kitti_visualize.py

import pykitti
import open3d
import time
import argparse

if __name__ == "__main__":
    # Parser
    parser = argparse.ArgumentParser()
    parser.add_argument(
        "--kitti_root", default="", help="Checkpoint file", required=True
    )
    flags = parser.parse_args()

    basedir = flags.kitti_root
    date = "2011_09_26"
    drive = "0001"

    pcd = open3d.PointCloud()
    vis = open3d.Visualizer()
    vis.create_window()
    vis.add_geometry(pcd)

    render_option = vis.get_render_option()
    render_option.point_size = 0.01

    data = pykitti.raw(basedir, date, drive)
    to_reset_view_point = True
    for points_with_intensity in data.velo:
        points = points_with_intensity[:, :3]
        pcd.points = open3d.Vector3dVector(points)

        vis.update_geometry()
        if to_reset_view_point:
            vis.reset_view_point(True)
            to_reset_view_point = False
        vis.poll_events()
        vis.update_renderer()
        time.sleep(0.2)

    vis.destroy_window()