pclpy点云pcd数据格式binary与ascii互转

zhuxingKevin

于 2023-02-23 16:08:20 发布

阅读量1.1k

点赞数 1

分类专栏：技术学习文章标签： python 自动驾驶

本文链接：https://blog.youkuaiyun.com/zhuxingKevin/article/details/129183767

版权

技术学习专栏收录该内容

16 篇文章

订阅专栏

环境：

使用python3.7：conda create --name py37 python=3.7

安装包：conda install -c conda-forge -c davidcaron pclpy

pcd的binary转ascii

def pcl_binary_ascii(pcd_src_path, pcd_dst_path):
    pcl_file = pclpy.pcl.PointCloud.PointXYZI()
    pclpy.pcl.io.loadPCDFile(pcd_src_path, pcl_file)
    pclpy.pcl.io.savePCDFileASCII(pcd_dst_path, pcl_file)

pcd的ascii转binary

def ascii_binary(pcd_src_path, pcd_dst_path):
    pcl_file = pclpy.pcl.PointCloud.PointXYZI()
    pclpy.pcl.io.loadPCDFile(pcd_src_path, pcl_file)
    pclpy.pcl.io.savePCDFileBinary(pcd_dst_path, pcl_file)

pcd中x，y，z的单位处理

将原先的厘米单位转换成米：

def pcd_unity(pcd_src_path, pcd_dst_path):
    pcl_file = pclpy.pcl.PointCloud.PointXYZI()
    pclpy.pcl.io.loadPCDFile(pcd_src_path, pcl_file)
    for i in range(len(pcl_file.points)):
        pcl_file.points[i].x /= 100
        pcl_file.points[i].y /= 100
        pcl_file.points[i].z /= 100
    pclpy.pcl.io.savePCDFileBinary(pcd_dst_path, pcl_file)