Question

我有一个* .pcd文件（见下文）。数据有五个字段，最后一个字段是'index'。现在我想删除索引为[2 4 6 8]的点。并将结果写入新的.pcd文件.... 有谁知道怎么做...... 非常感谢！

   # .PCD v.7 - Point Cloud Data file format
   FIELDS x y z rgb index
   SIZE 4 4 4 4 4
   TYPE F F F F U 
   COUNT 1 1 1 1 1
   WIDTH 12
   HEIGHT 1
   VIEWPOINT 0 0 0 1 0 0 0
   POINTS 12
   DATA ascii
   1824.064 -627.111 -119.4176 0 1
   1824.412 -629.678 -119.7147 0 2    %delete
   1819.929 -630.5591 -116.9839 0 3
   1820.276 -623.1166 -117.2799 0 4   %delete
   1820.622 -635.6741 -117.576 0 5
   1816.134 -636.5178 -114.8408 0 6   %delete
   1816.48 -639.0659 -115.1358 0 7
   1811.02 -639.5347 -111.7907 0 8    %delete
   1811.364 -662.0717 -112.0844 0 9
   1707.098 829.5436 59.0613 0 10
   1707.441 827.0067 58.76764 0 11
   1707.785 824.4698 58.47398 0 12

Answer 1

看看这是否适合你 -

exclude_index = [2 4 6 8];
field_num = 5;

A = importdata(inputfile,'\n');

A1 = cellfun(@(x) strtrim(x), A,'Uni',0);
A1_firstchar = arrayfun(@(x) A1{x}(1),1:numel(A1),'Uni',0);
startind = find(cell2mat(isstrprop(A1_firstchar,'digit')),1,'first');

A_part1 = A(1:startind-1);
A_part2 = A(startind:end,:);

B = cellfun(@(x) strtrim(x),A_part2 ,'Uni',0);
C = cellfun(@(x) strsplit(x),B,'Uni',0);
D = str2double(arrayfun(@(n) C{n}(field_num),1:numel(C)));

Anew = [A_part1 ; A_part2(~ismember(D,exclude_index),:)];

fid = fopen(outputfile, 'w');
for i=1:numel(Anew)
    fprintf(fid, '%s\n', Anew{i});
end
fclose(fid);

请确保将inputfile和outputfile编辑到您有输入.pcd文件的路径以及要分别保存已处理.pcd文件的路径

以绩效为导向的解决方案

%// Number of header lines
headerlines = 10;

%// read data into cell array
A = importdata(inputfile,'\n');

%// read formatted data
fid = fopen(inputfile, 'r');
C = textscan(fid,'%f %f %f %d %d','HeaderLines',headerlines,'Delimiter',' ');

%// removed rows from cell array that matches our conditions
idx = find(ismember(C{5},[2 4 6 8]));
A(headerlines + idx)=[];

%// Write to output file
fid = fopen(outputfile, 'w');
for i=1:numel(A)
    fprintf(fid, '%s\n', A{i});
end
fclose(fid);

处理PCD文件（根据索引删除行） - MATLAB

1 个答案:

以绩效为导向的解决方案