python读写自定义格式的pcd文件的示例代码

from lidar_mapping.tools import py3pcd
import numpy as np
from scipy.spatial.transform import Rotation as R
def read_transformations(filename: str):
    pc = py3pcd.PointCloud.from_path(filename)
    data = pc.pc_data.view(
        np.dtype([
            ("x", np.float32), 
            ("y", np.float32), 
            ("z", np.float32), 
            ("intensity", np.float32),
            ("roll", np.float32),
            ("pitch", np.float32),
            ("yaw", np.float32),
            ("time", np.float64)
            ])
    ).reshape(-1, 1)
    return data

import numpy as np
from lidar_mapping.tools import py3pcd
# 创建一个包含点云数据的numpy array
point_cloud = np.array([
    [1.0, 2.0, 3.0, 0.5, 0.1, 0.2, 0.3, 1234567890.1],
    [4.0, 5.0, 6.0, 0.6, 0.4, 0.5, 0.6, 1234567900.24]], 
        dtype=np.dtype([
            ("x", np.float32), 
            ("y", np.float32), 
            ("z", np.float32), 
            ("intensity", np.float32),
            ("roll", np.float32),
            ("pitch", np.float32),
            ("yaw", np.float32),
            ("time", np.float64)
            ])
    )
pcl_data = py3pcd.PointCloud.from_array(point_cloud)
pcl_data.save_pcd('point_cloud.pcd', compression='binary')