如何将多个.pcd 文件组合成一个包含点云数据（python）的单个.pcd 文件？

Question

There are suggestions available in online to use "laser_scan_assembler", but i have no idea how to implement that.

Answer 1

You can simply concatenate the point clouds using the PCL library:

typedef pcl::PointXYZ PointType;
typedef pcl::PointCloud<PointType> CloudType;

// Load the PCD files
CloudType::Ptr cloud1(new CloudType);
CloudType::Ptr cloud2(new CloudType);
pcl::io::loadPCDFile("cloud1.pcd", *cloud1);
pcl::io::loadPCDFile("cloud2.pcd", *cloud2);

// Put in one output cloud
CloudType::Ptr output(new CloudType);
*output += *cloud1;
*output += *cloud2;

// Save the output file
pcl::io::savePCDFileASCII("output.pcd", *output);

Note that this simply concats the points. The input clouds have to be in the same coordinate system, otherwise a registration is needed first.

You can also use the bash executable pcl_concatenate_points_pcd to concat multiple PCD files.