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bernwang / latte

LATTE: Accelerating LiDAR Point Cloud Annotation via Sensor Fusion, One-Click Annotation, and Tracking
Apache License 2.0
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rosbag or PCD to .bin format #7

Open bsridatta opened 5 years ago

bsridatta commented 5 years ago

How can we convert PCD or rosbag to the format this tool need?

Renataaa commented 5 years ago

have you solved this question?

bsridatta commented 5 years ago

Hey if you want to convert PCD to binary, you could use PCL library to do that. This is a script to do for multiple PCDs. Hope this helps.

https://gist.github.com/bsridatta/e1e0964b5c6b424549c12d8c4156bb4b

ziliHarvey commented 4 years ago

FYI, pypcd also helps and is much easier.

kentaroy47 commented 4 years ago

I converted the point cloud files to numpy as

points = [N, 4]
points[0] = x,y,z,intensity

then, just dumping as binary worked fine.

data.astype("float32").tofile("binary.bin"