PCD全称Point Cloud Data,是一种存储点云数据的文件格式。 PCD文件格式头 PCD文件必须用ASCII字符编码。文件格式头(file format header)说明文件中存储的点云数据的格式。每个格式声明及点云数据之间用字符隔开。PCD_V7版本的格式头包含如下信息: #.PCD v0.7-Point Cloud Data file format VERSION0.7FIELDS x y z...
# .PCD v0.7 - Point Cloud Data file format VERSION .7 FIELDS x y z rgb SIZE 4 4 4 4 TYPE F F F F COUNT 1 1 1 1 WIDTH 213 HEIGHT 1 VIEWPOINT 0 0 0 1 0 0 0 POINTS 213 DATA ascii 0.93773 0.33763 0 4.2108e+06 0.90805 0.35641 0 4.2108e+06 0.81915 0.32 0 4.2108e+06 0.97...
1)ascii编码格式: # .PCD v0.7 - Point Cloud Data file formata VERSION 0.7 FIELDS x y z SIZE 4 4 4 TYPE F F F COUNT 1 1 1 WIDTH 460400 HEIGHT 1 VIEWPOINT 0 0 0 1 0 0 0 POINTS 460400 DATA ascii 2)二进制编码格式: # .PCD v0.7 - Point Cloud Data file format VERSION 0.7 FIE...
DATA ascii 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 2)二进制编码格式: # .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 460400 HEIGHT 1 VIEWPOINT 0 0 0 1 0 0 0 POINTS 460400 DATA binary 1. 2. 3. 4. ...
# .PCD v0.7 - Point Cloud Data file format VERSION 0.7 //PCD文件版本 FIELDS x y z r g b intensity timestamp //每个点包含哪些维度,xyz表示XYZ三维坐标,rgb表示颜色(可以分开表示,也可以一个浮点数表示),intensity表示激光反射强度,timestamp表示时间戳,normal_x、normal_y、normal_z表示平面法线三维坐...
# .PCD v0.7 - Point Cloud Data file formatVERSION 0.7FIELDS x y zSIZE 4 4 4TYPE F F FCOUNT 1 1 1WIDTH 10HEIGHT 1VIEWPOINT 0 0 0 1 0 0 0POINTS 10DATA ascii37.96622 0.00000 119.6456938.03963 0.00000 119.6482538.10942 0.00000 119.6394038.17445 0.00000 119.61551nan nan ...
# .PCD v.7 - Point Cloud Data file format VERSION .7 FIELDS x y z SIZE 8 8 8 TYPE F F F COUNT 1 1 1 WIDTH 55061 HEIGHT 1 VIEWPOINT 0 0 0 1 0 0 0 POINTS 55061 DATA ascii 165.910849 111.848930 855.473457 232.670594 148.455302 1272.738956 ...
# .PCD v0.7 - Point Cloud Data file formatVERSION0.7FIELDS x y z SIZE444TYPEFFFCOUNT111WIDTH35947HEIGHT1VIEWPOINT0001000POINTS35947DATA ascii-1.106983.272394-0.447241-1.801953.367094-0.704211-4.124965.6027942.824819 1.2.1 VERSION 指定PCD文件的版本,由0.7可知该点云数据集是0.7版本的。
# .PCD v.7 - Point Cloud Data file format VERSION .7 FIELDS x y z rgb SIZE 4 4 4 4 TYPE F F F F COUNT 1 1 1 1 WIDTH 213 HEIGHT 1 VIEWPOINT 0 0 0 1 0 0 0 POINTS 213 DATA ascii 0.93773 0.33763 0 4.2108e+06 0.90805 0.35641 0 4.2108e+06 ...
# .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 35947 HEIGHT 1 VIEWPOINT 0 0 0 1 0 0 0 POINTS 35947 DATA ascii -1.10698 3.272394 -0.447241 -1.80195 3.367094 -0.704211 -4.12496 5.602794 2.824819 1.2....