点云可视化

参考该链接方法一，需要安装mayavi，numpy，pyqt5；

numpy+mayavi.mlab

1.安装依赖库

pip install numpy -i https://pypi.tuna.tsinghua.edu.cn/simple
pip install mayavi -i https://pypi.tuna.tsinghua.edu.cn/simple

2.读取.bin格式文件进行可视化

import mayavi.mlab
import numpy as np
import os
 
 
def viz_mayavi(points, vals="distance"):  # 可视化只用到了3维数据(x,y,z)！
    x=points[:, 0]
    y=points[:, 1]
    z=points[:, 2]
    r=points[:, 3]  # reflectance value of point
    d=np.sqrt(x**2+y**2)
 
    if vals == "height":
        col = z
    else:
        col = d
    # 创建可视化模板的尺寸
    fig=mayavi.mlab.figure(bgcolor=(0, 0, 0), size=(1280, 720))
    mayavi.mlab.points3d(x, y, z,
                         col,
                         mode="point",
                         colormap='spectral',
                         figure=fig,
                         )
 
    mayavi.mlab.show()
 
 
if __name__ == "__main__":
    bin_file_path = 'bin_2pcd'
    bin_files = os.listdir(bin_file_path)
    for bin_file in bin_files:
        if bin_file.endswith(".bin"):
            mypointcloud = np.fromfile(bin_file_path + '/' + bin_file, dtype=np.float32, count=-1).reshape([-1, 4])
            viz_mayavi(mypointcloud,vals="height")

3.就可以得到可视化结果

备注：

期间遇到无法运行的以下错误，可直接参考下面链接：Ubuntu18.04下解决Qt出现qt.qpa.plugin:Could not load the Qt platform plugin “xcb“问题_盼小辉丶的博客-CSDN博客_bicyclegan

一般情况下问题是一样的，详情看以上链接，解决方法如下；

sudo apt-get install libxcb-xinerama0

至此，快乐看点云吧！