点云PLY、PCD、OBJ、TXT文件互相转换

一、代码

���文点云文件的转换只针对点云的顶点信息，它们之间的相互转换关系一共12种。这份代码没有用PCL，不需要配置PCL环境也可以使用

Python

import re
class FormatTrans:
    def __init__(self):
        pass
    @staticmethod
    def writePLYHeader(ply_file, num_points):
        ply_file.write("ply\n")
        ply_file.write("format ascii 1.0\n")
        ply_file.write("element vertex " + str(num_points) + "\n")
        ply_file.write("property float x\n")
        ply_file.write("property float y\n")
        ply_file.write("property float z\n")
        ply_file.write("end_header\n")
    @staticmethod
    def writePCDHeader(pcdFile, vertexCount):
        pcdFile.write("# .PCD v0.7 - Point Cloud Data file format\n")
        pcdFile.write("VERSION 0.7\n")
        pcdFile.write("FIELDS x y z\n")
        pcdFile.write("SIZE 4 4 4\n")
        pcdFile.write("TYPE F F F\n")
        pcdFile.write("COUNT 1 1 1\n")
        pcdFile.write("WIDTH " + str(vertexCount) + "\n")
        pcdFile.write("HEIGHT 1\n")
        pcdFile.write("VIEWPOINT 0 0 0 1 0 0 0\n")
        pcdFile.write("POINTS " + str(vertexCount) + "\n")
        pcdFile.write("DATA ascii\n")
    @staticmethod
    def txtToply(txtpath, plypath):
        txtfile = open(txtpath, "r")
        plyfile = open(plypath, "w")
        txtNum = []
        num_points = int(txtfile.readline())
        while True:
            line = txtfile.readline()
            if not line:
                break
            line = line[:-1]
            lineList = line.split(" ")
            txtNum.append(lineList)
        txtfile.close()
        FormatTrans.writePLYHeader(plyfile, num_points)
        for i in range(num_points):
            content = txtNum[i][0] + " " + txtNum[i][1] + " " + txtNum[i][2] + "\n"
            plyfile.write(content)
        plyfile.close()
    @staticmethod
    def txtTopcd(txtpath, pcdpath):
        txtfile = open(txtpath, "r")
        pcdfile = open(pcdpath, "w")
        txtNum = []
        num_points = int(txtfile.readline())
        while True:
            line = txtfile.readline()
            if not line:
                break
            line = line[:-1]
            lineList = line.split(" ")
            txtNum.append(lineList)
        txtfile.close()
        FormatTrans.writePCDHeader(pcdfile, num_points)
        for i in range(num_points):
            content = txtNum[i][0] + " " + txtNum[i][1] + " " + txtNum[i][2] + "\n"
            pcdfile.write(content)
        pcdfile.close()
    @staticmethod
    def txtToobj(txtpath, objpath):
        txtfile = open(txtpath, "r")
        objfile = open(objpath, "w")
        txtNum = []
        num_points = int(txtfile.readline())
        while True:
            line = txtfile.readline()
            if not line:
                break
            line = line[:-1]
            lineList = line.split(" ")
            txtNum.append(lineList)
        txtfile.close()
        for i in range(num_points):
            content = "v " + txtNum[i][0] + " " + txtNum[i][1] + " " + txtNum[i][2] + "\n"
            objfile.write(content)
        objfile.close()
    @staticmethod
    def plyTotxt(plypath, txtpath):
        txtfile = open(txtpath, "w")
        plyfile = open(plypath, "r")
        flag = 0
        plyNum = []
        while True:
            line = plyfile.readline()
            if not line:
                break
            if flag == 1:
                line = line[:-1]
                lineList = line.split(" ")
                plyNum.append(lineList)
            if flag == 0 and re.findall("end_header", line):
                flag = 1
        plyfile.close()
        num_points = len(plyNum)
        for i in range(num_points):
            content = plyNum[i][0] + " " + plyNum[i][1] + " " + plyNum[i][2] + "\n"
            txtfile.write(content)
        txtfile.close()
    @staticmethod
    def pcdTotxt(pcdpath, txtpath):
        txtfile = open(txtpath, "w")
        pcdfile = open(pcdpath, "r")
        flag = 0
        pcdNum = []
        while True:
            line = pcdfile.readline()
            if not line:
                break
            if flag == 1:
                line = line[:-1]
                lineList = line.split(" ")
                pcdNum.append(lineList)
            if flag == 0 and re.findall("DATA ascii", line):
                flag = 1
        pcdfile.close()
        num_points = len(pcdNum)
        for i in range(num_points):
            content = pcdNum[i][0] + " " + pcdNum[i][1] + " " + pcdNum[i][2] + "\n"
            txtfile.write(content)
        txtfile.close()
    @staticmethod
    def objTotxt(objpath, txtpath):
        txtfile = open(txtpath, "w")
        objfile = open(objpath, "r")
        objNum = []
        while True:
            line = objfile.readline()
            if line.startswith("#"):
                continue
            if not line:
                break
            line = line[2:-1]
            lineList = line.split(" ")
            objNum.append(lineList)
        objfile.close()
        num_points = len(objNum)
        for i in range(num_points):
            content = objNum[i][0] + " " + objNum[i][1] + " " + objNum[i][2] + "\n"
            txtfile.write(content)
        txtfile.close()
    @staticmethod
    def plyTopcd(plypath, pcdpath):
        pcdfile = open(pcdpath, "w")
        plyfile = open(plypath, "r")
