PYPCD_python3

This repository is a version of https://github.com/dimatura/pypcd for Python 3. If you want, visit the original project.

What is the PYPCD ?:

Pure Python module to read and write point clouds stored in the PCD file format, used by the Point Cloud Library.

Example 1:

from pypcd 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')

from pypcd import pypcd
...
pcd_path = tmpdir + '/' + vehicle[0] + '.pcd'
pc = pypcd.PointCloud.from_path(pcd_path)

#Filter1 : Removing Floor 
ind = np.where(pc.pc_data['z'] > 0.2)
fCloud = pc.pc_data[ind]
tmpCloud = [[i['x'], i['y'], i['z']] for i in fCloud]

Full code example:

You can consulte a full code example here. The simulation scenario is vehicle mobility in the urban environment.

Improvements and changes:

Feel free to submit a pull request, this version was made for personal use, but i intend to provide support even as possible!

Original documentation:

Here