pcd格式点云数据的读取和显示

本文基于python-pcl实现，python-pcl可以通过pycharm的Settings<<Project中搜索python-pcl实现安装，python-pcl相关例程：https://github.com/strawlab/python-pcl/tree/master/examples

pcd数据的读取并保存为txt

#-*- coding:utf-8 -*-
import pcl
import os

point_3d = []
cloud = pcl.load('/home/song/pcl_test/test.pcd')
f=open('/home/song/pcl_test/point_3d.txt','w')
print('共计 ' + str(cloud.width * cloud.height) +' 个点')
for i in range(0, cloud.size):
    x_raw = float(cloud[i][0])
    y_raw = float(cloud[i][1])
    z_raw = float(cloud[i][2])
    point_3d = []
    point_3d.append(x_raw)
    point_3d.append(y_raw)
    point_3d.append(z_raw)
    print(point_3d)
    f.write(str(point_3d[0])+','+str(point_3d[1])+','+str(point_3d[2])+'\n')

结果如下：

pcd数据的可视化

#-*- coding:utf-8 -*-
from __future__ import print_function
import numpy as np
import pcl
import pcl.pcl_visualization



def main():
    cloud = pcl.load("/home/song/pcl_test/test.pcd")
    centred = cloud - np.mean(cloud, 0)
    ptcloud_centred = pcl.PointCloud()
    ptcloud_centred.from_array(centred)

    visual = pcl.pcl_visualization.CloudViewing()
    visual.ShowMonochromeCloud(ptcloud_centred, b'cloud')

    v = True
    while v:
        v = not(visual.WasStopped())


if __name__ == "__main__":
    main()

结果如下：