示例
备注:示例代码的.bin文件的后缀‘.bin’在转换前已经去掉了
import numpy as np
def load_pc_kitti(pc_path, index):
print(index)
scan = np.fromfile(pc_path, dtype=np.float32)
scan = scan.reshape((-1, 4))
points = scan[:, :] # get xyz
f = open('/home/yangguide/Documents/lidar_3dssd/data/velodynetxt/%d' % index, 'w')
for i in range(points.shape[0]):
for j in range(4):
strNum = str(points[i][j])
f.write(strNum)
f.write(' ')
f.write('\n')
f.close()
print(points)
return points
for index in range(0, 2244):
pc_path = "/home/yangguide/Documents/lidar_3dssd/data/velodyne_new/%d" % index
load_pc_kitti(pc_path, index)