如何将 open3d 几何点云输出为 .pcd 文件？
How can I output the open3d geometry PointCloud as .pcd file?
我正在使用以下代码将激光雷达数据（.bin 格式）转换为 .pcd 格式
with open ("lidar_velodyne64.bin", "rb") as f:
byte = f.read(size_float*4)
while byte:
x,y,z,intensity = struct.unpack("ffff", byte)
list_pcd.append([x, y, z])
byte = f.read(size_float*4)
np_pcd = np.asarray(list_pcd)
pcd = o3d.geometry.PointCloud()
v3d = o3d.utility.Vector3dVector
pcd.points = v3d(np_pcd)
并尝试将 'pcd' 输出为 .pcd 文件：
with open("pcd_output.pcd", "wb") as pcd2:
pickle.dump(pcd,pcd2)
但是，我收到以下错误：
---------------------------------------------------------------------------
TypeError Traceback (most recent call last)
<ipython-input-16-cde8b419d929> in <module>
1 with open("pcd_output.pcd", "wb") as pcd2:
----> 2 pickle.dump(pcd,pcd2)
TypeError: can't pickle open3d.open3d.geometry.PointCloud objects
如何将 open3d 几何点云输出为 .pcd 文件？
您是否尝试过默认的 open3d.io.write_point_cloud() 功能？
根据例子here，您可以如下使用：
import open3d as o3d
o3d.io.write_point_cloud("copy_of_fragment.pcd", pcd)
我正在使用以下代码将激光雷达数据（.bin 格式）转换为 .pcd 格式
with open ("lidar_velodyne64.bin", "rb") as f:
byte = f.read(size_float*4)
while byte:
x,y,z,intensity = struct.unpack("ffff", byte)
list_pcd.append([x, y, z])
byte = f.read(size_float*4)
np_pcd = np.asarray(list_pcd)
pcd = o3d.geometry.PointCloud()
v3d = o3d.utility.Vector3dVector
pcd.points = v3d(np_pcd)
并尝试将 'pcd' 输出为 .pcd 文件：
with open("pcd_output.pcd", "wb") as pcd2:
pickle.dump(pcd,pcd2)
但是，我收到以下错误：
---------------------------------------------------------------------------
TypeError Traceback (most recent call last)
<ipython-input-16-cde8b419d929> in <module>
1 with open("pcd_output.pcd", "wb") as pcd2:
----> 2 pickle.dump(pcd,pcd2)
TypeError: can't pickle open3d.open3d.geometry.PointCloud objects
如何将 open3d 几何点云输出为 .pcd 文件？
您是否尝试过默认的 open3d.io.write_point_cloud() 功能？
根据例子here，您可以如下使用：
import open3d as o3d
o3d.io.write_point_cloud("copy_of_fragment.pcd", pcd)