python求投影距离_Python实现点云投影到平面显示

值得学习的地方：

1.选择合法索引的方式

2.数组转图像显示

import numpy as np

from PIL import Image

#input : shape(N, 4)

# (x, y, z, intensity)

def pointcloud2image(point_cloud):

x_size = 640

y_size = 640

x_range = 60.0

y_range = 60.0

grid_size = np.array([2 * x_range / x_size, 2 * y_range / y_size])

image_size = np.array([x_size, y_size])

# [0, 2*range)

shifted_coord = point_cloud[:, :2] + np.array([x_range, y_range])

# image index

index = np.floor(shifted_coord / grid_size).astype(np.int)

# choose illegal index

bound_x = np.logical_and(index[:, 0] >= 0, index[:, 0] < image_size[0])

bound_y = np.logical_and(index[:, 1] >= 0, index[:, 1] < image_size[1])

bound_box = np.logical_and(bound_x, bound_y)

index = index[bound_box]

# show image

image = np.zeros((640, 640), dtype=np.uint8)

image[index[:, 0], index[:, 1]] = 255

res = Image.fromarray(image)

# rgb = Image.merge('RGB', (res, res, res))

res.show()

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