open3d读取bin文件x,y,z,r,g,b,intensity转为pcd？-灵析社区

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import open3d as o3d # 读取点云数据 pcd = o3d.t.io.read_point_cloud("name.pcd") pcd_intensity = pcd.point["intensity"] # 访问强度 pcd_points = pcd.point["positions"] # 访问位置 # 转换为NumPy数组（如果需要） pcd_intensity = pcd_intensity[:, :].numpy() pcd_points = pcd_points[:, :].numpy() # 生成带有强度信息的新点云 device = o3d.core.Device("CPU:0") dtype = o3d.core.float32 pcd = o3d.t.geometry.PointCloud(device) pcd.point["positions"] = o3d.core.Tensor(pcd_points, dtype, device) pcd.point["intensity"] = o3d.core.Tensor(pcd_intensity, dtype, device) # 将新点云写入PCD文件 o3d.t.io.write_point_cloud("name1.pcd", pcd, write_ascii=True)