pointcloudset.io.pointcloud.pcd module

pointcloudset.io.pointcloud.pcd.read_pcd(file_path: Path | str, normalize_xyz: bool = False) → DataFrame

Read a PCD pointcloud file into a dataframe.

Parameters:

• file_path – Path to the PCD file.

• normalize_xyz – Whether to convert X/Y/Z headers to x/y/z.

Returns:

A dataframe containing pointcloud columns.

Raises:

ValueError – If required coordinate columns are missing or normalization is required but not enabled.

pointcloudset.io.pointcloud.pcd.write_pcd(pointcloud: PointCloud, file_path: Path) → None

Write a pointcloud to a PCD file.

Parameters:

• pointcloud – PointCloud instance to serialize.

• file_path – Destination file path.

Raises:

• ValueError – If the pointcloud is missing x, y, or z columns.

• TypeError – If one or more columns cannot be converted to numeric arrays.