lraw to pcd

Autonomous Vehicles DRIVE PX 2 DriveWorks
1

Hi,

I couldn’t find any method to convert lraw lidar data (.bin format) to .pcd format.
Is there a method for that?

Thanks in advance!

2

Hi uuresin,

No, you need to use our sample to dump dw lidar packet dwLidarPointXYZI to its own format. One example you could refer to is dw icp sample (under /usr/local/driveworks/samples/src/icp on your host system). It has an utility class which dumps the dwLidarPointXYZI to ply format. Thanks!

3

Hi Vick,

Thanks for your response,

Let me clarify one thing. I can only convert my lidar (velodyne vls-128)'s lraw data to ply format, is that true? I need pcd format thus do I need to convert ply format to pcd format?

4

You may need to refer to the sample for your owm implementation of pcf format conversion.