点云数据处理

1. pcd数据可视化

import os
import numpy as np
import struct
import open3d as o3d

def main():
    file_path='/data/elon/checkpoint/data/map.pcd' # 数据路径
    pcd = o3d.io.read_point_cloud(file_path)
    # 转化为numpy
    points_array = np.array(pcd.points)
    points_array = points_array[80000:180000,:]
    print(points_array.shape)
    
    # 转化为ply格式
    ply = o3d.geometry.TriangleMesh()
    ply.vertices = o3d.utility.Vector3dVector(points_array)     
    
    # 保存为ply格式
    ply_path = '/data/elon/checkpoint/data/a.ply'
    o3d.io.write_triangle_mesh(ply_path, ply)
    o3d.io.write_triangle_mesh (ply_path, ply, write_ascii=True)   # 指定编码方式减少错误，也可以直接打开查看

if __name__ == '__main__':
    main()

2. 未完待续… …