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pcd-tool

The pcd-tool is a swiss knife for point cloud data processing. It supports data summary, data dump and file conversion.

Installation

To install from the most recent version,

cargo install -f --git https://github.com/NEWSLabNTU/pcd-tool.git

Usage

Show the schema and statistics of a .pcd file

pcd-tool info input.pcd

Convert a Velodyne .pcap to a directory of .pcd files

cargo run --release -- convert \
    -i input.pcap \
    -o output/ \
    -f pcap.velodyne \
    -t pcd.libpcl \
    --velodyne-model VLP32C \
    --velodyne-return-mode strongest

-f and -t are input and output format options. Supported formats include:

  • pcd.libpcl
  • pcd.newslab
  • pcap.velodyne
  • raw.bin

Visualize a Velodyne .pcap file

cargo run --release -- show \
    --velodyne-model VLP32C \
    --velodyne-return-mode strongest \
    input.pcap

Visualize a .pcd file

cargo run --release -- show input.pcd

Dump the content of a Velodyne .pcap file

cargo run --release -- dump \
    --velodyne-model VLP32C \
    --velodyne-return-mode strongest \
    input.pcap

Visualize the content of a .pcd file

cargo run --release -- dump input.pcd

License

The software is distributed under MIT license. Please check the LICENSE file.