Created
March 12, 2021 05:50
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convert pcd to bin file
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| import numpy as np | |
| import pypcd | |
| filepath='hesai_pandar40p_1593421778.828716.pcd' | |
| pc = pypcd.PointCloud.from_path(filepath) | |
| points = [] | |
| for pt in pc.pc_data: | |
| points.append([pt[0], pt[1], pt[2], 0.0]) | |
| points = np.array(points).astype(np.float32) | |
| points.tofile('points.bin') |
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