Open3d：如何在 window 运行期间更新点云？

Question

CONTEXT

I'm trying to visualize 3d point cloud from disparity map. It works perfectly with one map.

ISSUE

I want to update what's in window. When I call run() method new thread is opened and I cannot do anything till the window will be closed. I'd like to clear what's in window and display new cloud without closing the window , so it would be something like animation.

CODE

I've created Visualizer object and I do everything on that.

    vis = open3d.visualization.Visualizer()
    vis.create_window()
    cloud = open3d.io.read_point_cloud(out_fn) # out_fn is file name
    vis.add_geometry(cloud)
    vis.run()

Answer 1

The class open3d.visualization.Visualizer has.update_geometry() and.remove_geometry() function you can use to achieve that. Another way around you can try is using open3d.visualization.VisualizerWithKeyCallback class.

vis = o3d.visualization.VisualizerWithKeyCallback()
cloud = open3d.io.read_point_cloud(out_fn)
vis.create_window()
vis.register_key_callback(key, your_update_function)
vis.add_geometry(cloud)
vis.run()

def your_update_function():
    #Your update routine
    vis.update_geometry(cloud)
    vis.update_renderer()
    vis.poll_events()
    vis.run()