Python点群を平面表示に投影
学ぶべき点: 1.正当なインデックスを選択する方法 2.配列回転画像表示
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()