vispy 显示 kitti 点云数据

vispy 显示 kitti 点云数据

（感谢前辈）转自： https://zhuanlan.zhihu.com/p/74181054

评价：vispy显示三维点云数据很流畅，但是显示的点好像有点失真的感觉。

Vispy官方例程：
http://vispy.org/gallery.html

import numpy as np
import vispy.scene
from vispy.scene import visuals
import sys

# Make a canvas and add simple view
canvas = vispy.scene.SceneCanvas(keys='interactive', show=True)
view = canvas.central_widget.add_view()

# # generate data 使用随机数据的话把这块反注释掉
# pos = np.random.normal(size=(100000, 3), scale=0.2)
# # one could stop here for the data generation, the rest is just to make the
# # data look more interesting. Copied over from magnify.py
# centers = np.random.normal(size=(50, 3))
# indexes = np.random.normal(size=100000, loc=centers.shape[0]/2.,
# scale=centers.shape[0]/3.)
# indexes = np.clip(indexes, 0, centers.shape[0]-1).astype(int)
# scales = 10**(np.linspace(-2, 0.5, centers.shape[0]))[indexes][:, np.newaxis]
# pos *= scales
# pos += centers[indexes]
# scatter = visuals.Markers()
# scatter.set_data(pos, edge_color=None, face_color=(1, 1, 1, .5), size=5)

# 使用 kitti 数据， n*3 
img_id = 17  # 2，3 is not able for pcl;
path = r'D:\KITTI\Object\training\velodyne\%06d.bin' % img_id  ## Path ## need to be changed
points = np.fromfile(path, dtype=np.float32).reshape(-1, 4)

# create scatter object and fill in the data
scatter = visuals.Markers()
scatter.set_data(points[:,:3], edge_color=None, face_color=(1, 1, 1, .5), size=5)

view.add(scatter)
view.camera = 'turntable'  # or try 'arcball'

# add a colored 3D axis for orientation
axis = visuals.XYZAxis(parent=view.scene)

if __name__ == '__main__':
    if sys.flags.interactive != 1:
        vispy.app.run()

效果如如下，比pcl 显示效果略微差点，但是十多万个点滚动也很流畅：