#pcl_binvox
Command-line tools to convert between .binvox and .pcd file formats.
binvox is a binary format for a 3D voxel grid, developed by Patrick Min.
pcd is Point Cloud Data from PCL (PointCloud Library).
David Butterworth, 2016.
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This was tested on Ubuntu 14.04 with PCL 1.8
Install this package in a catkin workspace.
Set your path:
$ export PATH=$PATH:~/path/to/your/catkin/workspace/devel/lib/pcl_binvox/
$ roscd pcl_binvox
Convert from .binvox to .pcd
The output file name is specified first. Then you can list multiple binvox files as input.
$ binvox2pcd -o output.pcd data/chair.binvox
Convert from .pcd to .binvox
Specify the voxel grid resolution, between 32 and 1024.
$ pcd2binvox -d 32 data/teapot.pcd output.binvox
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A room was scanned to create a PointCloud and then voxelized:
Original binvox file:
Converted to PointCloud:
