python读取点云文件

最近要用到激光点云的处理，先用python做点云的可视化吧。

# -*-coding:utf-8-*-

import numpy as np

import matplotlib.pyplot as plt

from mpl_toolkits.mplot3d import Axes3D


def readXYZfile(filename, Separator):
    data = [[], [], []]

    f = open(filename, 'r')

    line = f.readline()

    num = 0

    while line:  # 按行读入点云

        c, d, e = line.split(Separator)

        data[0].append(c)  # X坐标

        data[1].append(d)  # Y坐标

        data[2].append(e)  # Z坐标

        num = num + 1

        line = f.readline()

    f.close()

    # string型转float型

    x = [float(data[0]) for data[0] in data[0]]

    z = [float(data[1]) for data[1] in data[1]]

    y = [float(data[2]) for data[2] in data[2]]

    print("读入点的个数为:{}个。".format(num))

    point = [x, y, z]

    return point


# 三维离散点图显示点云

def displayPoint(data, title):
    # 解决中文显示问题

    plt.rcParams['font.sans-serif'] = ['SimHei']