参考该链接方法一,需要安装mayavi,numpy,pyqt5;
numpy+mayavi.mlab
1.安装依赖库
pip install numpy -i https://pypi.tuna.tsinghua.edu.cn/simple
pip install mayavi -i https://pypi.tuna.tsinghua.edu.cn/simple
2.读取.bin格式文件进行可视化
import mayavi.mlab
import numpy as np
import os
def viz_mayavi(points, vals="distance"): # 可视化只用到了3维数据(x,y,z)!
x=points[:, 0]
y=points[:, 1]
z=points[:, 2]
r=points[:, 3] # reflectance value of point
d=np.sqrt(x**2+y**2)
if vals == "height":
col = z
else:
col = d
# 创建可视化模板的尺寸
fig=mayavi.mlab.figure(bgcolor=(0, 0, 0), size=(1280, 720))
mayavi.mlab.points3d(x, y, z,
col,
mode="point",
colormap='spectral',
figure=fig,
)
mayavi.mlab.show()
if __name__ == "__main__":
bin_file_path = 'bin_2pcd'
bin_files = os.listdir(bin_file_path)
for bin_file in bin_files:
if bin_file.endswith(".bin"):
mypointcloud = np.fromfile(bin_file_path + '/' + bin_file, dtype=np.float32, count=-1).reshape([-1, 4])
viz_mayavi(mypointcloud,vals="height")
3.就可以得到可视化结果
备注:
期间遇到无法运行的以下错误,可直接参考下面链接:Ubuntu18.04下解决Qt出现qt.qpa.plugin:Could not load the Qt platform plugin “xcb“问题_盼小辉丶的博客-CSDN博客_bicyclegan
一般情况下问题是一样的,详情看以上链接,解决方法如下;
sudo apt-get install libxcb-xinerama0
至此,快乐看点云吧!