【Lidar】基于Python的Open3D库、Laspy库保存点云文件/点云格式转换

def save_point(path, point_type):
    # ---------------------------laspy库保存----------------------------
    las = laspy.read(r"Z:\Personal\彭俊喜\Lidar_try/2.las")  # read a las file
    points = las.points
    out_file = laspy.LasData(las.header)
    ground = [2, 5, 6]  # 索引
    out_file.points = points[np.array(ground)]  # extract ground points, and save it to a las file.
    out_file.write(r"Z:\Personal\彭俊喜\Lidar_try/out1.las")

def save_point(path, point_type):

    # ---------------------------open3d库保存---------------------------
    pcd = o3d.io.read_point_cloud(path, format=point_type, remove_nan_points=True, remove_infinite_points=True, print_progress=True)
    # 路径、输入格式、删除包含NAN的所有点、删除包含无限值的所有点、可视化进度条
    print(pcd)  # 输出点云点的个数
    print(np.asarray(pcd.points))  # 输出点的三维坐标
    o3d.io.write_point_cloud(r'1.xyz', pcd, write_ascii=False, compressed=False, print_progress=True)
    # 路径、文件、以ascii格式输出否则使用二进制输出、以压缩格式写入、可视化进度条

    # ---------------------------open3d库保存---------------------------
    numpy = [[1, 2, 3], [1, 2, 3], [3, 4, 5]]
    pcd = o3d.geometry.PointCloud()
    pcd.points = o3d.utility.Vector3dVector(numpy)  # 数组转点云
    o3d.io.write_point_cloud(r'Z:\Personal\彭俊喜\Lidar_try/1.xyz', pcd, write_ascii=False, compressed=False,
                             print_progress=True)