Preprocess custom `*.las` data

[INF800]

Hi, I have the following data

• LiDAR files (*.las)
• equirectangular images of camera along with heading values
• Car location data

How can I preprocess my data into trainable format like KITTI or some other data. I looked everywhere but could not find any help.

[ZCMax]

1. I'm not quite familiar with the .las format of LiDAR files, and didn't find the tool which can convert las to bin directly. However, las2pcd and pcd2bin tools can be found in github. Maybe it can be a solution for your case.
2. About generating label and calib file, you can refer to previous related issues for solution. (https://github.com/open-mmlab/mmdetection3d/issues/429)

[INF800]

I used the tool mentioned in this comment https://github.com/open-mmlab/mmdetection3d/issues/429#issuecomment-922353711 to convert my las and annotation into PCD format including annotations. According to the comments in above mentioned issues, we can give any Random input for calib and images. So, now now as I have everything - essentially PCD data along with annotations, what should be my next steps?

This is how PCD file looks like - which I believe is the only input I will need.

VERSION .7
FIELDS x y z label object
SIZE 4 4 4 4 4
TYPE F F F I I
COUNT 1 1 1 1 1
WIDTH 49762
HEIGHT 1
POINTS 49762
VIEWPOINT 0 0 0 1 0 0 0
DATA ascii
2.7750001 3.0999999 10.42 0 -1
2.7750001 3.1099999 10.43 0 -1
2.7850001 3.1099999 10.43 0 -1
2.7750001 3.115 10.44 0 -1
2.7850001 3.1099999 10.47 0 -1
2.8 3.1199999 10.465 0 -1

[Tai-Wang]

Please refer to this tutorial for the way of converting pcd file to bin.