txt 转 pcd
import open3d as o3d
import numpy as np
data = np.loadtxt(r"../test.txt")
data[:, 3:6] = data[:, 3:6] / 255
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(data[:, :3])
pcd.colors = o3d.utility.Vector3dVector(data[:, 3:6])
o3d.io.write_point_cloud("./res.pcd", pcd)
pcd 转 txt
import open3d as o3d
import numpy as np
pcd = o3d.io.read_point_cloud(r"../test.pcd")
pcd_combined = np.column_stack((np.asarray(pcd.points), np.asarray(pcd.colors) * 255))
np.savetxt('./res.txt', pcd_combined, fmt='%f %f %f %d %d %d')