写一段 las 转pcd 格式的matlab代码

以下是las转pcd格式的Matlab代码：

function LasToPcd(LasFilePath, PcdFilePath)

% 读取Las文件
fileID = fopen(LasFilePath);
data = fread(fileID);
fclose(fileID);

% 获取Las文件中点云的XYZ坐标和RGB颜色信息
X = double(typecast(data(29:30+4-1),'uint32')) / 1000000;
Y = double(typecast(data(31+4:32+4+4-1),'uint32')) / 1000000;
Z = double(typecast(data(33+8:34+8+4-1),'uint32')) / 1000000;
R = data(107+12:1:107+12+count-1);
G = data(108+12:1:108+12+count-1);
B = data(109+12:1:109+12+count-1);

% 将点云数据存储为pcd文件
fileID = fopen(PcdFilePath,'w');
fprintf(fileID,'# .PCD v0.7 - Point Cloud Data file format\n');
fprintf(fileID,'VERSION 0.7\n');
fprintf(fileID,'FIELDS x y z rgb\n');
fprintf(fileID,'SIZE 4 4 4 4\n');
fprintf(fileID,'TYPE F F F U\n');
fprintf(fileID,'COUNT 1 1 1 1\n');
fprintf(fileID,'WIDTH %d\n',length(X));
fprintf(fileID,'HEIGHT 1\n');
fprintf(fileID,'VIEWPOINT 0 0 0 1 0 0 0\n');
fprintf(fileID,'POINTS %d\n',length(X));
fprintf(fileID,'DATA ascii\n');
for i=1:length(X)
fprintf(fileID,'%f %f %f %d\n',X(i),Y(i),Z(i),bitshift(R(i),16)+bitshift(G(i),8)+B(i));
end
fclose(fileID);

end

希望能帮到你！