python dependencies:
- pathlib
- argparse
- numpy
- ros_numpy
- rospy
just typepython pcvt.py --help
for help. And some example as following:
-
from
bin
topcd
:python pcvt.py --source bin --path bin_data_dir --dest pcd --output pcd_data_dir
-
from topic to pcd:
python pcvt.py --source topic --topic /rslidar/points --dest pcd --output pcd_data_dir
data fields in all kinds of input point cloud types will be changed to [ 'x', 'y', 'z', 'intensity'] in output.