main.py

import mayavi.mlab
import torch
import numpy as np

path_bin = './data/000000.bin'
myPC = np.fromfile(path_bin, dtype=np.float32, count=-1).reshape([-1, 4])
myPC = torch.from_numpy(myPC)
print(myPC.size())
print(myPC.type())


def viz_mayavi(points, vals="distance"):
    x = points[:, 0]
    y = points[:, 1]
    z = points[:, 2]
    r = points[:, 3]
    d = torch.sqrt(x ** 2 + y ** 2)

    if vals == "height":
        col = z
    else:
        col = d

    fig = mayavi.mlab.figure(bgcolor=(0, 0, 0), size=(1280, 720))
    mayavi.mlab.points3d(x, y, z,
                         col,
                         mode="point",
                         colormap='spectral',
                         figure=fig,
                         )

    mayavi.mlab.show()


if __name__ == '__main__':
    viz_mayavi(myPC, vals='height')