ROS中解析rosbag包中的点云文件至pcd格式

1.查看某个.bag的数据信息(其中*为.bag文件名)

rosbag info *.bag

2.解析rosbag中的图片

sudo apt-get install mjepgtools
sudo apt-get install ffmpeg
roscore
rosrun image_view extract_images _sec_per_frame:=0.05 image:=<IMAGE TOPIC IN BAGFILE>
#其中<>中为你的topic信息

3.将rosbag分帧为pcd文件

roscore
rosrun pcl_ros bag_to_pcd 包名 话题名 pcd_dir
pcl_viewer pcd_dir/167846782657.34785967568.pcd

2.将pcd文件转为bin格式文件

python pcd2bin.py --pcd_path /media/zcx/Samsung_T5/kitti3d/huituokitti/training/velodyne/ --bin_path /home/zcx/bin/ 

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()