import os
import struct
import numpy as np
"""
功能：
python 批量实现点云.bin文件转换为.txt文件
输入：
.bin文件根目录,保存txt文件的根目录
输出:
x,y,z,i格式的txt文件，分割符号为空格
"""
def read_velodyne_bin(path):
pc_list = []
with open(path, 'rb') as f:
content = f.read()
pc_iter = struct.iter_unpack('ffff', content)
for idx, point in enumerate(pc_iter):
pc_list.append([point[0], point[1], point[2], point[3]])
return np.asarray(pc_list, dtype=np.float32)
def bin2txt(data, save_name):
np.savetxt((save_name + '.txt'), data, fmt="%.6f", delimiter=" ")
def main():
root_dir = '/home/gmm/snowyweather/Lidar' # 点云.bin文件路径
save_path = '/home/gmm/snowyweather/Lidar_txt' # .txt文件保存路径
cat = os.listdir(root_dir)
iteration_num = len(cat)
for i in range(iteration_num):
filename = os.path.join(root_dir, cat[i])
savename = os.path.join(save_path, str(i+1))
data = read_velodyne_bin(filename)
bin2txt(data, savename)
if __name__ == "__main__":
main()
