激光点云格式转换 bin 相互 pcd转换

​​代码在git​​

kitti-velodyne-viewer

View kitti lidar point cloud with bounding box label by single file.

Requirements

The code requires ​​pyqtgraph​​ and python 3.x

Dataset

Download KITTI 3D object detection data and organize the folders as follows:

dataset/KITTI/object/

        velodyne/
            training/
                000003.bin
            testing/

        calib/
            training/
                000003.txt
            testing/

        label/
            training/
                000003.txt
            testing/

convert ​​.pcd​​​ to ​​.bin​​

usage:

# pcdfolder is where `.pcd` files are stores
python pcd2bin.py covert pcdfolder binfolder

for example:

python pcd2bin.py convert pcdfiles outputfolder

convert ​​.bin​​​ to ​​.pcd​​

you have to install PCL lib first.
usage:

cmake .
make
./build/binpcd --m=bin2pcd --b=velodyne_bin/ --p=velodyne_pcd/
./build/binpcd --m=pcd2bin --b=velodyne_bin/ --p=velodyne_pcd/

Options:

--help : produce help message
--b : bin file folder
--p : pcd file folder
--m : mode - bin2pcd, pcd2bin

refer to ​​kitti_velodyne_bin_to_pcd​​