Kitti数据集的读取与显示

数据集

下载地址：提取码：2wv9，名为000000.bin的二进制文件

程序运行环境

运行测试系统：Ubuntu16.04

运行环境：python3.5

numpy库读取.bin数据，mayavi.mlab可视化数据

import numpy as np
import mayavi.mlab

# lidar_path换成自己的.bin文件路径
lidar_path = 'path of 000000.bin'
pointcloud = np.fromfile(lidar_path, dtype=np.float32, count=-1).reshape([-1, 4])
# 将读入数据转化为4列

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 反射率
d = np.sqrt(x ** 2 + y ** 2)  # Map Distance from sensor

degr = np.degrees(np.arctan(z / d))

vals = 'height'
if vals == "height":
     col = z
else:
     col = d

fig = mayavi.mlab.figure(bgcolor=(0, 0, 0), size=(640, 500))
mayavi.mlab.points3d(x, y, z,
                     col,  # Values used for Color
                     mode="point",
                     colormap='spectral',  # 'bone', 'copper', 'gnuplot'
                     # color=(0, 1, 0),   # Used a fixed (r,g,b) instead
                     figure=fig,
                     )

mayavi.mlab.show()

可视化结果如下图：

mayavi库的安装

pip3 install mayavi -i https://pypi.tuna.tsinghua.edu.cn/simple

我安装装后运行程序时提示pyside没有安装，所以再安装pyside：

sudo apt-get install python3-pyside