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- import open3d as o3d
- import numpy as np
- def pcd_to_binary(pcd_file, output_file):
- pcd = o3d.io.read_point_cloud(pcd_file)
- points = np.asarray(pcd.points)
- binary_data = points[:, :3]
- with open(output_file, 'wb') as f:
- f.write(binary_data.tobytes())
- # def binary_to_nparray(binary_file, output_file):
- # with open(binary_file, 'rb') as f:
- # binary_data = f.read()
- # # 将二进制数据转换为 NumPy 数组
- # point_cloud = np.frombuffer(binary_data, dtype=np.float64).reshape(-1, 3)
- # np.savetxt(output_file, point_cloud)
- if __name__ == '__main__':
- pcd_to_binary(r'/home/robot/ROS/ren_yuan/ren_yuan_pointcloud/123.pcd', r'/home/robot/ROS/ren_yuan/ren_yuan_pointcloud/pointcloud.txt')
- #binary_to_nparray(r'./pointcloud.txt', r'./111123123123.txt')
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