nerovalerius/pcd2bin_kitti

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

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