pcdVisualizer.py

import numpy as np
import open3d as o3d

# read pcd file
pcd = o3d.io.read_point_cloud("pointcloud.pcd")

# visualize pcd file
o3d.visualization.draw_geometries([pcd],
                                  zoom=0.3412,
                                  front=[0.4257, -0.2125, -0.8795],
                                  lookat=[2.6172, 2.0475, 1.532],
                                  up=[-0.0694, -0.9768, 0.2024])

# # estimate the normal for each cloud pointx`
# pcd.estimate_normals(
#     search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1, max_nn=30))
# o3d.visualization.draw_geometries([pcd],
#                                   zoom=0.3412,
#                                   front=[0.4257, -0.2125, -0.8795],
#                                   lookat=[2.6172, 2.0475, 1.532],
#                                   up=[-0.0694, -0.9768, 0.2024],
#                                   point_show_normal=True)