Converter of pointclouds form .pcd to .bin format

pointclouds_pcd_to_bin.py

import os
import argparse
import open3d as o3d
import numpy as np
from typing import Union
from open3d.open3d.geometry import PointCloud


def read_pcd(path: str) -> np.ndarray:
    """
    Reads a pointcloud with open3d and returns it as a numpy ndarray

    Args:
        path (str): path to the pointcloud to be read or the directory containing it/them

    Returns:
        np.ndarray: the pointcloud(s) as a numpy ndarray (dims: (pointcloud x) points x coordinates)
    """
    if os.path.isdir(path):
        pointclouds = []
        filenames = os.listdir(path)
        for filename in filenames:
            if filename[-4:] != '.pcd':
                continue
            pcd = o3d.io.read_point_cloud(path)
            pointclouds.append(np.asarray(pcd.points))
        return np.array(pointclouds)
    
    elif os.path.isfile(path):
        pcd = o3d.io.read_point_cloud(path)
        return np.asarray(pcd.points)


def pcd_to_bin(pcd: Union[str, PointCloud, np.ndarray], out_path: str):
    """
    Convert pointcloud from '.pcd' to '.bin' format

    Args:
        pcd (Union[str, PointCloud, np.ndarray]): the pointcloud to be converted (either its path, or the pointcloud itself)
        out_path (str): the path to the destination '.bin' file
    """
    # if 'pcd' is a string, assume it's the path to the pointcloud to be converted
    if isinstance(pcd, str):
        pcd = read_pcd(path=pcd)
    # save the poinctloud to '.bin' format
    out_path += "" if out_path[-4:] == ".bin" else ".bin"
    np.asarray(pcd).astype('float32').tofile(out_path)


def convert_all(in_dir_path: str, out_dir_path: str):
    """
    Converts all the pointclouds in the specified drectory from '.pcd' to '.bin' format

    Args:
        in_dir_path (str): path of the directory containing the pointclouds tio be converted
        out_dir_path (str): path of the directory where to put the resulting converted pointclouds

    Raises:
        ValueError:
            if 'in_dir_path' is neither a regular file nor a directory;
            if 'out_dir_path' is not a directory.

    Returns:
        np.ndarray: the converted pointclouds as numpy ndarrays
    """
    if not os.path.isdir(out_dir_path):
        raise ValueError(f"{out_dir_path} is not a directory.")

    if os.path.isfile(in_dir_path):
        file_name = in_dir_path.split('/')[-1]
        out_path = os.path.join(out_dir_path, file_name)
        pcd_to_bin(pcd=in_dir_path, out_path=out_path)     # in_dir_path is not a directory but a pointcloud in this case
    
    elif os.path.isdir(in_dir_path):
        pointclouds = []
        filenames = os.listdir(in_dir_path)
        for filename in filenames:
            if filename[-4:] != '.pcd':
                continue
            out_path = os.path.join(out_dir_path, filename[:-4] + '.bin')
            pcd_to_bin(pcd=os.path.join(in_dir_path, filename), out_path=out_path)

    else:
        raise ValueError(f"'{in_dir_path} is neither a directory or file")


if __name__ == '__main__':
    parser = argparse.ArgumentParser(description="Converts a single or multiple pointclouds form '.pcd' to '.bin' format.")
    parser.add_argument('in_path', type=str, action='store',
        help="The path to either the '.pcd' pointcloud to convert to '.bin' or the path to a directory containing various of these pointclouds")
    parser.add_argument('out_path', type=str, action='store',
        help="if in_path is a file, then out_path must be the desired name of the converted pointcloud; if in_path was a directory, then \
        'out_path must be the name of the directory where to put all the converted pointclouds")
    args = parser.parse_args()

    convert_all(in_dir_path=args.in_path, out_dir_path=args.out_path)

Hello, thanks for this file!
Did you encounter an error with open3d aswell?

I got the following error message and was unable to fix it so far:
File "files/pcd_to_bin.py", line 6, in <module> from open3d.geometry import PointCloud ModuleNotFoundError: No module named 'open3d.geometry'

@christophTUM I think you might be missing one "open3d": it's from open3d.open3d.geometry (2 times "open3d"), not from open3d.geometry.

However, I think in some versions of open3d you have to write it once (from open3d.geometry), but I'm not sure, it's just something I seem to recall.