python dependencies:

• pathlib
• argparse
• numpy
• ros_numpy
• rospy

just typepython pcvt.py --help for help. And some example as following:

• from bin to pcd:

  python pcvt.py --source bin --path bin_data_dir --dest pcd --output pcd_data_dir  

• from topic to pcd:

  python pcvt.py --source topic --topic /rslidar/points --dest pcd --output pcd_data_dir  

data fields in all kinds of input point cloud types will be changed to [ 'x', 'y', 'z', 'intensity'] in output.