ruguowoshiyu / Point-Clouds-Visualization

visualization点云可视化(open3D, mayavi，rviz(ros)等)

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：cloudcompare （windows&Ubuntu）

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

1mayavi

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

2Open3D

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())

3 rviz(ROS) topic可视化 [c++][python]

python版本: ubuntu20.04 ，ROS foxy版本

vis points&bbox

• 3ros2_python/vis_ros2.ipynb

References

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

License

Copyright (c) 双愚. All rights reserved.

Licensed under the MIT License.