python pcl教程_python-pcl安装教程

在开始前，先说明一下，pcl的库安装不简单，不仅需要pip安装，还需要安装C++的pcl库，所以整个流程会比较漫长。鉴于官方参考网站的python-pcl太麻烦，我会用pclpy来代替python-pcl

官方参考网站：https://github.com/strawlab/python-pcl

1. 安装C++的pcl库PCL All-In-One Installer

http://pointclouds.org/downloads/windows.html

2. 安装Windows Gtk+ Download

http://www.tarnyko.net/dl/gtk.htm

3. 安装pclpy，这里用pclpy代替python-pcl，避免新手要编译的麻烦

pip install pclpy

最后展示一下使用例程，这里包含三个方法：

1. 将pcd转成bin(kitti格式)

2. pcd两种保存格式(binary/ascii)，将binary转成ascii格式

3. 显示pcd格式

import pclpy

from pclpy import pcl

import numpy as np

def show_pcd(pcd_src_path):

''' 显示pcd内容'''

pcl_file = pcl.PointCloud.PointXYZI()

pcl.io.loadPCDFile(pcd_src_path, pcl_file)

viewer = pcl.visualization.PCLVisualizer('PCD viewer')

viewer.addPointCloud(pcl_file)

while(not viewer.wasStopped()):

viewer.spinOnce(100)

if __name__ == '__main__':

pcd_src_path = r'C:\others\python\label_for_3d_desktop\label_for_3d_now\data\cross_walk.pcd'

pcd_ascii_dst_path = r'C:\others\python\label_for_3d_desktop\label_for_3d_now\data\cross_walk-ascii.pcd'

bin_dst_path = r'C:\others\python\label_for_3d_desktop\label_for_3d_now\data\cross_walk.bin'

show_pcd(pcd_src_path)