【Python-Open3D学习笔记】002数据格式转化

【Python-Open3D学习笔记】002数据格式转化

1. ply —> pcd

def ply2pcd(ply_file: str, pcd_file: str) -> None:
    """
    .ply -> .pcd
    :param ply_file: .ply文件路径
    :param pcd_file: .pcd文件路径
    :return: None
    """
    ply = o3d.io.read_point_cloud(ply_file)
    # 将点云保存为PCD文件
    o3d.io.write_point_cloud(pcd_file, ply)

2. pcd —> ply

def pcd2ply(pcd_file: str, ply_file: str) -> None:
    """
    .pcd -> .ply
    :param pcd_file: .pcd文件路径
    :param ply_file: .ply文件路径
    :return:None
    """
    # 读取.ply文件
    point_cloud = o3d.io.read_point_cloud(ply_file)

3. pcd —> DataFrame/csv

def pcd2df_and_csv(ply_file: str, csv_file: str) -> None:
    """
    .ply -> DataFrame/.csv
    :param ply_file: .ply文件路径
    :param csv_file: .csv文件路径
    :return: None
    """
    pcd = o3d.io.read_point_cloud(ply_file)
    points = np.asarray(pcd.points)
    colors = np.asarray(pcd.colors) if pcd.colors else None
    normals = np.asarray(pcd.normals) if pcd.normals else None

    data = {
        'x': points[:, 0],
        'y': points[:, 1],
        'z': points[:, 2]
    }

    if colors is not None:
        data['r'] = colors[:, 0]
        data['g'] = colors[:, 1]
        data['b'] = colors[:, 2]

    if normals is not None:
        data['nx'] = normals[:, 0]
        data['ny'] = normals[:, 1]
        data['nz'] = normals[:, 2]

    df = pd.DataFrame(data)

    df.to_csv(csv_file, index=False)

4. DataFrame/csv —> pcd

def csv_and_df2pcd(df: DataFrame) -> PointCloud:
    """
    DataFrame -> .pcd
    DataFrame格式数据pd.read_csv(".csv文件路径")即可获得
    :param df: DataFrame格式三维数据
    :return: PointCloud格式数据
    """
    points = df[['x', 'y', 'z']].values
    pcd = o3d.geometry.PointCloud()
    pcd.points = o3d.utility.Vector3dVector(points)
    # 如有其他信息可继续添加，如colors、normals等等
    return pcd

5. ply —> DataFrame/csv

def ply2csv_and_df(ply_file: str) -> DataFrame:
    """
    .ply -> .csv/DataFrame
    :param ply_file:
    :return:
    """
    point_cloud = o3d.io.read_point_cloud(ply_file)
    points = np.asarray(point_cloud.points)

    if point_cloud.has_colors():  # 如果有颜色
        colors = np.asarray(point_cloud.colors)
    else:
        colors = None

    if colors is not None:  # 如果有颜色
        df = pd.DataFrame(data=np.hstack((points, colors)), columns=['x', 'y', 'z', 'r', 'g', 'b'])
    else:
        df = pd.DataFrame(data=points, columns=['x', 'y', 'z'])

    # 如果需要写入文件 df.to_csv("文件路径")即可
    return df

6. DataFrame/csv —> ply

def csv_and_df2ply(df: DataFrame, ply_file: str):
    """
    .csv/DataFrame -> .ply
    :param df: DataFrame数据
    :param ply_file: .ply文件路径
    :return: None
    """
    # 提取点云数据
    points = df[['x', 'y', 'z']].values

    # 如果有颜色信息，也可以提取颜色数据
    # colors = df[['red', 'green', 'blue']].values / 255.0  # 假设颜色值在 0-255 范围内

    # 创建 PointCloud 实例
    point_cloud = o3d.geometry.PointCloud()
    point_cloud.points = o3d.utility.Vector3dVector(points)

    # 如果有颜色信息，设置点云的颜色
    # point_cloud.colors = o3d.utility.Vector3dVector(colors)

    # 保存为.ply文件
    o3d.io.write_point_cloud(ply_file, point_cloud)

7. 小结

转化格式主要清楚每种数据结构中都存储了哪些属性和你业务需求中需要保留哪些属性即可，比如PointCloud（.pcd）格式有数据的points（笛卡尔坐标）、colors（RGB颜色）、normals（法线）、covariances（协方差）。