值得学习的地方:
import numpy as np
from PIL import Image
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])
shifted_coord = point_cloud[:, :2] + np.array([x_range, y_range])
index = np.floor(shifted_coord / grid_size).astype(np.int)
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]
image = np.zeros((640, 640), dtype=np.uint8)
image[index[:, 0], index[:, 1]] = 255
res = Image.fromarray(image)
res.show()