import numpy as np
import mayavi.mlab
# lidar_path换成自己的.bin文件路径
pointcloud = np.fromfile(str("lidar_path"), dtype=np.float32, count=-1).reshape([-1, 4])
x = pointcloud[:, 0] # x position of point
y = pointcloud[:, 1] # y position of point
z = pointcloud[:, 2] # z position of point
r = pointcloud[:, 3] # reflectance value of point
d = np.sqrt(x ** 2 + y ** 2) # Map Distance from sensor
degr = np.degrees(np.arctan(z / d))
vals = 'height'
if vals == "height":
col = z
else:
col = d
fig = mayavi.mlab.figure(bgcolor=(0, 0, 0), size=(640, 500))
mayavi.mlab.points3d(x, y, z,
col, # Values used for Color
mode="point",
colormap='spectral', # 'bone', 'copper', 'gnuplot'
# color=(0, 1, 0), # Used a fixed (r,g,b) instead
figure=fig,
)
mayavi.mlab.show()