nuScenses数据集的pcd.bin转pcd

import numpy as np
import open3d as o3d
bin_file = ""
xyz = np.fromfile(bin_filem, dtype= np.float32).reshape(-1,5)[:, 0:3]

pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(xyz)
o3d.io.write_point_cloud("./123.pcd", pcd)