mayavi库可视化3D点云

1. 安装mayavi

pip3 install mayavi
pip3 install wxPython #可视化点云窗口

2. 代码

import os

import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
import numpy as np
from mayavi import mlab

def on_scroll(event,ax,fig):
    # 获取当前x轴和y轴的范围
    cur_xlim = ax.get_xlim()
    cur_ylim = ax.get_ylim()

    # 获取鼠标滚动方向和幅度
    x_scroll = event.step * 0.1 * (cur_xlim[1] - cur_xlim[0])
    y_scroll = event.step * 0.1 * (cur_ylim[1] - cur_ylim[0])

    # 更新x轴和y轴的范围
    new_xlim = [cur_xlim[0] + x_scroll, cur_xlim[1] - x_scroll]
    new_ylim = [cur_ylim[0] + y_scroll, cur_ylim[1] - y_scroll]

    # 设置x轴和y轴的范围
    ax.set_xlim(new_xlim)
    ax.set_ylim(new_ylim)

    # 重新绘制图像
    fig.canvas.draw_idle()


def get_ptcloud_img(ptcloud,roll,pitch):
    fig = plt.figure(figsize=(8, 8))

    x, y, z = ptcloud[:,:3].transpose(1, 0)
    ax = fig.gca(projection=Axes3D.name, adjustable='box')
    ax.axis('off')
    #ax.axis('scaled')
    ax.view_init(roll,pitch)
    max, min = np.max(ptcloud), np.min(ptcloud)
    ax.set_xbound(min, max)
    ax.set_ybound(min, max)
    ax.set_zbound(min, max)
    ax.scatter(x, y, z, zdir='z', color='blue')
    
    fig.canvas.mpl_connect('scroll_event', lambda event: on_scroll(event, ax,fig))
    plt.show()



point = np.load(r"bed_0001.npy",allow_pickle=True)
print(point.shape)

coords = point[:,:3]

mlab.figure(bgcolor=(1,1,1))

mlab.points3d(coords[:,0],coords[:,1],coords[:,2],color=(128/255,128/255,255/255))

mlab.show()

3. 可视化效果