kitti LIDAR點雲二進位制檔案的讀取和顯示
阿新 • • 發佈:2018-11-07
import numpy as np import mayavi.mlab pointcloud = np.fromfile(str("000010.bin"), dtype=np.float32, count=-1).reshape([-1,4]) print(pointcloud.shape) x = pointcloud[:, 0] # x position of point y = pointcloud[:, 1] # y position of point z = pointcloud[:, 2] # z position of point r = pointcloud[:, 3] # reflectance value of point d = np.sqrt(x ** 2 + y ** 2) # Map Distance from sensor vals='height' if vals == "height": col = z else: col = d fig = mayavi.mlab.figure(bgcolor=(0, 0, 0), size=(640, 500)) mayavi.mlab.points3d(x, y, z, col, # Values used for Color mode="point", colormap='spectral', # 'bone', 'copper', 'gnuplot' # color=(0, 1, 0), # Used a fixed (r,g,b) instead figure=fig, ) x=np.linspace(5,5,50) y=np.linspace(0,0,50) z=np.linspace(0,5,50) mayavi.mlab.plot3d(x,y,z) mayavi.mlab.show()
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