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