将笛卡尔坐标下pcd点云转换成极坐标系下range image

硬件：VLP-16
流程：读取pcd点云，将笛卡尔坐标下pcd点云转换成极坐标系下range image，并进行保存和显示。

import numpy as np
import cv2
import open3d as o3d
from PIL import Image


class LaserScan:
  """Class that contains LaserScan with x,y,z,r"""
  EXTENSIONS_SCAN = ['.pcd']

  def __init__(self, project=False, H=16, W=1024, fov_up=15.0, fov_down=-15.0):
    self.project = project
    self.proj_H = H
    self.proj_W = W
    self.proj_fov_up = fov_up
    self.proj_fov_down = fov_down
    self.reset()

  def reset(self):
    """ Reset scan members. """
    self.points = np.zeros((0, 3), dtype=np.float32)        # [m, 3]: x, y, z

    # projected range image - [H,W] range (-1 is no data)
    self.proj_range = np.full((self.proj_H, self.proj_W), -1,
                              dtype=np.float32)

    # unprojected range (list of depths for each point)
    self.unproj_range = np.zeros((0, 1), dtype=np.float32)

    # projected point cloud xyz - [H,W,3] xyz coord (-1 is no data)
    self.proj_xyz = np.full((self.proj_H, self.proj_W, 3), -1,
                            dtype=np.float32)

    # projected index (for each pixel, what I am in the pointcloud)
    # [H,W] index (-1 is no data)
    self.proj_idx = np.full((self.proj_H, self.proj_W), -1,
                            dtype=np.int32)

    # for each point, where it is in the range image
    self.proj_x = np.zeros((0, 1), dtype=np.int32)        # [m, 1]: x
    self.proj_y = np.zeros((0, 1), dtype=np.int32)        # [m, 1]: y

    # mask containing for each pixel, if it contains a point or not
    self.proj_mask = np.zeros((self.proj_H, self.proj_W),
                              dtype=np.int32)       # [H,W] mask

  def size(self):
    """ Return the size of the point cloud. """
    return self.points.shape[0]

  def __len__(self):
    return self.size()

  def open_scan(self, filename):
    """ Open raw scan and fill in attributes
    """
    # reset just in case there was an open structure
    self.reset()

    # check filename is string
    if not isinstance(filename, str):
      raise TypeError("Filename should be string type, "
                      "but was {type}".format(type=str(type(filename))))

    # check extension is a laserscan
    if not any(filename.endswith(ext) for ext in self.EXTENSIONS_SCAN):
      raise RuntimeError("Filename extension is not valid scan file.")

    # if all goes well, open pointcloud
    pcd = o3d.io.read_point_cloud(filename)
    points = np.asarray(pcd.points).reshape((-1,3))

    self.set_points(points)

  def set_points(self, points):
    """ Set scan attributes (instead of opening from file)
    """
    # reset just in case there was an open structure
    self.reset()

    # check scan makes sense
    if not isinstance(points, np.ndarray):
      raise TypeError("Scan should be numpy array")

    # put in attribute
    self.points = points    # get xyz

    # if projection is wanted, then do it and fill in the structure
    if self.project:
      self.do_range_projection()

  def do_range_projection(self):
    """ Project a pointcloud into a spherical projection image.projection.
        Function takes no arguments because it can be also called externally
        if the value of the constructor was not set (in case you change your
        mind about wanting the projection)
    """
    # laser parameters
    fov_up = self.proj_fov_up / 180.0 * np.pi      # field of view up in rad
    fov_down = self.proj_fov_down / 180.0 * np.pi  # field of view down in rad
    fov = abs(fov_down) + abs(fov_up)  # get field of view total in rad

    # get depth of all points
    depth = np.linalg.norm(self.points, 2, axis=1)

    # get scan components
    scan_x = self.points[:, 0]
    scan_y = self.points[:, 1]
    scan_z = self.points[:, 2]

    # get angles of all points
    yaw = -np.arctan2(scan_y, scan_x)
    pitch = np.arcsin(scan_z / depth)

    # get projections in image coords
    proj_x = 0.5 * (yaw / np.pi + 1.0)          # in [0.0, 1.0]
    proj_y = 1.0 - (pitch + abs(fov_down)) / fov        # in [0.0, 1.0]

    # scale to image size using angular resolution
    proj_x *= self.proj_W                              # in [0.0, W]
    proj_y *= self.proj_H                              # in [0.0, H]

    # round and clamp for use as index
    proj_x = np.floor(proj_x)
    proj_x = np.minimum(self.proj_W - 1, proj_x)
    proj_x = np.maximum(0, proj_x).astype(np.int32)   # in [0,W-1]
    self.proj_x = np.copy(proj_x)  # store a copy in orig order

    proj_y = np.floor(proj_y)
    proj_y = np.minimum(self.proj_H - 1, proj_y)
    proj_y = np.maximum(0, proj_y).astype(np.int32)   # in [0,H-1]
    self.proj_y = np.copy(proj_y)  # stope a copy in original order

    # copy of depth in original order
    self.unproj_range = np.copy(depth)

    # order in decreasing depth
    indices = np.arange(depth.shape[0])
    order = np.argsort(depth)[::-1]
    depth = depth[order]
    indices = indices[order]
    points = self.points[order]
    proj_y = proj_y[order]
    proj_x = proj_x[order]

    # assing to images
    self.proj_range[proj_y, proj_x] = depth
    self.proj_xyz[proj_y, proj_x] = points
    self.proj_idx[proj_y, proj_x] = indices
    self.proj_mask = (self.proj_idx > 0).astype(np.int32)
    
    # image_array是归一化的二维浮点数矩阵
    array = self.proj_range.copy()
    image_array = 255*(array-np.min(array))/(np.max(array)-np.min(array))
    im = Image.fromarray(image_array)
    im = im.convert('L')  # 这样才能转为灰度图，如果是彩色图则改L为‘RGB’
    im.save('outfile.png')
    im.show()

if __name__ == '__main__':
    scan = LaserScan(project=True)
    file = '/home/summer/lake/maritime_tracking/data/origin/t1/1642233104.111086845.pcd'
    scan.open_scan(file)
    print(scan.size())

将xyz形式的点云数据转换成open3d格式，并进行显示

points = xyz_vlp[:,:3]
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(points)
o3d.visualization.draw_geometries([pcd])