https://github.com/huangcongqing/point-clouds-visualization
visualization点云可视化(open3D, mayavi, rviz(ros), PCL等)
https://github.com/huangcongqing/point-clouds-visualization
mayavi open3d pcl point-clouds ros rviz rviz2 visualization
Last synced: 11 months ago
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visualization点云可视化(open3D, mayavi, rviz(ros), PCL等)
- Host: GitHub
- URL: https://github.com/huangcongqing/point-clouds-visualization
- Owner: HuangCongQing
- License: mit
- Created: 2019-09-15T10:53:24.000Z (over 6 years ago)
- Default Branch: master
- Last Pushed: 2023-12-24T16:11:27.000Z (over 2 years ago)
- Last Synced: 2025-04-15T22:54:28.499Z (about 1 year ago)
- Topics: mayavi, open3d, pcl, point-clouds, ros, rviz, rviz2, visualization
- Language: Python
- Homepage:
- Size: 24.6 MB
- Stars: 98
- Watchers: 3
- Forks: 19
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# 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
## 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.