        flag = 0
        plyNum = []
        while True:
            line = plyfile.readline()
            if not line:
                break
            if flag == 1:
                line = line[:-1]
                lineList = line.split(" ")
                plyNum.append(lineList)
            if flag == 0 and re.findall("end_header", line):
                flag = 1
        plyfile.close()
        num_points = len(plyNum)
        FormatTrans.writePCDHeader(pcdfile, num_points)
        for i in range(num_points):
            content = plyNum[i][0] + " " + plyNum[i][1] + " " + plyNum[i][2] + "\n"
            pcdfile.write(content)
        pcdfile.close()
    @staticmethod
    def plyToobj(plypath, objpath):
        objfile = open(objpath, "w")
        plyfile = open(plypath, "r")
        flag = 0
        plyNum = []
        while True:
            line = plyfile.readline()
            if not line:
                break
            if flag == 1:
                line = line[:-1]
                lineList = line.split(" ")
                plyNum.append(lineList)
            if flag == 0 and re.findall("end_header", line):
                flag = 1
        plyfile.close()
        num_points = len(plyNum)
        for i in range(num_points):
            content = "v " + plyNum[i][0] + " " + plyNum[i][1] + " " + plyNum[i][2] + "\n"
            objfile.write(content)
        objfile.close()
    @staticmethod
    def pcdToply(pcdpath, plypath):
        plyfile = open(plypath, "w")
        pcdfile = open(pcdpath, "r")
        flag = 0
        pcdNum = []
        while True:
            line = pcdfile.readline()
            if not line:
                break
            if flag == 1:
                line = line[:-1]
                lineList = line.split(" ")
                pcdNum.append(lineList)
            if flag == 0 and re.findall("DATA ascii", line):
                flag = 1
        pcdfile.close()
        num_points = len(pcdNum)
        FormatTrans.writePLYHeader(plyfile, num_points)
        for i in range(num_points):
            content = pcdNum[i][0] + " " + pcdNum[i][1] + " " + pcdNum[i][2] + "\n"
            plyfile.write(content)
        plyfile.close()
    @staticmethod
    def objToply(objpath, plypath):
        plyfile = open(plypath, "w")
        objfile = open(objpath, "r")
        objNum = []
        while True:
            line = objfile.readline()
            if line.startswith("#"):
                continue
            if not line:
                break
            line = line[2:-1]
            lineList = line.split(" ")
            objNum.append(lineList)
        objfile.close()
        num_points = len(objNum)
        FormatTrans.writePLYHeader(plyfile, num_points)
        for i in range(num_points):
            content = objNum[i][0] + " " + objNum[i][1] + " " + objNum[i][2] + "\n"
            plyfile.write(content)
        plyfile.close()
    @staticmethod
    def pcdToobj(pcdpath, objpath):
        objfile = open(objpath, "w")
        pcdfile = open(pcdpath, "r")
        flag = 0
        pcdNum = []
        while True:
            line = pcdfile.readline()
            if not line:
                break
            if flag == 1:
                line = line[:-1]
                lineList = line.split(" ")
                pcdNum.append(lineList)
            if flag == 0 and re.findall("DATA ascii", line):
                flag = 1
        pcdfile.close()
        num_points = len(pcdNum)
        for i in range(num_points):
            content = "v " + pcdNum[i][0] + " " + pcdNum[i][1] + " " + pcdNum[i][2] + "\n"
            objfile.write(content)
        objfile.close()
    @staticmethod
    def objTopcd(objpath, pcdpath):
        pcdfile = open(pcdpath, "w")
        objfile = open(objpath, "r")
        objNum = []
        while True:
            line = objfile.readline()
            if line.startswith("#"):
                continue
            if not line:
                break
            line = line[2:-1]
            lineList = line.split(" ")
            objNum.append(lineList)
        objfile.close()
        num_points = len(objNum)
        FormatTrans.writePCDHeader(pcdfile, num_points)
        for i in range(num_points):
            content = objNum[i][0] + " " + objNum[i][1] + " " + objNum[i][2] + "\n"
            pcdfile.write(content)
        pcdfile.close()
if __name__ == "__main__":
    f = FormatTrans()
    # f.txtToply("data/data_bunny.txt", "data/data_bunny.ply")
    # f.txtTopcd("data/data_bunny.txt", "data/data_bunny.pcd")
    # f.txtToobj("data/data_bunny.txt", "data/data_bunny.obj")
    # f.plyTotxt("data/data_bunny.ply", "data/data_bunny1.txt")
    # f.pcdTotxt("data/data_bunny.pcd", "data/data_bunny2.txt")
    # f.objTotxt("data/data_bunny.obj", "data/data_bunny3.txt")
    # f.plyTopcd("data/data_bunny.ply", "data/data_bunny1.pcd")
    # f.plyToobj("data/data_bunny.ply", "data/data_bunny2.obj")
    # f.pcdToply("data/data_bunny.pcd", "data/data_bunny2.ply")
    # f.objToply("data/data_bunny.obj", "data/data_bunny3.ply")
    # f.pcdToobj("data/data_bunny.pcd", "data/data_bunny3.obj")
    f.objTopcd("data/data_bunny.obj", "data/data_bunny2.pcd")

验证：

你可以把注释按照顺序一共12个，每一个都解开注释，解开一个之后，前面的都注释掉，进行测试，我这里解开了第一个。你可以用cloudcompare软件进行查看，每次测试生成的文件。

完整项目和实验数据：点云PLY、PCD、OBJ、TXT文件互相转换代码资源-CSDN文库