从 .ply 转换为 .pcd 格式

Question

I have a.ply file and I want to convert it to a.pcd format but not exactly sure how.

I have tried the methods described by the op here Convertion of.ply format to.pcd format but they are not sufficient/doesn't work anymore.

when I try to open the.ply file its just a binary file except the header which looks something like this:

ply
format binary_little_endian 1.0
comment generated by Cartographer
element vertex 000000207134849
property float x
property float y
property float z
property uchar red
property uchar green
property uchar blue
property float intensity
end_header
bf/B¿ğBè)¿...
...

Thus I don't evet know where to start the conversion.

How do I do the conversion?

Any method/doc would really help

Answer 1

UPDATE: I now have a valid solution and therefore answering my question.

I have found this https://github.com/ryanfb/pcl-tools github repo that has a very handy tool called ply2pcd

so basically do the following to get to conversion form.ply to.pcd

git clone https://github.com/ryanfb/pcl-tools 
cmake . 
make 
cd pcl-tools 
chmod +x ply2pcd 
./ply2pcd "path/target.ply" "path/out.pcd"

Note: You need at least as much RAM as the size of.ply file

Answer 2

Another option is to use the Open3D library , as described here:

 import open3d as o3d pcd = o3d.io.read_point_cloud("source_pointcloud.ply") o3d.io.write_point_cloud("sink_pointcloud.pcd", pcd)

https://stackoverflow.com/a/62488893/10334964

Answer 3

I Haven't tried, but something seems to be available in Ubuntu distributions probably doing sudo apt install pcl-tools :

• pcl_ply2pcd http://manpages.ubuntu.com/manpages/focal/man1/pcl_ply2pcd.1.html
• pcl_pcd2ply http://manpages.ubuntu.com/manpages/focal/man1/pcl_pcd2ply.1.html