文章目录

点云格式转换1. C++ PCL PCD2BIN BIN2PCD2. C++ PCL PCD2TXT3. python PCD2TXT4. python TXT2PCD5. python PLY2PCD

点云格式转换

1. C++ PCL PCD2BIN BIN2PCD

运行这个文件需安装配置PCL环境

#include <iostream> #include <pcl/io/pcd_io.h>#include <pcl/point_types.h>#include <string>#include <vector>#include <stdio.h>//#include <dirent.h>#include <io.h>using namespace std;//遍历文件夹获取文件夹下文件名void getFileNames(string path, vector<string>& files){//文件句柄intptr_t hFile = 0;//文件信息struct _finddata_t fileinfo;string p;if ((hFile = _findfirst(p.assign(path).append("/*").c_str(), &fileinfo)) != -1){do{//如果是目录,递归查找//如果不是,把文件绝对路径存入vector中if ((fileinfo.attrib & _A_SUBDIR)){if (strcmp(fileinfo.name, ".") != 0 && strcmp(fileinfo.name, "..") != 0)getFileNames(p.assign(path).append("/").append(fileinfo.name), files);}else{files.push_back(p.assign(path).append("/").append(fileinfo.name));}} while (_findnext(hFile, &fileinfo) == 0);_findclose(hFile);}}void pcd2bin(string in_file, string out_file){//Create a PointCloud valuepcl::PointCloud<pcl::PointXYZI>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZI>);//Open the PCD fileif (pcl::io::loadPCDFile<pcl::PointXYZI>(in_file, *cloud) == -1){PCL_ERROR("Couldn't read in_file\n");}//Create & write .bin fileofstream bin_file(out_file.c_str(), ios::out | ios::binary | ios::app);if (!bin_file.good()) cout << "Couldn't open " << out_file << endl;//PCD 2 BIN for (size_t i = 0; i < cloud->points.size(); ++i){bin_file.write((char*)&cloud->points[i].x, 3 * sizeof(float));bin_file.write((char*)&cloud->points[i].intensity, sizeof(float));//bin_file.write(0, sizeof(float));}bin_file.close();}void bin2pcd(string in_file, string out_file) {fstream input(in_file.c_str(), ios::in | ios::binary);if (!input.good()) {cerr << "Couldn't read in_file: " << in_file << endl;}pcl::PointCloud<pcl::PointXYZI>::Ptr points(new pcl::PointCloud<pcl::PointXYZI>);int i;for (i = 0; input.good() && !input.eof(); i++) {pcl::PointXYZI point;input.read((char *)&point.x, 3 * sizeof(float));input.read((char *)&point.intensity, sizeof(float));points->push_back(point);}input.close();pcl::io::savePCDFileASCII(out_file, *points);}int main(int argc, char** argv) {vector<string> fileNames;//将路径更改为要修改的点云的存储目录路径string path("E:/DataSet/Tof_Image/PCDcloud/"); getFileNames(path, fileNames);for (const auto &ph : fileNames) {std::cout << "ph: "<< ph<< "\n";//不带路径的文件名string::size_type iPos = ph.find_last_of("/") + 1;string filename = ph.substr(iPos, path.length() - iPos);cout <<"filename: "<< filename << endl;//不带后缀的文件名string name = filename.substr(0, filename.rfind("."));cout <<"name: "<< name << endl;//记得将这里的路径改为自己转换后的点云要存储的文件路径//pcd格式的点云转成bin格式的，对于不含强度信息的点云会提示缺少强度intensity信息，但还是可以转换成功pcd2bin(ph, "E:/DataSet/Tof_Image/binCloud/"+ name+".bin");//bin格式的点云转成pcd格式的,使用方法注释上面那行，取消注释下面这行。//bin2pcd(ph, "E:/DataSet/PCD/" + name + ".pcd");}return 0;}

