Convert a PTS to a PCD file using Python line-by-line

pts to pcd

inputFile = open("result_input.pts", "r") # Input-file
outputFile = open("result_output.pcd", "w") # Output-file

length = int(inputFile.readline()) # First line is the length

outputFile.write("VERSION .7\nFIELDS x y z rgb\nSIZE 4 4 4 4\nTYPE F F F F\nCOUNT 1 1 1 1\nWIDTH {}\nHEIGHT 1\nVIEWPOINT 0 0 0 1 0 0 0\nPOINTS {}\nDATA ascii\n".format(length, length)) # Sets the header of pcd in a specific format, see more on http://pointclouds.org/documentation/tutorials/pcd_file_format.php

currentLinePosition = 0

for line in inputFile:
    currentLinePosition = currentLinePosition + 1
    
    if(currentLinePosition % 100000 == 0):
        print "Current file position: " + str(currentLinePosition)
    
    currentLine = line.rstrip().split(" ")
    
    outputFile.write(" ".join([
        currentLine[0], # x-value
        currentLine[1], # y-value
        currentLine[2], # z-value
        "{:e}".format((int(currentLine[4])<<16) + (int(currentLine[5])<<8) + int(currentLine[6])) # rgb value renderd in scientific format
    ]) + "\n")
        
inputFile.close()
outputFile.close()

print "All done"

result_input.pts

8
-11.3969 -8.65372 1.06098 233 232 236 235
-11.40162 -8.52385 0.01862 227 231 233 228
-12.9457 -8.30231 1.50229 211 208 218 217
-11.39186 -8.46765 1.34963 228 225 231 229
-12.74268 -9.94807 1.51049 146 149 152 141
-11.90631 -9.97656 1.51388 119 121 127 117
-13.0189 -8.30898 1.50209 212 208 220 220
-12.94583 -8.2678 1.50147 211 205 217 217

result_output.pcd

VERSION .7
FIELDS x y z rgb
SIZE 4 4 4 4
TYPE F F F F
COUNT 1 1 1 1
WIDTH 8
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 8
DATA ascii
-11.3969 -8.65372 1.06098 1.526500e+07
-11.40162 -8.52385 0.01862 1.519869e+07
-12.9457 -8.30231 1.50229 1.368751e+07
-11.39186 -8.46765 1.34963 1.480496e+07
-12.74268 -9.94807 1.51049 9.803917e+06
-11.90631 -9.97656 1.51388 7.962485e+06
-13.0189 -8.30898 1.50209 1.368803e+07
-12.94583 -8.2678 1.50147 1.349065e+07