python之pcl

pcl是点云可视化软件，

安装

conda create -n py36 python=3.6
conda activate py36
# 方法1， 推荐
conda install -c sirokujira python-pcl
#安装完成后可能会出现，原因是本地安装的libboost库版本和python-pcl不一致
ImportError: libboost_system.so.1.54.0: cannot open shared object file
#解决方法
cd ~/miniconda3/envs/py36/lib/
ls libboost_system.so*
sudo ln -s libboost_system.so.1.64.0 libboost_system.so.1.54.0
sudo ln -s libboost_filesystem.so.1.64.0 libboost_filessystem.so.1.54.0

# 方法2
conda install -c conda-forge -c davidcaron pclpy
conda install qhull
conda install numpy

使用

import numpy as np
import pclpy as pcl
import pcl.pcl_visualization

fname = '1533151603597909.pcd.bin'  #pcd 文件

points = np.fromfile(fname, dtype=np.float64).reshape(-1, 4)

print(points.shape,points.dtype)

print(points[:,:3])

cloud = pcl.PointCloud_PointXYZRGB(points)
# cloud = pcl.PointCloud_PointXYZRGB()
# cloud.from_array(points)

pcl.io.savePNGFile("output.png", cloud, "rgb");


# visual = pcl.pcl_visualization.CloudViewing()
# # visual.ShowColorCloud(cloud)
# visual.ShowColorCloud(color_cloud, b'cloud')

# v = True
# while v:
#     v != visual.WasStopped()

教程

三维重建工具——pclpy使用教程
pclpy 读取、显示、保存点云