/pcd2bin_kitti

Conversion from ROSBAG (.bag) to image (.png) and points cloud (.bin), including ROSBAG decoding, pcd2bin and file directory extraction.

Primary LanguageC++MIT LicenseMIT

PCD to KITTI binary converter

This repository is part of my pipeline to convert the pointcloud data of 5 x Livox Horizon LiDARs into the semantic KITTI format.
See Instructions here: LINK.

Convert .pcd pointcloud files into KITTI binary files.
This is a fork of LINK.
All credits go to the original author.

Instructions

  1. Clone this repository into your ros2 workspace's src folder
cd ~/ros2_ws/src
git clone https://github.com/nerovalerius/pcd2bin_kitti

Change the paths inside ``src/pcd2bin.cpp``` to the corresponding paths of your setup.

e.g.:

std::string bin_path = "/home/user/dataset/pointclouds_binary/";
std::string pcd_path = "/home/user/dataset/pointclouds/";

Build the node:

cd ~/ros2_ws
colcon build

Source workspace and run the node:

source ~/ros2_ws/install/setup.bash
ros2 run pcd2bin_kitti pcd2bin