2. C++ PCL PCD2TXT

#include <iostream>#include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include <pcl/filters/voxel_grid.h>using namespace std;void pclDownsize(pcl::PointCloud<pcl::PointXYZ>::Ptr in, pcl::PointCloud<pcl::PointXYZ>::Ptr out){pcl::VoxelGrid<pcl::PointXYZ> down_filter;float leaf = 0.1;down_filter.setLeafSize(leaf, leaf, leaf);down_filter.setInputCloud(in);down_filter.filter(*out);}//遍历文件夹获取文件夹下文件名void getFileNames(string path, vector<string>& files){intptr_t hFile = 0;struct _finddata_t fileinfo;string p;if ((hFile = _findfirst(p.assign(path).append("/*").c_str(), &fileinfo)) != -1){do{//如果是目录,递归查找//如果不是,把文件绝对路径存入vector中if ((fileinfo.attrib & _A_SUBDIR)){if (strcmp(fileinfo.name, ".") != 0 && strcmp(fileinfo.name, "..") != 0)getFileNames(p.assign(path).append("/").append(fileinfo.name), files);}else{files.push_back(p.assign(path).append("/").append(fileinfo.name));}} while (_findnext(hFile, &fileinfo) == 0);_findclose(hFile);}}void pcd2txt(string in_file, string out_file){pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);// pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_out(new pcl::PointCloud<pcl::PointXYZ>);// Fill in the cloud data if (pcl::io::loadPCDFile<pcl::PointXYZ>(in_file, *cloud) == -1){PCL_ERROR("Couldn't read file \n");//return (0);}// pclDownsize(cloud,cloud_out);cout << "points cloud is successfully loaded! " << endl;//for (size_t i = 0; i < cloud->points.size(); i++)// std::cout << " " << cloud->points[i].x << " " << cloud->points[i].y// <<" "<< cloud->points[i].z << std::endl;int Num = cloud->points.size();double *X = new double[Num] {0};double *Y = new double[Num] {0};double *Z = new double[Num] {0};cout << "size is : " << cloud->points.size() << endl;for (size_t i = 0; i < cloud->points.size(); ++i){X[i] = cloud->points[i].x;Y[i] = cloud->points[i].y;Z[i] = cloud->points[i].z;//cout << "first " << i << " of " << Num << endl;}ofstream zos(out_file);for (int i = 0; i < cloud->points.size(); i++){zos << X[i] << " " << Y[i] << " " << Z[i] << endl;//cout << "second " << i << " of " << Num << endl;}cout << "trans has done!!!" << endl;//cin.get();}int main(int argc, char *argv[]){vector<string> fileNames;string path("E:/DataSet/points"); getFileNames(path, fileNames);for (const auto &ph : fileNames) {std::cout << "ph: " << ph << "\n";//不带路径的文件名string::size_type iPos = ph.find_last_of("/") + 1;string filename = ph.substr(iPos, path.length() - iPos);cout << "filename: " << filename << endl;//不带后缀的文件名string name = filename.substr(0, filename.rfind("."));cout << "name: " << name << endl;pcd2txt(ph, "E:/DataSet/bin/" + name + ".txt");}return 0;}

