nuScenes数据集操作笔记

本文所用数据示例参考👉详见👈

1.读取点云二进制数据

输入：bin点云数据
输出：txt文本文件

from tkinter import filedialog
import struct


def open_file():
    file_path = filedialog.askopenfilename(title='Select file')
    return file_path


file_path = open_file()
output_path = "D:\Data\output.txt"

pc_list = []
with open(file_path, 'rb') as bin_file:
    data = bin_file.read()
    pc_float = struct.iter_unpack('fffff', data)  # 把bytes变成相应的python数据类型
    for point in pc_float:
        pc_list.append(point)

with open(output_path, 'w') as txt_file:
    for point in pc_list:
        txt_file.write(str(point).replace('(', '').replace(')', '') + '\n')

2.显示点云二进制数据

输入：bin点云数据
输出：点云图片

from tkinter import filedialog
import numpy as np
import mayavi.mlab

def open_file():
    file_path = filedialog.askopenfilename(title='Select file')
    return file_path

# load .bin file
lidar_path = open_file()
pointcloud = np.fromfile(lidar_path, dtype=np.float32, count=-1).reshape([-1,5])

x = pointcloud[:, 0]  # x position of point
y = pointcloud[:, 1]  # y position of point
z = pointcloud[:, 2]  # z position of point
r = pointcloud[:, 3]  # reflectance value of point
d = np.sqrt(x