【python】点云格式转换--pcd2las

这里是引用

import numpy as np
import laspy
import open3d as o3d

def pcd2las(file,save_path):
    pcd = o3d.io.read_point_cloud(file)
    points = np.asarray(pcd.points)

    colors = np.asarray(pcd.colors)

    # las = laspy.create(point_format=6, file_version="1.4")
    las = laspy.create(point_format=3, file_version="1.2")
    las.x = points[:, 0]
    las.y = points[:, 1]
    las.z = points[:, 2]

    las.red = colors[:, 0] * 255
    las.green = colors[:, 1] * 255
    las.blue = colors[:, 2] * 255

    las.write(save_path)