How to read .bin scans file of KITTI dataSet

norlab-ulaval / libpointmatcher

An Iterative Closest Point (ICP) library for 2D and 3D mapping in Robotics

BSD 3-Clause "New" or "Revised" License

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How to read .bin scans file of KITTI dataSet #379

Open AdiHalf opened 4 years ago

AdiHalf commented 4 years ago

I am working on the KITTI dataset. using libpointmatcher for icp. How can i register .bin files as .vtk files (vtk point cloud) and is there a way to convert PointCoud from eigen_scan in the format of .vtk (point clouds) without saving as .vtk and then loading DP::load(saved_name);

c++ PM::DataPoints point_cloud_from_bin = generateDataPointsToLibPointMatcher(eigen_scan); newCloud = point_cloud_from_bin; // DP::load(saved_name);?????

the scan files are : 000000.bin,000001.bin...etc

pomerlef commented 4 years ago

Right now, those are the only supported formats:

csv (Comma Separated Values)
vtk (Visualization Toolkit Files)
ply (Polygon File Format)
pcd (Point Cloud Library Format)

New formats are not too hard to add. It is just long to add the unit tests and hunt corner cases.

Do you have an example of c++ code reading point cloud from .bin?