Point cloud target detection Kitti dataset bin file visualization, one-stop solution

Point cloud visualization

Refer to the link method 1 , Need to install mayavi,numpy,pyqt5;

numpy+mayavi.mlab

1. Install dependency library

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

2. Read .bin Format file for visualization

import mayavi.mlab
import numpy as np
import os
 
 
def viz_mayavi(points, vals="distance"):  #  Visualization only uses 3 D data (x,y,z)！
    x=points[:, 0]
    y=points[:, 1]
    z=points[:, 2]
    r=points[:, 3]  # reflectance value of point
    d=np.sqrt(x**2+y**2)
 
    if vals == "height":
        col = z
    else:
        col = d
    #  Create the size of the visualization template 
    fig=mayavi.mlab.figure(bgcolor=(0, 0, 0), size=(1280, 720))
    mayavi.mlab.points3d(x, y, z,
                         col,
                         mode="point",
                         colormap='spectral',
                         figure=fig,
                         )
 
    mayavi.mlab.show()
 
 
if __name__ == "__main__":
    bin_file_path = 'bin_2pcd'
    bin_files = os.listdir(bin_file_path)
    for bin_file in bin_files:
        if bin_file.endswith(".bin"):
            mypointcloud = np.fromfile(bin_file_path + '/' + bin_file, dtype=np.float32, count=-1).reshape([-1, 4])
            viz_mayavi(mypointcloud,vals="height")

3. You can get visual results

remarks ：

The following error that cannot be run was encountered during , You can directly refer to the following link ：Ubuntu18.04 Let's work it out Qt appear qt.qpa.plugin:Could not load the Qt platform plugin “xcb“ problem _ Hope Xiaohui's blog -CSDN Blog _bicyclegan

Generally, the problem is the same , See the above link for details , The solution is as follows ;

sudo apt-get install libxcb-xinerama0

thus , Happy to see some clouds ！