点云算法-python读取kitti数据并显示

代码如下：

import numpy as np
import open3d as o3d
import struct
import matplotlib.pyplot as plt
from pandas import DataFrame
from pyntcloud import PyntCloud
import math
import random
#import Spectral as sp
from collections import defaultdict

# 功能：从kitti的.bin格式点云文件中读取点云
# 输入：
#     path: 文件路径
# 输出：
#     点云数组
def read_velodyne_bin(path):
    '''
    :param path:
    :return: homography matrix of the point cloud, N*3
    '''
    pc_list = []
    with open(path, 'rb') as f:
        content = f.read()
        pc_iter = struct.iter_unpack('ffff', content)
        for idx, point in enumerate(pc_iter):
            pc_list.append([point[0], point[1], point[2]])
    return np.asarray(pc_list, dtype=np.float32)


def main():
    iteration_num = 1  # 文件数

    # for i in range(iteration_num):
    filename = 'data/000001.bin'  # 数据集路径
    print('clustering pointcloud