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How can I convert a 4d numpy array to a pcd file? Open3d appears to let you save 3 dimensions but not a fourth(intensity).

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  • which program do you expect to read the 4d data back in ? and where do you get those values from ? Commented Mar 6, 2022 at 13:44
  • it is a simple txt format, similar to pcl you can write your own exporter in a few lines of code Commented Mar 6, 2022 at 13:49

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It should be possible using the open3d.t namespace:

import open3d as o3d
import numpy as np

xyzi = np.random.rand(100, 4)

xyz = xyzi[:,0:3]
i = [[i] for i in xyzi[:,3]]

pcd = o3d.t.geometry.PointCloud()

pcd.point["positions"] = o3d.core.Tensor(xyz)
pcd.point["intensities"] = o3d.core.Tensor(i)

o3d.t.io.write_point_cloud("pointcloud.pcd", pcd)

For more info see this thread.

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