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"cells": [
{
"cell_type": "heading",
"level": 1,
"metadata": {},
"source": [
"3D Rotation of a Point Cloud"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"import numpy as np\n",
"import matplotlib.pyplot as plt\n",
"from mpl_toolkits.mplot3d import Axes3D\n",
"from IPython.html.widgets import interact\n",
"from IPython.html import widgets\n",
"import pandas as pd"
],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 200
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"%matplotlib inline\n",
"np.set_printoptions(suppress=True, precision=3) # to avoid 1e-17 expressions in rotation matrix"
],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 201
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{
"cell_type": "heading",
"level": 2,
"metadata": {},
"source": [
"Read Point Cloud Library File"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Following Scene was generated with [BlenSor](http://www.blensor.org/) and a [Point Cloud Library](http://pointclouds.org/) File (*.pcd) was exported.\n",
"\n",
""
]
},
{
"cell_type": "code",
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"input": [
"pc = pd.read_csv('Pointcloud00002.pcd', names=['x','y','z','rgb'], skiprows=11, sep=' ')\n",
"pc=pc[['x','y','z']]\n",
"pc.head(3)"
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"metadata": {},
"outputs": [
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