how to convert pcap to ply

Hello All,

I have velodyne lidar data in .pcap format. How to convert .pcap data into ply file?

Answer 1

[Bipratim Saha]

Hello Pavan,

As per my understanding you are trying to convert a .pcap file to a .ply file.

• To read point cloud data from “.pcap” format, use 'velodyneFileReader' function
• To write point cloud data as “.ply” format, use 'pcwrite' function.

As an example, you can execute following commands

veloReader = velodyneFileReader('lidarData_ConstructionRoad.pcap','HDL32E');
ptCld = readFrame(veloReader); 
pcwrite(ptCld,'lidarData_ConstructionRoad.ply')

You can refer to the following documentation for more information:

• For “velodyneFileReader” - https://www.mathworks.com/help/vision/ref/velodynefilereader.html
• For “pcwrite” - https://www.mathworks.com/help/vision/ref/pcwrite.html

Alternatively, you can try to import the pcap file in Lidar Viewer app and export to ply format.

Hope this helps :)