easypcd 0.0.33

a package for pcd

Easypcd使你更专注与代码本身，而不需要因为pcd格式所带来的烦恼。

v0.0.28更新：错误的rgb色彩空间

0、 安装easypcd
pip install easypcd

1、 调用easypcd
from easypcd import ep
import open3d as o3d
import numpy as np

2、 读取pcd文件
ep_pcd = ep.read_pcd("point.pcd")# 读取pcd文件
print("point indormation:", ep_pcd)# 打印所有信息
print("point:", ep_pcd.points)# 打印点云坐标
print("points type:", type(ep_pcd.points))# 打印点云类型

3、 写入pcd文件
ep.write_pcd(save_name="ep-sample.pcd", points=ep_pcd.points)

必要参数：
save_name:保存的文件名
points：需要保存的点云数据

可选参数
color：是否有颜色信息（True/False），默认False
normal：是否有向量信息（True/False），默认False
_SIZE：字节数量，默认为4
_TYPE：字符类型，默认为F

4、 其他用法
4.1、 open3d读取写入
o3d_read = o3d.io.read_point_cloud("point.pcd")# 加载三维点云
ep.write_pcd(save_name="sample.pcd", points=o3d_read.points)# 写入pcd

4.2、 创建有颜色信息的点云
points_xyz = np.random.randint(100, size=(100, 3)) # 点云坐标
points_color = np.random.randint(5, size=(100, 3)) # 点云颜色
points_nxyz = np.random.randint(100, size=(100, 3)) # 点云向量
ep_points = np.concatenate((points_xyz, points_color, points_nxyz), axis=1) # 拼接位置信息、颜色信息和向量信息
ep.write_pcd(save_name="ep-points.pcd", points=ep_points, color=True, normal=True) # 写入pcd

4.3、 点云信息转为open3d
o3d_object = o3d.geometry.PointCloud() # 初始化点云
o3d_object.points = o3d.utility.Vector3dVector(ep_points[:, 0:3]) # 转为open3d的坐标
o3d_object.colors = o3d.utility.Vector3dVector(ep_points[:, 3:6]) # 转为open3d的颜色信息
o3d.visualization.draw_geometries([o3d_object], window_name="POINT", width=400, height=300, mesh_show_back_face=True) # 显示

5、 合并多个点云
point_cloud = [[[-710.34927002, -237.10757877, 215.2757621 ], [-709.46899019, -236.99056383, 214.81596639], [[-708.6379193 , -238.05448845, 219.71073159], [-706.88288009, -237.81858778, 218.7811006 ]], [[-707.06327968, -239.84758949, 222.8262728 ], [-706.18809347, -239.72758696, 222.35760756]]]
contract_point_list(point_cloud)

6、移动最小二乘法平滑点云
points = np.array([[0.0, 0.0, 0.0], [1.0, 1.0, 1.0], [2.0, 2.0, 2.0], [3.0, 3.0, 3.0]])
smooth_points = ep.Moving_Least_Squares_Smoothing(points, radius=1, tau=0.5, weights_name='gaussian')

7、移动最小二乘法上采样点云
points = np.array([[0.0, 0.0, 0.0], [1.0, 1.0, 1.0], [2.0, 2.0, 2.0], [3.0, 3.0, 3.0]])
or
ep_pcd = ep.read_pcd("point.pcd")
points = ep.points
up_sample_points = ep.Moving_Least_Squares_UpSampling(points, radius=50, tau=0.2, upsampling_rate=2, setUpsamplingRadius=1.0, weights_name='gaussian')