Ground truth labeler shows no points

I was trying to use Ground truth labeler for labeling (ViViD Dataset) RGB and point cloud. The point cloud was in (.bin) format, which was not acceptable as Ground truth labeler only accepts PCD or PLY format. SO, I used this code to convert from binary to PCD and then i uploaded the point cloud in PCD format. But, there was no points to visualize

import numpy as np
import struct
import sys
import open3d as o3d


def bin_to_pcd(binFileName):
    size_float = 4
    list_pcd = []
    with open(binFileName, "rb") as f:
        byte = f.read(size_float * 4)
        while byte:
            x, y, z, intensity = struct.unpack("ffff", byte)
            list_pcd.append([x, y, z])
            byte = f.read(size_float * 4)
    np_pcd = np.asarray(list_pcd)
    pcd = o3d.geometry.PointCloud()
    pcd.points = o3d.utility.Vector3dVector(np_pcd)
    return pcd

def main(binFileName, pcdFileName):
    pcd = bin_to_pcd(binFileName)
    o3d.io.write_point_cloud(pcdFileName, pcd)

    

Answer 1

[Githin George]

Hi Youssef,

I understand you are trying to convert data in ‘bin’ format to PCD format.

You could try executing the following code in MATLAB to obtain the same.

fid = fopen('yourData.bin', 'r'); 
data = fread(fid,'single'); 
fclose(fid); 

% Reshape Data based on the Structure of the Data. I am assuming data 
% contains x y and z data 
data = reshape(data,[],3);  

% See "doc pointCloud" for providing intensity or Color data as Name Value Pair 
pcdData = pointCloud(data); 

pcwrite(ptCloud, 'lidar_data.pcd'); 

This should help you load the correct data to Ground Truth Labeler app.