C++ application to convert .pcd file (point cloud data) into txt format (xyzi).
- .pcd
# .PCD v0.7 - Point Cloud Data file format
VERSION 0.7
FIELDS x y z intensity
SIZE 4 4 4 1 4 1
TYPE F F F U F U
COUNT 1 1 1 4 1 12
WIDTH 165333
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 165333
...
Check your .pcd file with: head <pcd file>
- txt_cloud.txt
x y z intensity # position (not printable)
-0.1 0.1 0.1 0.0741
-0.2 0.2 0.2 0.0762
... ... ... ...
Check with: head txt_cloud.txt
Visualize 3D point cloud with: CloudCompare
- pcl (Point Cloud Library)
You can install pcl using:
sudo apt install libpcl-dev
You can use the following commands to compile the package:
git clone https://github.com/cristianrubioa/pcd2txt.git
cd /pcd2txt
mkdir build && cd build
cmake ../src/
make
Stand in the "build" folder and run:
cd ~/pcd2txt/build
./pcd2txt <pcd file> -o <output dir>