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Transfer the point cloud to the target coordinate system #50

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Transfer the point cloud to the target coordinate system #50

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bdd8425
Transfer the point cloud to the target coordinate system
raymondwm Sep 26, 2025
6c2c381
Consider adding a shape check
raymondwm Sep 26, 2025
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16 changes: 16 additions & 0 deletions src/pypcd4/pypcd4.py
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Original file line number Diff line number Diff line change
Expand Up @@ -838,6 +838,22 @@ def numpy(self, fields: Optional[Sequence[str]] = None) -> npt.NDArray:

return np.vstack(_stack).T

def transform(self, transform_matrix: npt.NDArray) -> None:
"""Transfer the point cloud to the target coordinate system

:param transform_matrix: 4*4 matrix

"""
if transform_matrix.shape != (4, 4):
raise ValueError(f"Expected 4x4 transformation matrix, got {transform_matrix.shape}")
xyz_pcd = self.numpy(('x', 'y', 'z'))
points_quantic = np.column_stack(
(xyz_pcd, np.ones(xyz_pcd.shape[0])))
transformed_points = np.dot(transform_matrix, points_quantic.T).T
self.pc_data['x'] = transformed_points[:, 0]
self.pc_data['y'] = transformed_points[:, 1]
self.pc_data['z'] = transformed_points[:, 2]

def _save_as_ascii(self, fp: BinaryIO) -> None:
"""Saves point cloud to a file as a ascii

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