visualization.Visualizer()
    visualizer.create_window('Point Cloud Visualizer')
    visualizer.get_render_option().point_size = 2
    visualizer.get_render_option().background_color = [0, 0, 0]

    # Display point cloud.
    for i in tqdm(data, desc='Frame', leave=False):
        # TODO: Load Nx3 data here.
        points = np.array(data[i]['xyz'])
        colors = np.array(data[i]['colors'])

        # Visualize using Open3D.
        pcd.points = o3d.utility.Vector3dVector(points.astype('float64'))
        pcd.colors = o3d.utility.Vector3dVector(colors.astype('float64'))

        if first:
            first = False
            visualizer.add_geometry(pcd)
        else:
            visualizer.update_geometry(pcd)

        visualizer.poll_events()
        visualizer.update_renderer()
        time.sleep(args.delay)

    visualizer.close()