{"id":29021683,"url":"https://github.com/mapiv/map4_pypcd","last_synced_at":"2025-06-26T02:07:33.110Z","repository":{"id":181978951,"uuid":"567129855","full_name":"MapIV/map4_pypcd","owner":"MapIV","description":null,"archived":false,"fork":false,"pushed_at":"2023-07-19T09:10:41.000Z","size":116,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":3,"default_branch":"master","last_synced_at":"2023-07-19T10:26:33.545Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/MapIV.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2022-11-17T06:06:55.000Z","updated_at":"2023-09-28T08:57:28.117Z","dependencies_parsed_at":"2023-07-18T10:15:53.131Z","dependency_job_id":null,"html_url":"https://github.com/MapIV/map4_pypcd","commit_stats":null,"previous_names":["mapiv/map4_pypcd"],"tags_count":0,"template":null,"template_full_name":null,"purl":"pkg:github/MapIV/map4_pypcd","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MapIV%2Fmap4_pypcd","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MapIV%2Fmap4_pypcd/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MapIV%2Fmap4_pypcd/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MapIV%2Fmap4_pypcd/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/MapIV","download_url":"https://codeload.github.com/MapIV/map4_pypcd/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MapIV%2Fmap4_pypcd/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":261984645,"owners_count":23240305,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-06-26T02:07:27.375Z","updated_at":"2025-06-26T02:07:33.056Z","avatar_url":"https://github.com/MapIV.png","language":"Python","readme":"This project is archived! Use: https://github.com/MapIV/pypcd4\n\n# Map4 Fork of PyPCD module.\n\"Forked\" from [Original PyPCD](https://github.com/dimatura/pypcd).\n\nI suggest you just `git clone` and `python setup.py install` though it is also possible through pip+ssh: `pip install git+ssh://git@github.com/MapIV/map4_pypcd.git`\n\n``pypcd``\n=======\n\nWhat?\n----\nPure Python module to read and write point clouds stored in the [PCD file\nformat](http://pointclouds.org/documentation/tutorials/pcd_file_format.php),\nused by the [Point Cloud Library](http://pointclouds.org/).\n\nWhy?\n---\nYou want to mess around with your point cloud data without writing C++\nand waiting hours for the template-heavy PCL code to compile.\n\nYou tried to get some of the Python bindings for PCL to compile\nand just gave up.\n\nHow does it work?\n-----------------\nIt parses the PCD header and loads the data (whether in `ascii`, `binary` or `binary_compressed` format) as a [Numpy](http://www.numpy.org) structured array. It creates an instance of the `PointCloud`\nclass, containing the point cloud data as `pc_data`, and\nsome convenience functions for I/O and metadata access.\n\nExample\n-------\n\n```python\nimport pypcd\n# also can read from file handles.\npc = pypcd.PointCloud.from_path('foo.pcd')\n# pc.pc_data has the data as a structured array\n# pc.fields, pc.count, etc have the metadata\n\n# center the x field\npc.pc_data['x'] -= pc.pc_data['x'].mean()\n\n# save as binary compressed\npc.save_pcd('bar.pcd', compression='binary_compressed')\n```\n\nIs it beautiful, production-ready code?\n----------------------------------------\nNo.\n\nWhat else can it do?\n---------------------\n\nThere's a bunch of functionality accumulated\nover time, much of it hackish and untested.\nIn no particular order,\n- Supports `ascii`, `binary` and `binary_compressed` data.\n  The latter requires the `lzf` module.\n- Decode and encode RGB into a single `float32` number. If\n  you don't know what I'm talking about consider yourself lucky.\n- Point clouds from `pandas` dataframes.\n- Convert to and from [ROS](http://www.ros.org) PointCloud2 messages.\n  Requires the ROS `sensor_msgs` package with Python bindings installed.\n  This functionality uses code developed by Jon Binney under\n  the BSD license, included as `numpy_pc2.py`.\n\n\nWhat can't it do?\n-----------------\n\nThere's no synchronization between the metadata fields in `PointCloud`\nand the data in `pc_data`. If you change the shape of `pc_data` \nwithout updating the metadata fields you'll run into trouble.\n\n\nI've only used it for unorganized point cloud data\n(in PCD conventions, `height=1`), not organized\ndata like what you get from RGBD.\n\nWhile padding and fields with count larger\nthan 1 seem to work, this is a somewhat\nad-hoc aspect of the PCD format, so be careful.\nIf you want to be safe, you're probably better off\nusing neither -- just name each component\nof your field something like ``FIELD_00``, ``FIELD_01``, etc.\n\nIt's slow!\n----------\n\nTry using `binary` or `binary_compressed`; using\nASCII is slow and takes up a lot of space, not to\nmention possibly inaccurate if you're not careful\nwith how you format your floats.\n\nI found a bug / I added a feature / I made your code cleaner\n-------------\n\nThanks! Please submit a pull request.\n\nI want to congratulate you / insult you\n----------\nMy email is `dimatura@cmu.edu`.\n\nCopyright (C) 2015 Daniel Maturana\n","funding_links":[],"categories":[],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmapiv%2Fmap4_pypcd","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmapiv%2Fmap4_pypcd","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmapiv%2Fmap4_pypcd/lists"}