读取.bin激光雷达点云文件格式并可视化

link

代码在git

pip install numpy -i https://pypi.tuna./simplepip install mayavi -i https://pypi.tuna./simple

import numpy as npimport mayavi.mlab# lidar_path换成自己的.bin文件路径pointcloud = np.fromfile(str("lidar_path"), dtype=np.float32, count=-1).reshape([-1, 4])x = pointcloud[:, 0] # x position of pointy = pointcloud[:, 1] # y position of pointz = pointcloud[:, 2] # z position of pointr = pointcloud[:, 3] # reflectance value of pointd = np.sqrt(x ** 2 + y ** 2) # Map Distance from sensordegr = np.degrees(np.arctan(z / d))vals = 'height'if vals == "height":col = zelse:col = dfig = mayavi.mlab.figure(bgcolor=(0, 0, 0), size=(640, 500))mayavi.mlab.points3d(x, y, z,col, # Values used for Colormode="point",colormap='spectral', # 'bone', 'copper', 'gnuplot'# color=(0, 1, 0), # Used a fixed (r,g,b) insteadfigure=fig,)mayavi.mlab.show()