Convert custom Lidar point cloud data to KITTI format

[Hetali-Vekariya]

Hi,

Thank you for the great work! I am able to run the repository and train the model with KITTI dataset.
I want to evaluate model on my own LIDAR dataset. The Lidar dataset which I have is in .parquet file. I have X,Y and Z value in Cartesian coordinates. I am able to load/visualize pointcloud data in xyz file format with the help of

pcd = o3d.io.read_point_cloud('point_cloud_1.txt',format='xyz)
o3d.io.read_point_cloud([pcd])

I want to convert this XYZ format lidar point cloud data to .bin format(Just like KITTI).

Any inputs are much appriciated.

[Hetali-Vekariya]

Hi,

I did not get any success converting xyz pointcloud to .bin file format. But I converted xyz file format in .pcd file format and processed the data. Now I am able to evaluate model on my own LIDAR dataset. Thank you.