Velodyne .pcap to .LAS

[Fatwa Ramdani]

Dear all member,

I have .pcap data of velodyne sensor, however I don't know how to convert this data into .LAS. Is it possible to using LAStools? please let me know in detail?

Looking forward

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Best regards,

Fatwa Ramdani 

[th...@ese-llc.com]

Are you running with a Trajectory or planning to use a SLAM algorithm?

[Fatwa Ramdani]

Would you please let me know the differences? 

Looking forward.

Regards,

Fatwa 

On Jan 18, 2018 6:15 AM, <th...@ese-llc.com> wrote:

Are you running with a Trajectory or planning to use a SLAM algorithm?

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[th...@ese-llc.com]

The velodyne PCAP is a stream file.  It's like a video stream with a counter.  You need to know or figure out where the camera is at every given moment.  The Trajectory gives you that information before you process and SLAM figures it out with the raw data.

Add a GPS/IMU to obtain a trajectory, then align the counter to the GPS time and use software other than LASTools to create a point cloud.  Not sure if there are any open source solutions available.  (I process in this manner with a velodyne HD32e with software from LiDARUSA.  They put together the program to align and process the PCAPs.)

Or use a SLAM algorithm (check out OpenSLAM.org) which uses something like a 4d photogrammetry solution to piece it all together.  LASTools will not provide these results.

Once you have your cloud, LASTools comes into play to translate, manipulate, classify, resize and otherwise.  See the LASTools documentation for the various functions.

[Valencia, Andres]

Other option is upload the trajectories files and pcap file to lidarit.com and they will do the postprocess of the trajectorie, and the match between trajectorie and pcap for to get a .laz file.

trajectorie postprocessing is very important for to get accuracy point cloud.

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[krantikumar yadav]

Hi Fatwa Ramdani,

I am looking for similar solution. Can you please guide me if you have succeeded in this task.

Thanks in advance !!!

Warm Regards,

Kranti

[J. Thaddeus Eldredge]

Hello All,

I have PCAP  data that I convert to LAS/LAZ all the time.  I uploaded a sample for somebody at this site:  https://www.ese-llc.com/sample-files/

I use a proprietary software created and sold by LiDARUSA combined with a GPS/IMU for trajectory.  If you do not want to use GPS/IMU, try SLAM.  Here is a link to open SLAM.

https://openslam-org.github.io/

Good luck.  

J. Thaddeus Eldredge, PLS, CFM

East-SouthEast, LLC

1038 Main Street

Chatham, MA 02633

508-945-3965

www.ESE-LLC.com

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[nurul syafiqa]

Hi 

May i know what software that you used from the LIDARUSA, and how to extract the trajectory data?. 
because currently i have the .pcap files together with the .csv files and .sta .. and i dont know exactly how to convert to .laz or .las and together get the trajectory. 

[J. Thaddeus Eldredge]

We use novatel to obtain the trajectory,  xyzopkt, xyz, omega,philosophy, kappa, time.  STA plus trajectory plus raw in LiDARUSA scanlook software to obtain Las or Laz.  Contact LiDARUSA for info.

[krantikumar yadav]

Hi, 

Did anyone has solution around convert velodyne .pcap to .las?

Regards,

Kranti

[nurul syafiqa]

hi, forgot to ask u. may i know what format the trajectory is.

 is it in .trj format?

[Mawar Laboratorium]

we use pospac to get trajectories and use scanlook software to obtain LAS or LAZ data from LiDARUSA, and trajectories format is .out

[th...@ese-llc.com]

A trajectory is usually a text file with a series of coordinates - XYZOPK (OPK is roll, pitch, yaw) and the GPS time.  You need to measure / calculate a boresight or the offset of XYZOPK from the sensor to the middle of the IMU.  This technique requires a GPS/IMU combination with that whole set of software.

It sounds more like you are headed towards a SLAM solution in which case I would recommend reviewing OPENSLAM.org 

[raj...@ait.asia]

Hi everyone

Follow these steps

1. Velodyne sensor produces pcap files
2. Use Veloview to view the pcap files
3. Save as csv from veloview for each scene
4. Save the csv as a text file
5. Use txt2las tool to create the las files for each text file

regards

Rajitha