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

import numpy as np
import 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 point
y = pointcloud[:, 1]  # y position of point
z = pointcloud[:, 2]  # z position of point
 
r = pointcloud[:, 3]  # reflectance value of point
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()