(附open3d python代码)
思路很简单,就是把每个三维的点坐标投影到图像坐标上面去,注意点:
1. 投影的时候有一个分辨率的参数,也就是每隔多少米投影一个点
2.坐标不要溢出图像的坐标范围即可。
效果如下:
def point_cloud_2_top_v2(points,
res=0.05,
range=None,
indices=None
):
""" Creates an birds eye view representation of the point cloud data for MV3D.
Args:
points: (numpy array)
N rows of points data
Each point should be specified by at least 3 elements x,y,z
res: (float)
Desired resolution in metres to use.
Each output pixel will represent an
square region re