kitti数据可视化工具:
使用:
kitti.py
.pcd->.bin转换成kitti格式的点云文件:
使用方法:
python pcd2bin.py convert pcdfolder binfolder
下面是pcd文件转换成bin文件的代码
import os
import numpy as np
import fire
def read_pcd(filepath):
lidar = []
with open(filepath,'r') as f:
line = f.readline().strip()
while line:
linestr = line.split(" ")
if len(linestr) == 4:
linestr_convert = list(map(float, linestr))
lidar.append(linestr_convert)
line = f.readline().strip()
return np.array(lidar)
def convert(pcdfolder, binfolder):
current_path = os.getcwd()
ori_path = os.path.join(current_path, pcdfolder)
file_list = os.listdir(ori_path)
des_path = os.path.join(current_path, binfolder)
if os.path.exists(des_path):
pass
else:
os.makedirs(des_path)
for file in file_list:
(filename,extension) = os.path.splitext(file)
velodyne_file = os.path.join(ori_path, filename) + '.pcd'
pl = read_pcd(velodyne_file)
pl = pl.reshape(-1, 4).astype(np.float32)
velodyne_file_new = os.path.join(des_path, filename) + '.bin'
pl.tofile(velodyne_file_new)
if __name__ == "__main__":
fire.Fire()
.bin->.pcd转换成kitti格式的点云文件:
这里需要安装PCL点云库,不过可以pcd和bin格式互相转换。
cmake .
make
./binpcd --m=bin2pcd --b=velodyne_bin/ --p=velodyne_pcd/
./binpcd --m=pcd2bin --b=velodyne_bin/ --p=velodyne_pcd/
最后欢迎订阅我的专栏,这里有关于激光雷达你想要的一切~