link
代碼在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換成自己的.bin文件路徑 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 pointr = pointcloud[:, 3] # reflectance value of point d = np.sqrt(x ** 2 + y ** 2) # Map Distance from sensordegr = np.degrees(np.arctan(z / d))vals = 'height' if vals == "height":col = z else: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()

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