Pure Python PCD reader/writer
Project description
pypcd-imp
What?
Pure Python module to read and write point clouds stored in the PCD file format, used by the Point Cloud Library. Slightly adapted and improved from klintan and dimatira. Can now handle Structured PointClouds (at least in binary compressed format)
Why?
You want to mess around with your point cloud data without writing C++ and waiting hours for the template-heavy PCL code to compile.
You tried to get some of the Python bindings for PCL to compile and just gave up.
How does it work?
It parses the PCD header and loads the data (whether in ascii
, binary
or binary_compressed
format) as a Numpy structured array. It creates an instance of the PointCloud
class, containing the point cloud data as pc_data
, and
some convenience functions for I/O and metadata access.
Example
from pypcd_imp import pypcd
# also can read from file handles.
pc = pypcd.PointCloud.from_path('foo.pcd')
# pc.pc_data has the data as a structured array
# pc.fields, pc.count, etc have the metadata
# center the x field
pc.pc_data['x'] -= pc.pc_data['x'].mean()
# save as binary compressed
pc.save_pcd('bar.pcd', compression='binary_compressed')
Is it beautiful, production-ready code?
No.
What else can it do?
There's a bunch of functionality accumulated over time, much of it hackish and untested. In no particular order,
- Supports
ascii
,binary
andbinary_compressed
data. The latter requires thelzf
module. - Decode and encode RGB into a single
float32
number. If you don't know what I'm talking about consider yourself lucky. - Point clouds from
pandas
dataframes. - Convert to and from ROS PointCloud2 messages.
Requires the ROS
sensor_msgs
package with Python bindings installed. This functionality uses code developed by Jon Binney under the BSD license, included asnumpy_pc2.py
.
What can't it do?
There's no synchronization between the metadata fields in PointCloud
and the data in pc_data
. If you change the shape of pc_data
without updating the metadata fields you'll run into trouble.
I've only used it for unorganized point cloud data
(in PCD conventions, height=1
), not organized
data like what you get from RGBD.
While padding and fields with count larger
than 1 seem to work, this is a somewhat
ad-hoc aspect of the PCD format, so be careful.
If you want to be safe, you're probably better off
using neither -- just name each component
of your field something like FIELD_00
, FIELD_01
, etc.
It's slow!
Try using binary
or binary_compressed
; using
ASCII is slow and takes up a lot of space, not to
mention possibly inaccurate if you're not careful
with how you format your floats.
I found a bug / I added a feature / I made your code cleaner
Thanks! Please submit a pull request.
I want to congratulate you / insult you
Original Developers email is dimatura@cmu.edu
.
Copyright (C) 2015 - 2018 Daniel Maturana
My email is joel@stefamon.de
.
Copyright (C) 2023 Joel Oswald
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