rosbag or PCD to .bin format

[bsridatta]

How can we convert PCD or rosbag to the format this tool need?

[Renataaa]

have you solved this question?

[bsridatta]

Hey if you want to convert PCD to binary, you could use PCL library to do that. This is a script to do for multiple PCDs. Hope this helps.

https://gist.github.com/bsridatta/e1e0964b5c6b424549c12d8c4156bb4b

[ziliHarvey]

FYI, pypcd also helps and is much easier.

[kentaroy47]

I converted the point cloud files to numpy as

points = [N, 4]
points[0] = x,y,z,intensity

then, just dumping as binary worked fine.

data.astype("float32").tofile("binary.bin"