点云 3D 数据 离线状况 通常以 “.pcd”、“.bin” 等格式存储,其中 “.pcd” 文件在 Ubuntu 下可以方便的使用 pcl_viewer 命令查看;而 “.bin” 格式 则可 以最少的 库依赖 完成对点云的读取保存。
当前默认支持的是 python 2.* 环境, python 3.* 下的安装需要适配版本,不然使用过程中会报错
pip install pypcd
git clone https://github.com/dimatura/pypcd
cd pypcdgit fetch origin pull/9/head:python3git checkout python3python3 setup.py install
import numpy as np
from pypcd import pypcdfile_path = "/home/hjw/point_cloud/test.pcd"# read data
pcd = pypcd.PointCloud.from_path(file_path)
point_cloud = np.zeros((pcd.points, len(pcd.fields)), dtype=np.float32)for i, field in enumerate(pcd.fields):point_cloud[:, i] = np.transpose(pcd.pc_data[field])# x, y, z, intensity
point_cloud = point_cloud[:, 0:4]# store_path = "/home/hjw/point_cloud/test_save.pcd"# # save as binary compressed
# pcd.save_pcd(store_path , compression='binary_compressed')
import numpy as npfile_path = "/home/hjw/point_cloud/test.bin"# read data
point_cloud = np.fromfile(file_path , dtype=np.float32)
point_cloud = point_cloud.reshape((-1, 4))# x, y, z, intensity
point_cloud = point_cloud[:, 0:4]# store_path = "/home/hjw/point_cloud/test_save.bin"# # save data
# point_cloud.tofile(store_path)
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