Matplotlib绘制点云

import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
import numpy as np

points = np.loadtxt('result.txt')

fig=plt.figure(dpi=500)
ax = fig.add_subplot(111, projection='3d')

colors=points[:,3:]/255 #RGBA(0-1)

ax.scatter(points[:,0], points[:,1], points[:,2],
           cmap='spectral',
           c=colors,
           s=0.5,
           linewidth=0,
           alpha=1,
           marker=".")

plt.title('Point Cloud')
ax.axis('scaled')  # {equal, scaled}
ax.set_xlabel('X')
ax.set_ylabel('Y')
ax.set_zlabel('Z')
plt.show()

参考：
https://matplotlib.org/api/colors_api.html
https://matplotlib.org/gallery/color/custom_cmap.html#sphx-glr-gallery-color-custom-cmap-py

绘制相机运动轨迹：
https://blog.csdn.net/zhangxz259/article/details/82592489
https://www.cnblogs.com/wuwen19940508/p/8638266.html