Write Nx4 numpy arrary point cloud (x, y, z, intensity) to PCD

write_pcd_binary_format.py

def write_pcd_binary(points, filename):
    """
    将Nx4的点云数据保存为PCD二进制格式
    points: Nx4的numpy array,每行为(x,y,z,intensity)
    filename: 保存的文件名
    """
    n_points = len(points)

    # PCD文件头
    header = f"""# .PCD v0.7 - Point Cloud Data file format
VERSION 0.7
FIELDS x y z intensity
SIZE 4 4 4 4
TYPE F F F F
COUNT 1 1 1 1
WIDTH {n_points}
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS {n_points}
DATA binary
"""

    # 写入文件
    with open(filename, 'wb') as f:
        # 写入ASCII头
        f.write(header.encode())
        # 直接将整个numpy array写入为二进制
        points = points.astype(np.float32)
        f.write(points.tobytes())