遍历文件夹下面的所有bin文件
def init_pcd_files_list(pcd_files_path):
pcd_files_list=[]
for file in Path(pcd_files_path).rglob("*.bin"):
pcd_files_list.append(str(file))
pcd_files_list = sorted(spcd_files_list, key=lambda p: Path(p).stem)
return pcd_files_list
1. .pcd->.bin转换成kitti格式的点云文件：
import os
import numpy as np
import fire
def read_pcd(filepath):
lidar = []
with open(filepath,'r') as f:
line = f.readline().strip()
while line:
linestr = line.split(" ")
if len(linestr) == 4:
linestr_convert = list(map(float, linestr))
lidar.append(linestr_convert)
line = f.readline().strip()
return np.array(lidar)
def convert(pcdfolder, binfolder):
current_path = os.getcwd()
ori_path = os.path.join(current_path, pcdfolder)
file_list = os.listdir(ori_path)
des_path = os.path.join(current_path, binfolder)
if os.path.exists(des_path):
pass
else:
os.makedirs(des_path)
for file in file_list:
(filename,extension) = os.path.splitext(file)
velodyne_file = os.path.join(ori_path, filename) + '.pcd'
pl = read_pcd(velodyne_file)
pl = pl.reshape(-1, 4).astype(np.float32)
velodyne_file_new = os.path.join(des_path, filename) + '.bin'
pl.tofile(velodyne_file_new)
if __name__ == "__main__":
fire.Fire()
2.Python txt转pcd（带RGB值，点云）
1、有numpy就能运行，假如需要转换的TXT文件有header，需要删除header才能运行；
2、直接运行代码，按运行提示输入TXT文件路径和PCD文件保存路径即可，不需要修改代码。
import os
import sys
import numpy as np
def creat_pcd(input_path, output_path):
#Lodaing txt
Full_Data = np.loadtxt(input_path)
#Creating pcd
if os.path.exists(output_path):
os.remove(output_path)
Output_Data = open(output_path, 'a')
Output_Data.write('# .PCD v0.7 - Point Cloud Data file format\nVERSION 0.7\nFIELDS x y z rgba\nSIZE 4 4 4 4\nTYPE F F F U\nCOUNT 1 1 1 1')
string = '\nWIDTH ' + str(Full_Data.shape[0])
Output_Data.write(string)
Output_Data.write('\nHEIGHT 1\nVIEWPOINT 0 0 0 1 0 0 0')
string = '\nPOINTS ' + str(Full_Data.shape[0])
Output_Data.write(string)
Output_Data.write('\nDATA ascii')
for j in range(Full_Data.shape[0]):
R=Full_Data[j,3]
G=Full_Data[j,4]
B=Full_Data[j,5]
value = (int(R) << 16 | int(G) << 8 | int(B))
string = ('\n' + str(Full_Data[j,0]) + ' ' + str(Full_Data[j, 1]) + ' ' +str(Full_Data[j, 2]) + ' ' + str(value))
Output_Data.write(string)
Output_Data.close()
print('--------------Completed--------------')
a = input("请输入TXT文件路径：")#文件路径中斜杆使用"/"，比如：D:/pcl/points.txt
b = input("请输入PCD文件保存路径：")#比如：D:/pcl/points.pcd
creat_pcd(a, b)
3.Python 点云.las转.pcd
# -*- coding: utf-8 -*-
# 读取las文件 并保留为 XYZI格式的pcd文件
from pclpy import pcl
from laspy.file import File # las文件读取
import numpy as np # np数组处理
import time # 计算耗时
# las读取转为 pcd的cloud形式，只保留 XYZI
def getCloud(las_path,pcd_path):
f = File(las_path, mode='r')
# inFile = np.vstack((f.x, f.y, f.z, f.intensity)).transpose()
# inFile = np.vstack((f.x-f.x[0], f.y-f.y[0], f.z, f.intensity)).transpose()[0:480000]
inFile = np.vstack((f.x, f.y, f.z)).transpose() - f.header.offset #inFile shape = (N,3)
