Convert between binvox binary voxel and PCD file formats, for PCL (PointCloud Library).
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README.md

#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.

.

Usage

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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Screenshots:

A room was scanned to create a PointCloud and then voxelized:

Original binvox file:

Converted to PointCloud: