Pure Python module to read and write point clouds stored in the PCD file format, used by the Point Cloud Library. Fork from pypcd: https://github.com/dimatura/pypcd
import mpcd
# also can read from file handles.
pc = mpcd.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')My email is mail@yuehao.wang.
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