Ubuntu20.04环境下python实现PCD文件中点云数据存储类型ascii与binary的格式转换

• 安装Anaconda

• 在Anaconda环境下安装安装 PCL 和 pclpy
  安装pclpy

  conda install -c conda-forge -c davidcaron pclpy
  

• 报错
  1、ImportError: libqhull_p.so.7: cannot open shared object file: No such file or directory
  解决方法：

  conda install qhull==2019.1
  conda install -c conda-forge -c davidcaron pclpy
  

  2、PackagesNotFoundError: The following packages are not available from current channels
  解决方法：

  conda config --append channels conda-forge
  重新执行报错1的命令
  

• 转换程序
  1、ascii转binary

  import pclpy.pcl
  
  def ascii_binary(pcd_src_path, pcd_dst_path):
      pcl_file = pclpy.pcl.PointCloud.PointXYZI()
      pclpy.pcl.io.loadPCDFile(pcd_src_path, pcl_file)
      pclpy.pcl.io.savePCDFileBinary(pcd_dst_path, pcl_file)
  
  if __name__ == "__main__":
      import sys
      if len(sys.argv) < 3:
          print("Usage: python convert_pcd.py <source_pcd_path> <destination_pcd_path>")
      else:
          source_path = sys.argv[1]
          destination_path = sys.argv[2]
          ascii_binary(source_path, destination_path)
  

  2、binary转ascii

  import pclpy.pcl
  
  def pcl_binary_ascii(pcd_src_path, pcd_dst_path):
      pcl_file = pclpy.pcl.PointCloud.PointXYZI()
      pclpy.pcl.io.loadPCDFile(pcd_src_path, pcl_file)
      pclpy.pcl.io.savePCDFileASCII(pcd_dst_path, pcl_file)
  
  if __name__ == "__main__":
      import sys
      if len(sys.argv) < 3:
          print("Usage: python convert_pcd.py <source_pcd_path> <destination_pcd_path>")
      else:
          source_path = sys.argv[1]
          destination_path = sys.argv[2]
          pcl_binary_ascii(source_path, destination_path)
  

• 参考链接：https://blog.csdn.net/zhuxingKevin/article/details/129183767、https://blog.csdn.net/weixin_45552562/article/details/109668589