之前一直尝试将可视化写在ros的回调函数中，visualization一直会阻塞进程，换一种方式可以顺利实现可视化

import rospy
import open3d as o3d
import numpy as np
from sensor_msgs.msg import LaserScanglobal scan_data
scan_data = Nonedef callback_laserscan(data):global scan_datascan_data = dataif __name__ == '__main__':rospy.init_node('laser_scan_reader')rospy.Subscriber('/scan', LaserScan, callback_laserscan)vis = o3d.visualization.Visualizer()vis.create_window()points3d = o3d.geometry.PointCloud()vis.add_geometry(points3d)to_reset = Truerate = rospy.Rate(10)while not rospy.is_shutdown():print(scan_data)if scan_data is not None:ranges = scan_data.rangesangles = np.linspace(scan_data.angle_min, scan_data.angle_max, len(ranges))points = np.zeros((len(ranges), 3))points[:, 0] = ranges * np.cos(angles)points[:, 1] = ranges * np.sin(angles)points3d.points = o3d.utility.Vector3dVector(points)vis.update_geometry(points3d)if to_reset:vis.reset_view_point(True)to_reset = Falsevis.poll_events()vis.update_renderer()else:print("No laser scan data")rospy.sleep(2)rate.sleep()vis.destroy_window()