python加载点云pcd和json文件

最新推荐文章于 2023-06-30 15:59:24 发布

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最新推荐文章于 2023-06-30 15:59:24 发布

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分类专栏： LiDAR目标检测深度视觉目标检测 Python 文章标签： python json 开发语言

本文链接：https://blog.csdn.net/li4692625/article/details/127143568

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#! /usr/bin/env python3
# -*-coding:utf-8-*-
#for reading pcd and json from task3 result files
import pcl
import open3d as o3d
from pandaset import DataSet, geometry
import numpy as np
from pyquaternion import Quaternion
import pandas
from pathlib import Path
import json
from math import tanh
import os
def load_json_from_file(path):
    nusc_annos = []
    res_path = str(Path(path))
    with open(res_path, "r") as f:
        nusc_annos = json.load(f)
    return nusc_annos
def load_pcd_from_file(path):
    data = pcl.load_XYZI(path).to_array()[:,:4]
    dataframe = pandas.DataFrame(data)
    dataframe = dataframe.dropna()
    dataframe = dataframe.loc[~(dataframe==0).all(axis=1)]
    pcd_array = np.array(dataframe, dtype=np.float32)
    zero_col = np.zeros(pcd_array.shape[0], dtype=np.float32)
    pcd_array = np.column_stack((pcd_array,zero_col))
    pcd_array[:,3] = np.tanh(pcd_ar