python读写自定义格式的pcd文件

自定义格式的pcd文件"/>

python读写自定义格式的pcd文件

lio-sam中pose是按照x y z i roll pitch yaw time 存储的，需要用python读取或者保存。

读pcd

from lidar_mapping.tools import py3pcd
import numpy as np
from scipy.spatial.transform import Rotation as Rdef read_transformations(filename: str):pc = py3pcd.PointCloud.from_path(filename)data = pc.pc_data.view(np.dtype([("x", np.float32), ("y", np.float32), ("z", np.float32), ("intensity", np.float32),("roll", np.float32),("pitch", np.float32),("yaw", np.float32),("time", np.float64)])).reshape(-1, 1)return data

写pcd

import numpy as np
from lidar_mapping.tools import py3pcd# 创建一个包含点云数据的numpy array
point_cloud = np.array([[1.0, 2.0, 3.0, 0.5, 0.1, 0.2, 0.3, 1234567890.1],[4.0, 5.0, 6.0, 0.6, 0.4, 0.5, 0.6, 1234567900.24]], dtype=np.dtype([("x", np.float32), ("y", np.float32), ("z", np.float32), ("intensity", np.float32),("roll", np.float32),("pitch", np.float32),("yaw", np.float32),("time", np.float64)]))pcl_data = py3pcd.PointCloud.from_array(point_cloud)
pcl_data.save_pcd('point_cloud.pcd', compression='binary')