使用QGIS查看点云

1.安装：

sudo apt-get install qgis

2.　.prj .qix .shp文件可以直接整个文件夹拖入空白处

3.若需观察pcd点云点，可以先将pcd转为txt，代码：

#!/usr/bin/env python
#* coding: utf-8
import sys, utm
import math, numpy
import pypcd, utm
class Map:
    def __init__(self, file):
        self.pc = pypcd.PointCloud.from_path(file)
        #a, b = self.pc.pc_data[-2], self.pc.pc_data[-1]
        #lat, lon = a[0] + b[0]/1000.0, a[1] + b[1]/1000.0
        #self.offset = utm.from_latlon(lat, lon, 51)
        #print lon, lat, self.offset
        self.offset = [347891, 3450721.86]
    def query(self, idx):
        p = self.pc.pc_data[idx]
        x = p[0] + self.offset[0]
        y = p[1] + self.offset[1]
        print x, y
    def save(self, file):
        f = open(file, 'wb')
        f.write('x, y\n')
        for p in self.pc.pc_data:
            x = p[0] + self.offset[0]
            y = p[1] + self.offset[1]
            f.write('%f, %f\n'%( x, y) )
        f.close()
        
map = Map('pcd')
map.save('/txt')

4.全屏qgis后选择Layer->add layer->add Delimited Text layer->fine name->Geometry CRS选择51n(WGS84/UTM zone 51N)->add