I am usingPDAL library to parse the nuscenes lidar dataset. I believe that pcd data file provided are in binary format but the header is missing because of which parsing library such as PDAL is not able to parse it.
Also the file extension is pcd.bin. Is that the standard file extension for pcd binary format ? As the libraries that I am using expects .pcd extension. Please let me know what is the format that you are using and how can we generate header for each file ?