点云文件的读取与转换(bin,pcd,txt)

一、bin的读取与保存

import numpy as np
points = np.fromfile(file_path, dtype=np.float32).reshape(-1, 4)

保存

points.tofile('/media/wangchen/KINGSTON/数据集/pcd to bin/125.bin')

二、PCD的读取与保存

见这一篇文章如何读取或转换PCD点云文件_CVplayer111的博客-CSDN博客

三、TXT的读取与保存

def read_pcd(filepath):
    lidar = []
    with open(filepath, 'r', encoding='utf-8') 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)
#方式二
with open(label_file, 'r') as f:
    lines = f.readlines()
objects = [line.strip().split(' ') for line in lines]
return objects

import numpy as np
a = np.ones((2, 2))
##四个参数依次为文件名、数组、数据类型（浮点型）、分隔符（逗号）
np.savetxt("a.txt", a, fmt = '%f', delimiter = ',')
b = np.loadtxt('a.txt', delimiter = ',')