rgb = np.vstack((f.red,f.green,f.blue)).transpose()
# cloud = pcl.PointCloud.PointXYZRGBA().from_array(np.array(inFile, dtype=np.float32),rgb)
cloud = pcl.PointCloud.PointXYZI().from_array(np.array(inFile, dtype=np.double))
pcl.io.savePCDFileASCII(pcd_path,cloud)
# cloud.from_array(np.array(inFile, dtype=np.float32))
f.close()
return cloud
def main():
las_path = r"/media/data/zs/project/semantic3d/data/pcd_seg/pcd/202306210615530000_202306210644350000/202306210622170010_202306210622220153.las"
pcd_path = r"/media/data/zs/project/semantic3d/data/pcd_seg/pcd/caizhendong/1001140020191217_las2pcd_0.pcd"
end1 = time.time()
cloud = getCloud(las_path, pcd_path)
end2 = time.time()
print("las2pcd 耗时:%.2f秒" % (end2 - end1))
print('-------endl----------')
if __name__ == '__main__':
main()
使用laspy注意事项：
一、las1.4官方文档有下图：
这里的Xrecord指的是laspy文件中的大写X，Xcoordinate指的是laspy文件中的小写x，Xrecord、Xcoordinate能保存的范围是不同的，例如保存大坐标时，Xcoordinate（laspy文件中的大写X）保存大坐标（大值或者说大范围值，如38537619.88568608），Xrecord（laspy文件中的小写x）保存偏移量（小值或者说小范围值，如170、260等），Xrecord一般时整数。个人理解可能laspy里面只存储了Xrecord和（offset and scale），Xcoordinate是算出来的，因为Xrecord值小，存储不费内存，Xcoordinate值更大，存储更费内存。
弄错了会报如下错误：
发生异常: OverflowError
Values given do not fit after applying offset and scale
Xscale和Xoffset都是laspy文件中head里面的，Xscale一般是小于1的树，比如（0.01，0.01，0.001），Xoffset代表偏移量，一般存储第一个值或者las中的最小值。
二、las.classification
laspy文件中既有las.classification又有las.Classification，使用las.Classification保存点类别标签后，cloudcompare软件查看不了Classification属性，但使用las.classification保存点类别标签后，cloudcompare软件可以查看classification属于，正确写法如下：
# save_point_cloud
def save_point_cloud(las_narray, label, out_path, header=None, is_deployment=True):
# las_narray[:, 0:3] = las_narray[:, 0:3] + header.offsets
cloud = las_narray[:, 0:3]
indensity = las_narray[:, 3]
gps_time = las_narray[:, 4]
# label = las_narray[:, 5]
points = np.array(cloud)
print('points.shape=', points.shape)
if header is None:
header = laspy.LasHeader(point_format=3, version="1.2")
header.offsets = np.min(points[:, 0:3], axis=0)
print('header.offsets', header.offsets)
header.scales = np.array([0.01, 0.01, 0.01])
# with laspy.open(out_path, mode="w", header=header) as writer:
# point_record = laspy.ScaleAwarePointRecord.zeros(len(points), header=header)
# point_record.x = points[:, 0]
# point_record.y = points[:, 1]
# point_record.z = points[:, 2]
# point_record.intensity = indensity
# print('is_deployment=', is_deployment)
# if is_deployment is True:
# point_record.gps_time = gps_time
# writer.write_points(point_record)
# 2. Create a Las
# header.add_extra_dim(laspy.ExtraBytesParams(name="intensity", type=np.int32))
las = laspy.LasData(header)
las.x = points[:, 0]
las.y = points[:, 1]
las.z = points[:, 2]
las.intensity = indensity
las.classification = label
las.gps_time = gps_time
# las.label = label
las.write(out_path)
return
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