KITTI 原始bin数据转pcd数据

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前言

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官网数据集说明：http://www.cvlibs.net/datasets/kitti/raw_data.php
数据集详细说明论文：http://www.cvlibs.net/publications/Geiger2013IJRR.pdf
KITTI的激光雷达型号为 Velodyne HDL-64E ，具体信息如下：

Velodyne HDL-64E rotating 3D laser scanner
- 10 Hz
- 64 beams
- 0.09 degree angular resolution
- 2 cm distanceaccuracy
- collecting∼1.3 million points/second
- field of view: 360°
- horizontal, 26.8°
- vertical, range: 120 m

针对激光雷达点云数据集使用的信息在 KITTI_README.TXT 中有详细说明，文件下载地址：Code to use the KITTI data set with PCL

Velodyne 3D laser scan data
===========================

The velodyne point clouds are stored in the folder 'velodyne_points'. To
save space, all scans have been stored as Nx4 float matrix into a binary
file using the following code:

  stream = fopen (dst_file.c_str(),"wb");
  fwrite(data,sizeof(float),4*num,stream);
  fclose(stream);

Here, data contains 4*num values, where the first 3 values correspond to
x,y and z, and the last value is the reflectance information. All scans
are stored row-aligned, meaning that the first 4 values correspond to the
first measurement. Since each scan might potentially have a different
number of points, this must be determined from<