点云常见数据处理

1. .pcd->.bin转换成kitti格式的点云文件：

import os
import numpy as np
import fire

def read_pcd(filepath):
    lidar = []
    with open(filepath,'r') 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)


def convert(pcdfolder, binfolder):
    current_path = os.getcwd()
    ori_path = os.path.join(current_path, pcdfolder)
    file_list = os.listdir(ori_path)
    des_path = os.path.join(current_path, binfolder)
    if os.path.exists(des_path):
        pass
    else:
        os.makedirs(des_path)
    for file in file_list: 
        (filename,extension) = os.path.splitext(file)
        velodyne_file = os.path.join(ori_path, filename) + '.pcd'
        pl = read_pcd(velodyne_file)
        pl = pl.reshape(-1, 4).astype(np.float32)
        velodyne_file_new = os.path.join(des_path, filename) + '.bin'
        pl.tofile(velodyne_file_new)
    
if __name__ == "__main__":
    fire.Fire()

2.Python txt转pcd（带RGB值，点云）

1、有numpy就能运行，假如需要转换的TXT文件有header，需要删除header才能运行；
2、直接运行代码，按运行提示输入TXT文件路径和PCD文件保存路径即可，不需要修改代码。

import os
import sys
import numpy as np

def creat_pcd(input_path, output_path):
    
    #Lodaing txt
    Full_Data = np.loadtxt(input_path)
    
    #Creating pcd
    if os.path.exists(output_path):
        os.remove(output_path)
    Output_Data = open(output_path, 'a')
    Output_Data.write('# .PCD v0.7 - Point Cloud Data file format\nVERSION 0.7\nFIELDS x y z rgba\nSIZE 4 4 4 4\nTYPE F F F U\nCOUNT 1 1 1 1')
    string = '\nWIDTH ' + str(Full_Data.shape[0])
    Output_Data.write(string)
    Output_Data.write('\nHEIGHT 1\nVIEWPOINT 0 0 0 1 0 0 0')
    string = '\nPOINTS ' + str(Full_Data.shape[0])
    Output_Data.write(string)
    Output_Data.write('\nDATA ascii')
    for j in range(Full_Data.shape[0]):
        R=Full_Data[j,3]
        G=Full_Data[j,4]
        B=Full_Data[j,5]
        value = (int(R) << 16 | int(G) << 8 | int(B))
        string = ('\n' + str(Full_Data[j,0]) + ' ' + str(Full_Data[j, 1]) + ' ' +str(Full_Data[j, 2]) + ' ' + str(value))
        Output_Data.write(string)
    Output_Data.close()
    
    print('--------------Completed--------------')

a = input("请输入TXT文件路径：")#文件路径中斜杆使用"/"，比如：D:/pcl/points.txt
b = input("请输入PCD文件保存路径：")#比如：D:/pcl/points.pcd

creat_pcd(a, b)