3. python PCD2TXT

import osfrom os import listdir, pathpath_str = 'E:/desktop/PointCloud/OpenPCDet/data/carton/testing/points' # your directory pathtxts = [f for f in listdir(path_str)if f.endswith('.pcd') and path.isfile(path.join(path_str, f))]for txt in txts:with open(os.path.join(path_str, txt), 'rb') as f:lines = f.readlines()with open(os.path.join(path_str,os.path.splitext(txt)[0]+".txt"), 'w') as f:line = str(line)f.write(''.join(lines[11:]))"""import os#定义一个三维点类class Point(object):def __init__(self,x,y,z):self.x = xself.y = yself.z = zpoints = []path = 'E:/desktop/PointCloud/OpenPCDet/data/carton/testing/points/cloudnorm_000002'#读取pcd文件,从pcd的第12行开始是三维点with open(path+'.pcd') as f:for line in f.readlines()[11:len(f.readlines())-1]:strs = line.split(' ')points.append(Point(strs[0],strs[1],strs[2].strip()))##strip()是用来去除换行符##把三维点写入txt文件fw = open(path+'.txt','w')for i in range(len(points)):linev = points[i].x+" "+points[i].y+" "+points[i].z+"\n"fw.writelines(linev)fw.close()import mathimport osimport pcldef txt2pcd(filename):xlist = []ylist = []zlist = []with open(filename, 'r') as file_to_read:while True:lines = file_to_read.readline()if not lines:breakpassx, y, z = [float(i) for i in lines.split(' ')]print(str(x) + ' ' + str(y) + ' ' + str(z))xlist.append(x)ylist.append(y)zlist.append(z)savefilename = './test_1.pcd'if not os.path.exists(savefilename):f = open(savefilename, 'w')f.close()with open(savefilename, 'w') as file_to_write:file_to_write.writelines("# .PCD v0.7 - Point Cloud Data file format\n")file_to_write.writelines("VERSION 0.7\n")file_to_write.writelines("FIELDS x y z\n")file_to_write.writelines("SIZE 4 4 4\n")file_to_write.writelines("TYPE F F F\n")file_to_write.writelines("COUNT 1 1 1\n")file_to_write.writelines("WIDTH " + str(len(xlist)) + "\n")file_to_write.writelines("HEIGHT 1\n")file_to_write.writelines("VIEWPOINT 0 0 0 1 0 0 0\n")file_to_write.writelines("POINTS " + str(len(xlist)) + "\n")file_to_write.writelines("DATA ascii\n")for i in range(len(xlist)):file_to_write.writelines(str(xlist[i]) + " " + str(ylist[i]) + " " + str(zlist[i]) + "\n")def pcd2txt(pcdfile):p = pcl.load(pcdfile)savetxtfile = './test_1_inliers.txt'with open(savetxtfile, 'w') as f:f.write(str(p.size) + 'points in total' + '\n')# print(p[i])for i in range(p.size):x = str(p[i][0])y = str(p[i][1])z = str(p[i][2])f.write(x + ' ' + y + ' ' + z + '\n')if __name__ == '__main__':txtfile = './3dposition.txt'pcdfile = './pcldata/tutorials/test_1.pcd'txt2pcd(txtfile)pcd2txt(pcdfile)"""

4. python TXT2PCD

这个不是遍历文件夹更改更改的是单个

import numpy as npimport open3d as o3d## 数据读取np.set_printoptions(suppress=True) # 取消默认的科学计数法Data1 = np.loadtxt('F:/information/car_0001.txt', dtype=np.float, skiprows=1,delimiter=' ', usecols=(0, 1, 2), unpack=False)## open3d数据转换pcd = o3d.geometry.PointCloud()pcd.points = o3d.utility.Vector3dVector(Data1)# print(np.asarray(pcd.points))o3d.visualization.draw_geometries([pcd])## 保存成ply数据格式# o3d.io.write_point_cloud('xxx.ply', pcd, write_ascii=True) # ascii编码# o3d.io.write_point_cloud('xxx.ply', pcd, write_ascii=False) # 非ascii编码## 保存成pcd数据化格式o3d.io.write_point_cloud('F:/information/car_0001.pcd', pcd, write_ascii=True) # ascii编码# o3d.io.write_point_cloud('xxx.pcd', pcd, write_ascii=True) # 非ascii编码

5. python PLY2PCD

import open3d as o3dimport numpy as npimport osdef alter(name):filename = os.path.splitext(name)[0]pcd = o3d.io.read_point_cloud('E:/DataSet/Tof_Image/cloud_image/' + name)print(pcd)o3d.io.write_point_cloud('E:/DataSet/Tof_Image/PCDcloud/' + filename + ".pcd", pcd)print(filename)if __name__ == '__main__':path1 = 'E:/DataSet/Tof_Image/cloud_image/'list = os.listdir(path1)print(list)for i in list:alter(i)

等后面有空再补充其他转换方式的