Data Format – Point Cloud

LAS

What is optimum format for PCL?

Ans. The PCD (Point Cloud Data) file format

Writing Point Cloud data to PCD files

ASCII2BINARY sample code

PointCloud<PointT> class

PointXYZ, PointXYZRGB, PointNormal

 

Important: The code & Compiling and running the program

Install CMake 

Windows (Win32 Installer)

 

# .PCD v0.7 – Point Cloud Data file format
VERSION 0.7
FIELDS x y z
SIZE 4 4 4
TYPE F F F
COUNT 1 1 1
WIDTH 5
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 5
DATA ascii
1.28125 577.09375 197.9375
828.125 599.03125 491.375
358.6875 917.4375 842.5625
764.5 178.28125 879.53125
727.53125 525.84375 311.28125