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 npfrom 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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