如何将 open3d 几何 PointCloud 输出为 .pcd 文件？

Question

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 PointCloud 输出为 .pcd 文件？

Answer 1

您是否尝试过默认的open3d.io.write_point_cloud()函数？

根据此处的示例，您可以按如下方式使用它：

import open3d as o3d
o3d.io.write_point_cloud("copy_of_fragment.pcd", pcd)