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PCD文件格式转换脚本
在写一个重建算法的时候需要用到点坐标和法向的数据文件，于是向利用pcl中的法向计算模块来生成法向。输出后法向文件中包含曲率信息，但是这是不需要的。于是自己写了一个python小脚本实现格式转换。
#--coding:utf-8--import timeimport numpy as npfrom sys import argvscript, input_file = argvinput_data = open(input_file,"r")output_data = open("outdata.asc","w")doc = ‘‘‘本脚本用于数据转换,将PCL生成的文件进行转换 输入为 点云数据+法向信息+曲率 PCD文件 输出为 点云数据+法向信息 ASC文件转换后曲率信息被滤除,并将格式转换为通用的asc文件格式‘‘‘print(doc)#转换函数def transform(input_data, output_data): pointList = [] for line in input_data: data = line.split(" ") if is_number(data[0]): output_data.write("%f %f %f %f %f %f\n" %((float)(data[0]), (float)(data[1]), (float)(data[2]), (float)(data[3]), (float)(data[4]), (float)(data[5]))) else: pass#判断字符串是否为数字def is_number(s): try: float(s) return True except ValueError: pass return Falsetransform(input_data, output_data)
原文件内容为：
# .PCD v0.7 - Point Cloud Data file formatVERSION 0.7FIELDS x y z normal_x normal_y normal_z curvatureSIZE 4 4 4 4 4 4 4TYPE F F F F F F FCOUNT 1 1 1 1 1 1 1WIDTH 26381HEIGHT 1VIEWPOINT 0 0 0 1 0 0 0POINTS 26381DATA ascii52.713619 44.306831 2.500001 -0.67111164 -0.08553692 0.73640519 0.0006154828652.54211 45.728249 2.500001 -0.67243981 -0.090179443 0.73463756 0.0006925871152.30574 47.160099 2.500001 -0.67485178 -0.10609017 0.73028761 0.0004399213152.022919 48.57592 2.500001 -0.67386091 -0.11686694 0.72955716 0.0003756942551.720371 49.97781 2.500001 -0.66632128 -0.11713342 0.73640722 0.0006243303151.405071 51.394611 2.500001 -0.65537727 -0.11913724 0.74584651 0.0009070307751.068241 52.847191 2.500001 -0.6404919 -0.1198745 0.75855136 0.00108206750.717159 54.314861 2.500001 -0.62284762 -0.120147 0.77306247 0.001249774550.349918 55.789589 2.500001 -0.60351694 -0.12188542 0.7879793 0.001389806249.98164 57.264919 2.500001 -0.56129658 -0.1375796 0.81609923 0.001478937949.60405 58.715778 2.500001 -0.53091556 -0.14410463 0.83508235 0.002145263849.167542 60.149521 2.500001 -0.45673963 -0.16522408 0.87412238 0.006495753348.665119 61.58548 2.500001 -0.27892584 -0.12767911 0.95178694 0.015811486
转换后的文件内容为：
52.713619 44.306831 2.500001 -0.671112 -0.085537 0.73640552.542110 45.728249 2.500001 -0.672440 -0.090179 0.73463852.305740 47.160099 2.500001 -0.674852 -0.106090 0.73028852.022919 48.575920 2.500001 -0.673861 -0.116867 0.72955751.720371 49.977810 2.500001 -0.666321 -0.117133 0.73640751.405071 51.394611 2.500001 -0.655377 -0.119137 0.74584751.068241 52.847191 2.500001 -0.640492 -0.119874 0.75855150.717159 54.314861 2.500001 -0.622848 -0.120147 0.77306250.349918 55.789589 2.500001 -0.603517 -0.121885 0.78797949.981640 57.264919 2.500001 -0.561297 -0.137580 0.81609949.604050 58.715778 2.500001 -0.530916 -0.144105 0.83508249.167542 60.149521 2.500001 -0.456740 -0.165224 0.87412248.665119 61.585480 2.500001 -0.278926 -0.127679 0.95178748.067780 62.904530 2.500001 -0.263447 -0.142550 0.95408347.309990 63.906979 2.500001 -0.082274 -0.155248 0.98444346.385601 64.398064 2.500001 -0.025878 -0.196875 0.98008745.383808 64.317551 2.500001 0.015420 -0.199873 0.97970144.408440 63.701160 2.500001 -0.232693 0.125587 -0.96440843.552479 62.677849 2.500001 -0.300091 0.156567 -0.94097442.826420 61.414768 2.500001 -0.369369 0.196475 -0.90827542.207859 60.036179 2.500001 -0.555614 0.201118 -0.80674941.684139 58.620060 2.500001 -0.607999 0.191823 -0.770416
PCD文件格式转换脚本
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