1、在anaconda环境下:
conda install -c open3d-admin open3d
缺少其他模块的话,pip安装就可以
2、点云的读取和显示
import os
import numpy as np
import struct
import open3d
def read_bin_velodyne(path):
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():
root_dir='data/'
filename=os.listdir(root_dir)
file_number=len(filename)
pcd=open3d.open3d.geometry.PointCloud()
for i in range(file_number):
path=os.path.join(root_dir, filename[i])
print(path)
example=read_bin_velodyne(path)
# From numpy to Open3D
pcd.points= open3d.open3d.utility.Vector3dVector(example)
open3d.open3d.visualization.draw_geometries([pcd])
if __name__=="__main__":
main()