将seg格式的点云文件转为其他格式的代码

Seg格式是一种二进制格式的点云数据文件，可以使用以下代码将其转换为其他格式（如PLY、OBJ等）：

import struct

def read_seg_file(file_path):
    with open(file_path, 'rb') as f:
        # read header
        header = f.read(4)
        if header != b'SEG\n':
            raise ValueError('Invalid SEG file')

        # read number of points
        num_points = struct.unpack('<I', f.read(4))[0]

        # read point data
        points = []
        for i in range(num_points):
            x, y, z, label = struct.unpack('<fffI', f.read(16))
            points.append([x, y, z, label])

    return points

def write_ply_file(file_path, points):
    with open(file_path, 'w') as f:
        f.write('ply\n')
        f.write('format ascii 1.0\n')
        f.write(f'element vertex {len(points)}\n')
        f.write('property float x\n')
        f.write('property float y\n')
        f.write('property float z\n')
        f.write('property uchar red\n')
        f.write('property uchar green\n')
        f.write('property uchar blue\n')
        f.write('element face 0\n')
        f.write('end_header\n')
        for point in points:
            x, y, z, label = point
            r = (label >> 16) & 0xff
            g = (label >> 8) & 0xff
            b = label & 0xff
            f.write(f'{x:.6f} {y:.6f} {z:.6f} {r} {g} {b}\n')

# example usage
seg_file_path = 'example.seg'
points = read_seg_file(seg_file_path)
ply_file_path = 'example.ply'
write_ply_file(ply_file_path, points)

此代码将SEG文件的点云数据读取到一个列表中，然后将其写入PLY文件。如果需要将其转换为其他格式，请更改`write_ply_file`函数中的文件头和输出格式。