from mpl_toolkits.mplot3d import Axes3D
import matplotlib.pyplot as plt
import numpy as np
from laspy.file import File
def read_las_ins(las_file):
las = File(las_file, mode='r')
x = las.x
y = las.y
z = las.z
classification = las.classification # 标签,这里数据类别是已经直接存在las文件中的
red = np.unique(las.red, False, True)[1] # 假设实例标签写在了R字段
points = np.vstack((x, y, z, classification, red)).transpose()
return points
def plot_3d_with_line(xyz, classes=None, s=0.5, lines=None, cm='Set1'):
cm = plt.get_cmap(cm)
fig = plt.figure()
ax = fig.gca(projection='3d')
ax.set_xlabel(xlabel='x/m',
fontdict=None,
labelpad=0, # default: 4.0
loc='right', # default: 'center'
)
ax.set_ylabel(ylabel='y/m',
fontdict=None,
labelpad=0, # default: 4.0
# loc='left', # default: 'center'
)
ax.set_zlabel(zlabel='z/m',
fontdict=None,
labelpad=0, # default: 4.0
# loc='left', # default: 'center'
)
if classes is not None:
ax.scatter(xyz[:, 0], xyz[:, 1], xyz[:, 2], s=s, c=classes, cmap=cm)
else:
ax.scatter(xyz[:, 0], xyz[:, 1], xyz[:, 2], s=s, cmap=cm)
if lines is not None:
for line in lines:
if line[0][2] != line[1][2]:
z = np.linspace(line[0][2], line[1][2])
x = (line[1][0] - line[0][0]) / (line[1][2] - line[0][2]) * z + \
line[1][0] - (line[1][0] - line[0][0]) / (line[1][2] - line[0][2]) * line[0][0]
y = (line[1][1] - line[0][1]) / (line[1][2] - line[0][2]) * z + \
line[1][1] - (line[1][1] - line[0][1]) / (line[1][2] - line[0][2]) * line[0][1]
ax.plot3D(x, y, z, 'green')
elif line[0][1] != line[1][1]:
y = np.linspace(line[0][1], line[1][1])
x = (line[1][0] - line[0][0]) / (line[1][1] - line[0][1]) * y + \
line[1][0] - (line[1][0] - line[0][0]) / (line[1][1] - line[0][1]) * line[0][0]
z = (line[1][2] - line[0][2]) / (line[1][1] - line[0][1]) * y + \
line[1][2] - (line[1][2] - line[0][2]) / (line[1][1] - line[0][1]) * line[0][2]
ax.plot3D(x, y, z, 'green')
else:
x = np.linspace(line[0][0], line[1][0])
y = (line[1][1] - line[0][1]) / (line[1][0] - line[0][0]) * x + \
line[1][1] - (line[1][1] - line[0][1]) / (line[1][0] - line[0][0]) * line[0][1]
z = (line[1][2] - line[0][2]) / (line[1][0] - line[0][0]) * x + \
line[1][2] - (line[1][2] - line[0][2]) / (line[1][0] - line[0][0]) * line[0][2]
ax.plot3D(x, y, z, 'green')
plt.show()
return True
las_file = "xxx.las"
points = read_las_ins(las_file)
xyz = points[:, : 3]
classes = points[:, 3]
instance = points[:, 4]
lines = [((0,0,0), (100, 50, 100))]
plot_3d_with_line(xyz=xyz, classes=instance, lines=lines, cm='tab20')
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