【python】点云格式转换--las2pcd

import numpy as np
import laspy
from copy import deepcopy
from pclpy import pcl

# las读取转为 pcd的cloud形式，保留 XYZ及rgb
def las2pcd(file,save_path):
    las = laspy.read(file)
    inFile = np.vstack((las.x, las.y, las.z, las.intensity)).transpose()
    rgb =  np.vstack((las.red, las.green, las.blue)).transpose()
    cloud = pcl.PointCloud.PointXYZRGBA().from_array(np.array(inFile, dtype=np.float32),rgb)
    address=save_path+now+".pcd"
    pcl.io.savePCDFileASCIi(address,cloud)
    return address