Python las 讀取可以參考之前的博客，用laspy 或者 pylas

今天主要解決Python、C++ 的las轉(zhuǎn)pcd文件

1. Python .las轉(zhuǎn).pcd

# -*- coding: utf-8 -*-
# 讀取las文件 并保留為 XYZI格式的pcd文件import pcl  # 調(diào)用pcl保留pcd文件
from laspy.file import File  # las文件讀取
import numpy as np  # np數(shù)組處理
import time  # 計算耗時# las讀取轉(zhuǎn)為 pcd的cloud形式，只保留 XYZI
def getCloud():file = r"D:/pcd/1001140020191217.las"f = File(file, mode='r')inFile = np.vstack((f.x, f.y, f.z, f.intensity)).transpose()cloud = pcl.PointCloud_PointXYZI()cloud.from_array(np.array(inFile, dtype=np.float32))f.close()return clouddef main():end1 = time.time()cloud = getCloud()pcl.save(cloud, r"D:/pcd/1001140020191217_las2pcd.pcd")end2 = time.time()print("las2pcd 耗時:%.2f秒" % (end2 - end1))print('-------endl----------')if __name__ == '__main__':main()

2. C++ .las轉(zhuǎn).pcd

用到liblas庫，需要安裝好PCL1.8.1

start las2pcd.exe D:/pcd/1001140020191217.las D:/pcd/1001140020191217_las2pcd.pcd

#include <iostream>
#include <cstdlib>
#include <liblas/liblas.hpp>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>using namespace std;int main (int argc, char** argv)
{std::ifstream ifs(argv[1], std::ios::in | std::ios::binary); // 打開las文件liblas::ReaderFactory f;liblas::Reader reader = f.CreateWithStream(ifs); // 讀取las文件unsigned long int nbPoints=reader.GetHeader().GetPointRecordsCount();//獲取las數(shù)據(jù)點的個數(shù)pcl::PointCloud<pcl::PointXYZI> cloud;cloud.width    = nbPoints;	//保證與las數(shù)據(jù)點的個數(shù)一致	cloud.height   = 1;			cloud.is_dense = true;cloud.points.resize (cloud.width * cloud.height);int i=0;				/* uint16_t r1, g1, b1;	int r2, g2, b2;			uint32_t rgb;		*/	while(reader.ReadNextPoint()) {// 獲取las數(shù)據(jù)的x，y，z信息cloud.points[i].x = (reader.GetPoint().GetX());cloud.points[i].y = (reader.GetPoint().GetY());cloud.points[i].z = (reader.GetPoint().GetZ());cloud.points[i].intensity = (reader.GetPoint().GetIntensity());//獲取las數(shù)據(jù)的r，g，b信息/*r1 = (reader.GetPoint().GetColor().GetRed());g1 = (reader.GetPoint().GetColor().GetGreen());b1 = (reader.GetPoint().GetColor().GetBlue()); r2 = ceil(((float)r1/65536)*(float)256);g2 = ceil(((float)g1/65536)*(float)256);b2 = ceil(((float)b1/65536)*(float)256);rgb = ((int)r2) << 16 | ((int)g2) << 8 | ((int)b2);cloud.points[i].rgb = *reinterpret_cast<float*>(&rgb);*/i++; }pcl::io::savePCDFileASCII (argv[2], cloud);//存儲為pcd類型文件return (0);
}

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