mayavi可视化kitti

安装可视化环境，大概就下面几个包

conda install python=3.6.2

pip install pyqt5==5.15.2

pip install mayavi==4.6.0

报错

Fatal Python error: _PyInterpreterState_Get(): no current thread state

解决conda install python==3.6 

代码

import numpy as np
from mayavi import mlab

if __name__ == '__main__':
    bin_file = r'D:\pycharm\project\PTT\data\kitti\training\velodyne\0000\000000.bin'
    pointcloud = np.fromfile(bin_file, dtype=np.float32, count=-1).reshape([-1, 4])

    x = pointcloud[:, 0]  # x position of point
    y = pointcloud[:, 1]  # y position of point
    z = pointcloud[:, 2]  # z position of point
    r = pointcloud[:, 3]  # reflectance value of point

    d = np.sqrt(x ** 2 + y ** 2)  # Map Distance from sensor

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

    fig = mlab.figure(bgcolor=(1, 1, 1), size=(700, 500))
    mlab.points3d(x, y, z,
                  d,  # Values used for Color
                  mode="point",
                  colormap='spectral',  # 'bone', 'copper', 'gnuplot', 'spectral', 'summer'
                  # color=(0, 1, 0),   # Used a fixed (r,g,b) instead
                  figure=fig)
    mlab.show()