├── 000002.bin
├── README.md
├── bin2pcd.py
└── bin2pcd_folder.py


/000002.bin:
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https://raw.githubusercontent.com/cuge1995/bin-to-pcd-python/e9c93e4c5b31153efe579d209a289caf38cc114a/000002.bin


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/README.md:
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 1 | # bin-to-pcd-python
 2 | Converting bin files scanned by LIDAR of autonomous vehicles into pcd files for further processing
 3 | 
 4 | ## Requirements
 5 | 
 6 | The code requires *open3d* 
 7 | 
 8 | ## convert `.bin` to `.pcd`
 9 | 
10 | usage:
11 | 
12 | ```bash
13 | python bin2pcd.py binFileName, pcdFileName
14 | ```
15 | 
16 | for example:
17 | 
18 | ```bash
19 | python bin2pcd.py 000002.bin 2.pcd
20 | ```
21 | 
22 | 
23 | 
24 | ## Dataset
25 | 
26 | KITTI, Sementic3D
27 | 


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/bin2pcd.py:
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 1 | import numpy as np
 2 | import struct
 3 | import sys
 4 | import open3d as o3d
 5 | 
 6 | 
 7 | def bin_to_pcd(binFileName):
 8 |     size_float = 4
 9 |     list_pcd = []
10 |     with open(binFileName, "rb") as f:
11 |         byte = f.read(size_float * 4)
12 |         while byte:
13 |             x, y, z, intensity = struct.unpack("ffff", byte)
14 |             list_pcd.append([x, y, z])
15 |             byte = f.read(size_float * 4)
16 |     np_pcd = np.asarray(list_pcd)
17 |     pcd = o3d.geometry.PointCloud()
18 |     pcd.points = o3d.utility.Vector3dVector(np_pcd)
19 |     return pcd
20 | 
21 | def main(binFileName, pcdFileName):
22 |     pcd = bin_to_pcd(binFileName)
23 |     o3d.io.write_point_cloud(pcdFileName, pcd)
24 | 
25 | if __name__ == "__main__":
26 |     a = sys.argv[1]
27 |     b = sys.argv[2]
28 |     main(a, b)


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/bin2pcd_folder.py:
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 1 | import numpy as np
 2 | import struct
 3 | import os
 4 | import sys
 5 | import open3d as o3d
 6 | 
 7 | 
 8 | def bin_to_pcd(binFileName):
 9 |     size_float = 4
10 |     list_pcd = []
11 |     with open(binFileName, "rb") as f:
12 |         byte = f.read(size_float * 4)
13 |         while byte:
14 |             x, y, z, intensity = struct.unpack("ffff", byte)
15 |             list_pcd.append([x, y, z])
16 |             byte = f.read(size_float * 4)
17 |     np_pcd = np.asarray(list_pcd)
18 |     pcd = o3d.geometry.PointCloud()
19 |     pcd.points = o3d.utility.Vector3dVector(np_pcd)
20 |     return pcd
21 | 
22 | 
23 | def main(binFolderName, pcdFolderName):
24 |     for i in os.listdir(binFolderName):
25 |         if not i.startswith('.'):
26 |             binFileName = binFolderName + '/' + i
27 |             print(i)
28 | 
29 |             pcd = bin_to_pcd(binFileName)
30 |             pcdFileName = pcdFolderName+i[:-4]+'.pcd'
31 |             print(pcdFileName)
32 |             o3d.io.write_point_cloud(pcdFileName, pcd)
33 | 
34 | 
35 | if __name__ == "__main__":
36 |     a = sys.argv[1]
37 |     b = sys.argv[2]
38 |     main(a, b)
39 | 


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