{"id":15640481,"url":"https://github.com/huangcongqing/point-clouds-visualization","last_synced_at":"2025-07-08T10:40:39.423Z","repository":{"id":50475493,"uuid":"208579967","full_name":"HuangCongQing/Point-Clouds-Visualization","owner":"HuangCongQing","description":"visualization点云可视化(open3D, mayavi, rviz(ros), PCL等)","archived":false,"fork":false,"pushed_at":"2023-12-24T16:11:27.000Z","size":25836,"stargazers_count":98,"open_issues_count":1,"forks_count":19,"subscribers_count":3,"default_branch":"master","last_synced_at":"2025-04-15T22:54:28.499Z","etag":null,"topics":["mayavi","open3d","pcl","point-clouds","ros","rviz","rviz2","visualization"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/HuangCongQing.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null}},"created_at":"2019-09-15T10:53:24.000Z","updated_at":"2025-04-02T05:57:51.000Z","dependencies_parsed_at":"2023-12-24T19:30:48.980Z","dependency_job_id":null,"html_url":"https://github.com/HuangCongQing/Point-Clouds-Visualization","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/HuangCongQing/Point-Clouds-Visualization","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HuangCongQing%2FPoint-Clouds-Visualization","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HuangCongQing%2FPoint-Clouds-Visualization/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HuangCongQing%2FPoint-Clouds-Visualization/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HuangCongQing%2FPoint-Clouds-Visualization/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/HuangCongQing","download_url":"https://codeload.github.com/HuangCongQing/Point-Clouds-Visualization/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HuangCongQing%2FPoint-Clouds-Visualization/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":264252424,"owners_count":23579860,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["mayavi","open3d","pcl","point-clouds","ros","rviz","rviz2","visualization"],"created_at":"2024-10-03T11:35:43.058Z","updated_at":"2025-07-08T10:40:39.380Z","avatar_url":"https://github.com/HuangCongQing.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"\u003c!--\n * @Description: \n * @Author: HCQ\n * @Company(School): UCAS\n * @Email: 1756260160@qq.com\n * @Date: 2020-11-16 11:21:14\n * @LastEditTime: 2023-08-05 01:19:41\n * @FilePath: /Point-Clouds-Visualization/README.md\n--\u003e\n![image](https://user-images.githubusercontent.com/20675770/188302348-2a278d02-73d5-4e2f-9b82-62f7471eb8ae.png)\n\n\n# Point-Clouds-Visualization\n\n点云可视化\n\n@[双愚](https://github.com/HuangCongQing) , 若fork或star请注明来源\n\n## Visualization可视化\n\n- open3D [`python`]\n- mayavi[`python`]\n- matplolib [`python`]\n- rviz(ROS) topic可视化  [`c++`][`python`]\n- 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)\n\n可视化软件：\n1. cloudcompare( Linux、Windows 和 MacOS )\n2. Meshlab( Linux、Windows 和 MacOS )\n\n个人笔记：https://www.yuque.com/huangzhongqing/hre6tf/eak3ba\n\n```\n# 克隆包含子仓库：https://github.com/chaomath/open3d-kitti-visualization\ngit clone --recursive https://github.com/HuangCongQing/Point-Clouds-Visualization\n```\n\n\n### 1 mayavi\n\n参考自：\n\n* https://www.bilibili.com/video/BV1zJ41167qx?\n* https://github.com/liminle/point-cloud-lectern-memos\n\n语义分割任务 classification task\n\n* code： [showpc_memo1](1mayavi/visualizer/showpc_memo1.py)\n* data：[1mayavi/data-whu](1mayavi/data-whu)\n  * 链接: https://pan.baidu.com/s/11EvyY71Y2qrHz5BXodDi3w 提取码: w9ar\n\n目标检测跟踪任务  detection and tracking task\n\n* code：[showpc_memo2](1mayavi/visualizer/showpc_memo2.py)\n* data：[1mayavi/showpc/isprs_frames0/training](1mayavi/showpc/isprs_frames0/training)\n\n### 2 Open3D\n\nhttps://www.yuque.com/huangzhongqing/hre6tf/xk0gxn\n\n* [2open3D/Open3d学习计划](2open3D/Open3d学习计划)\n* [读取txt/ply文件](2open3D)\n\n#### open3d实战项目\n* [open3d-kitti-visualization](2open3D/practice/open3d-kitti-visualization)\n  * ref:https://github.com/chaomath/open3d-kitti-visualization\n* [01kitti_pc](2open3D/practice/01kitti_pc)\n* [02kitti_pc\u0026box](2open3D/practice/02kitti_pc\u0026box)\n* ...\n\n##### 子仓库代码bug:运行子仓库代码需要修改\n* [open3d-kitti-visualization](2open3D/practice/open3d-kitti-visualization)\n\n修改文件：2open3D/practice/open3d-kitti-visualization/open3d_geometry/open3d_arrow.py\n\n```python\n\t# mesh.transform(T)\n\t# mesh.rotate([0,beta,0],center=False) # TypeError: rotate(): incompatible function arguments. The following argument types are supported:\n\t# mesh.rotate([0,0,gamma],center=False)\n\t# fix:w维度不对 np.expand_dims(np.array([0,beta,0], dtype=np.float64),1).shape\n\tmesh.rotate(mesh.get_rotation_matrix_from_xyz((0,beta,0)), center=mesh.get_center())\n\tmesh.rotate(mesh.get_rotation_matrix_from_xyz((0,0,gamma)), center=mesh.get_center())\n\n```\n\n\n\n### 4 ros2_python [`python`]\n\n\npython版本: ubuntu20.04 ，ROS foxy版本\n\n#### vis  points\u0026bbox\n\n*  [3ros2_python/vis_ros2.ipynb](3ros2_python/vis_ros2.ipynb)\n\n\n\n### 5 ros1_cpp [`c++`]\n\ndocs: https://www.yuque.com/huangzhongqing/ld627o/bovm2ar3ucgb8905\n\n\u003e 5ros1_cpp/src/lidar_visualization\n#### 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\n\n1 修改参数：根据自己的需要修改下面3个参数\n```cpp\n\n// 参数设置\nstd::string frame_id = \"livox_frame\";\nstd::string lidar_topic = \"/livox/lidar\";\n// PCD/PLY 文件夹路径\nstd::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\n\n```\n\n2 编译和运行：\n```shell\n# 编译\ncatkin_make\n\n# 运行\n## 方式1\nrosrun lidar_visualization lidars_visualization\n\n## 方式2\nroslaunch lidar_visualization test.launch\n\n```\n可视化结果\n![](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)\n\n\n\n## References\n\n* [Semantic-Segmentation-of-Point-Clouds](https://github.com/HuangCongQing/Semantic-Segmentation-of-Point-Clouds)\n* [SLAM](https://github.com/HuangCongQing/SLAM)\n* [pcl](https://github.com/HuangCongQing/pcl-learning)\n\n## License\n\nCopyright (c) [双愚](https://github.com/HuangCongQing/). All rights reserved.\n\nLicensed under the [MIT](./LICENSE) License.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhuangcongqing%2Fpoint-clouds-visualization","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fhuangcongqing%2Fpoint-clouds-visualization","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhuangcongqing%2Fpoint-clouds-visualization/lists"}