# Point-Clouds-Visualization **Repository Path**: victoire/Point-Clouds-Visualization ## Basic Information - **Project Name**: Point-Clouds-Visualization - **Description**: No description available - **Primary Language**: Unknown - **License**: MIT - **Default Branch**: master - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 0 - **Forks**: 1 - **Created**: 2024-01-26 - **Last Updated**: 2024-01-26 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README ![image](https://user-images.githubusercontent.com/20675770/188302348-2a278d02-73d5-4e2f-9b82-62f7471eb8ae.png) # Point-Clouds-Visualization 点云可视化 @[双愚](https://github.com/HuangCongQing) , 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](https://github.com/HuangCongQing/pcl-learning/tree/master/15visualization%E5%8F%AF%E8%A7%86%E5%8C%96) 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](1mayavi/visualizer/showpc_memo1.py) * data：[1mayavi/data-whu](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](1mayavi/visualizer/showpc_memo2.py) * data：[1mayavi/showpc/isprs_frames0/training](1mayavi/showpc/isprs_frames0/training) ### 2 Open3D https://www.yuque.com/huangzhongqing/hre6tf/xk0gxn * [2open3D/Open3d学习计划](2open3D/Open3d学习计划) * [读取txt/ply文件](2open3D) #### open3d实战项目 * [open3d-kitti-visualization](2open3D/practice/open3d-kitti-visualization) * ref:https://github.com/chaomath/open3d-kitti-visualization * [01kitti_pc](2open3D/practice/01kitti_pc) * [02kitti_pc&box](2open3D/practice/02kitti_pc&box) * ... ##### 子仓库代码bug:运行子仓库代码需要修改 * [open3d-kitti-visualization](2open3D/practice/open3d-kitti-visualization) 修改文件：2open3D/practice/open3d-kitti-visualization/open3d_geometry/open3d_arrow.py ```python # 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](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 ```cpp // 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： ```shell # 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 ![](https://cdn.nlark.com/yuque/0/2023/png/232596/1691169568600-6d70422f-e7dd-439b-a4c9-a5890d4f6782.png?x-oss-process=image%2Fresize%2Cw_1111%2Climit_0) ## References * [Semantic-Segmentation-of-Point-Clouds](https://github.com/HuangCongQing/Semantic-Segmentation-of-Point-Clouds) * [SLAM](https://github.com/HuangCongQing/SLAM) * [pcl](https://github.com/HuangCongQing/pcl-learning) ## License Copyright (c) [双愚](https://github.com/HuangCongQing/). All rights reserved. Licensed under the [MIT](./LICENSE) License.