Point-Clouds-Visualization

点云可视化

@双愚 , 若fork或star请注明来源

Visualization可视化

• open3D [python]
• mayavi[python]
• matplolib [python]
• rviz(ROS) topic可视化 [c++][python]
• pcl 点云可视化 [c++]： pcl-visualization可视化

可视化软件：

1. cloudcompare( Linux、Windows 和 MacOS )
2. Meshlab( Linux、Windows 和 MacOS )

个人笔记：https://www.yuque.com/huangzhongqing/hre6tf/eak3ba

# 克隆包含子仓库：https://github.com/chaomath/open3d-kitti-visualization
git clone --recursive https://github.com/HuangCongQing/Point-Clouds-Visualization

1 mayavi

参考自：

• https://www.bilibili.com/video/BV1zJ41167qx?
• https://github.com/liminle/point-cloud-lectern-memos

语义分割任务 classification task

• code： showpc_memo1
• data：1mayavi/data-whu
  • 链接: https://pan.baidu.com/s/11EvyY71Y2qrHz5BXodDi3w 提取码: w9ar

目标检测跟踪任务 detection and tracking task

• code：showpc_memo2
• data：1mayavi/showpc/isprs_frames0/training

2 Open3D

https://www.yuque.com/huangzhongqing/hre6tf/xk0gxn

• 2open3D/Open3d学习计划
• 读取txt/ply文件

open3d实战项目

• open3d-kitti-visualization
  • ref:https://github.com/chaomath/open3d-kitti-visualization
• 01kitti_pc
• 02kitti_pc&box
• ...

子仓库代码bug:运行子仓库代码需要修改

• open3d-kitti-visualization

修改文件：2open3D/practice/open3d-kitti-visualization/open3d_geometry/open3d_arrow.py

	# mesh.transform(T)
	# mesh.rotate([0,beta,0],center=False) # TypeError: rotate(): incompatible function arguments. The following argument types are supported:
	# mesh.rotate([0,0,gamma],center=False)
	# fix:w维度不对 np.expand_dims(np.array([0,beta,0], dtype=np.float64),1).shape
	mesh.rotate(mesh.get_rotation_matrix_from_xyz((0,beta,0)), center=mesh.get_center())
	mesh.rotate(mesh.get_rotation_matrix_from_xyz((0,0,gamma)), center=mesh.get_center())

4 ros2_python [python]

python版本: ubuntu20.04 ，ROS foxy版本

vis points&bbox

• 3ros2_python/vis_ros2.ipynb

5 ros1_cpp [c++]

docs: https://www.yuque.com/huangzhongqing/ld627o/bovm2ar3ucgb8905

5ros1_cpp/src/lidar_visualization

feat1: 遍历文件夹里的文件（pcd或者ply格式）可视化点云和对应文件名字

1 修改参数：根据自己的需要修改下面3个参数

// 参数设置
std::string frame_id = "livox_frame";
std::string lidar_topic = "/livox/lidar";
// PCD/PLY 文件夹路径
std::string pc_dir = "/home/hcq/project/board检测/ws_board/src/board_detection/testdata"; // 替换为您的PCD或PLY文件目录的路径

2 编译和运行：

# 编译
catkin_make

# 运行
## 方式1
rosrun lidar_visualization lidars_visualization

## 方式2
roslaunch lidar_visualization test.launch

可视化结果

References

• Semantic-Segmentation-of-Point-Clouds
• SLAM
• pcl

License

Copyright (c) 双愚. All rights reserved.

Licensed under the MIT License.