首先,我们需要安装以下Python库:
- NumPy:用于处理点云数据
- Open3D:用于进行点云可视化和保存
并且,需要预先安装KITTI数据集并将其解压到合适的位置。
接下来,将编写Python代码来完成将KITTI数据集.bin文件转换为.pcd/.txt并进行可视化的任务。
import numpy as np
import open3d as o3d
import struct
import os
def read_bin_velodyne(path):
"""
读取Velodyne点云数据
"""
pc_list = []
with open(path, 'rb') as f:
content = f.read()
pc_iter = struct.iter_unpack('ffff', content