PCD文件去除曲率的脚本

在写一个重建算法的时候需要用到点坐标和法向的数据文件，于是向利用pcl中的法向计算模块来生成法向。输出后法向文件中包含曲率信息，但是这是不需要的。于是自己写了一个python小脚本实现格式转换。

#--coding:utf-8--

import time
import numpy as np
from  sys import argv


script, input_file = argv

input_data = open(input_file,"r")

output_data = open("outdata.asc","w")

doc = '''
本脚本用于数据转换,将PCL生成的文件进行转换
　　输入为　点云数据+法向信息+曲率　　PCD文件
　　输出为　点云数据+法向信息　　　　 ASC文件
转换后曲率信息被滤除,并将格式转换为通用的asc文件格式
'''

print(doc)

#转换函数
def transform(input_data, output_data):
    pointList = []

    for line in input_data:
        
        data = line.split()
        if is_number(data[0]):
            output_data.write("%f  %f  %f  %f  %f  %f
"
            %((float)(data[0]),
              (float)(data[1]),
              (float)(data[2]),
              (float)(data[3]),
              (float)(data[4]),
              (float)(data[5])))
        else:
            pass

#判断字符串是否为数字
def is_number(s):
    try:
        float(s)
        return True
    except ValueError:
        pass

    return False



transform(input_data, output_data)

原文件内容为：

# .PCD v0.7 - Point Cloud Data file format
VERSION 0.7
FIELDS x y z normal_x normal_y normal_z curvature
SIZE 4 4 4 4 4 4 4
TYPE F F F F F F F
COUNT 1 1 1 1 1 1 1
WIDTH 26381
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 26381
DATA ascii
52.713619 44.306831 2.500001 -0.67111164 -0.08553692 0.73640519 0.00061548286
52.54211 45.728249 2.500001 -0.67243981 -0.090179443 0.73463756 0.00069258711
52.30574 47.160099 2.500001 -0.67485178 -0.10609017 0.73028761 0.00043992131
52.022919 48.57592 2.500001 -0.67386091 -0.11686694 0.72955716 0.00037569425
51.720371 49.97781 2.500001 -0.66632128 -0.11713342 0.73640722 0.00062433031
51.405071 51.394611 2.500001 -0.65537727 -0.11913724 0.74584651 0.00090703077
51.068241 52.847191 2.500001 -0.6404919 -0.1198745 0.75855136 0.001082067
50.717159 54.314861 2.500001 -0.62284762 -0.120147 0.77306247 0.0012497745
50.349918 55.789589 2.500001 -0.60351694 -0.12188542 0.7879793 0.0013898062
49.98164 57.264919 2.500001 -0.56129658 -0.1375796 0.81609923 0.0014789379
49.60405 58.715778 2.500001 -0.53091556 -0.14410463 0.83508235 0.0021452638
49.167542 60.149521 2.500001 -0.45673963 -0.16522408 0.87412238 0.0064957533
48.665119 61.58548 2.500001 -0.27892584 -0.12767911 0.95178694 0.015811486

将该文件命名为transfor.py并在终端执行指令:

$python transfor.py input.pcd

Python中的split函数的默认参数是空格, 即对每行数据安装空格分割, 不管空格的数量是一个还是多个, 全部忽略. 但是一旦添加自定义的参数, 则严格按照定义参数分割. 比如, 当定义的参数为一个空格时, 将按一个空格分割, 两个空格时将按两个空格分割. 该处需要注意.

转换后的文件内容为：

52.713619  44.306831  2.500001  -0.671112  -0.085537  0.736405
52.542110  45.728249  2.500001  -0.672440  -0.090179  0.734638
52.305740  47.160099  2.500001  -0.674852  -0.106090  0.730288
52.022919  48.575920  2.500001  -0.673861  -0.116867  0.729557
51.720371  49.977810  2.500001  -0.666321  -0.117133  0.736407
51.405071  51.394611  2.500001  -0.655377  -0.119137  0.745847
51.068241  52.847191  2.500001  -0.640492  -0.119874  0.758551
50.717159  54.314861  2.500001  -0.622848  -0.120147  0.773062
50.349918  55.789589  2.500001  -0.603517  -0.121885  0.787979
49.981640  57.264919  2.500001  -0.561297  -0.137580  0.816099
49.604050  58.715778  2.500001  -0.530916  -0.144105  0.835082
49.167542  60.149521  2.500001  -0.456740  -0.165224  0.874122
48.665119  61.585480  2.500001  -0.278926  -0.127679  0.951787
48.067780  62.904530  2.500001  -0.263447  -0.142550  0.954083
47.309990  63.906979  2.500001  -0.082274  -0.155248  0.984443
46.385601  64.398064  2.500001  -0.025878  -0.196875  0.980087
45.383808  64.317551  2.500001  0.015420  -0.199873  0.979701
44.408440  63.701160  2.500001  -0.232693  0.125587  -0.964408
43.552479  62.677849  2.500001  -0.300091  0.156567  -0.940974
42.826420  61.414768  2.500001  -0.369369  0.196475  -0.908275
42.207859  60.036179  2.500001  -0.555614  0.201118  -0.806749
41.684139  58.620060  2.500001  -0.607999  0.191823  -0.770416