This repository is part of my pipeline to convert the pointcloud data of 5 x Livox Horizon LiDARs into the semantic KITTI format.
See Instructions here: LINK.
Convert .pcd pointcloud files into KITTI binary files.
This is a fork of LINK.
All credits go to the original author.
- Clone this repository into your ros2 workspace's src folder
cd ~/ros2_ws/src
git clone https://github.com/nerovalerius/pcd2bin_kitti
Build the node:
cd ~/ros2_ws
colcon build
Source workspace and run the node:
source ~/ros2_ws/install/setup.bash
ros2 run pcd2bin_kitti pcd2bin
Provide the PCD and BIN directories as command line arguments.