numpy转PCD格式并保存的算法
时间: 2023-06-24 17:03:57 浏览: 154
以下是将numpy数组转换为PCD格式并保存的Python算法:
```python
import numpy as np
def save_pcd(pc, filename):
"""Convert numpy array to PCD format and save to file."""
# Check if input point cloud is empty
if pc.shape[0] == 0:
print("Error: Point cloud is empty!")
return
# Convert numpy array to PCD format
header = "# .PCD v0.7 - Point Cloud Data\n"
header += "VERSION 0.7\n"
header += "FIELDS x y z\n"
header += "SIZE 4 4 4\n"
header += "TYPE F F F\n"
header += "COUNT 1 1 1\n"
header += f"WIDTH {pc.shape[0]}\n"
header += "HEIGHT 1\n"
header += "VIEWPOINT 0 0 0 1 0 0 0\n"
header += f"POINTS {pc.shape[0]}\n"
header += "DATA ascii\n"
# Save PCD file
with open(filename, "w") as file:
file.write(header)
np.savetxt(file, pc, fmt="%.6f %.6f %.6f")
print(f"Point cloud saved to {filename}.")
# Example usage
pc = np.random.rand(100, 3) # Generate random point cloud
save_pcd(pc, "example.pcd") # Save point cloud to file
```
这个算法可以将numpy数组转换为PCD格式,并将其保存到文件中。在这个例子中,我们生成一个随机点云并将其保存到名为“example.pcd”的文件中。您可以将其替换为您自己的点云数据。