readers.pcd

The PCD Reader supports reading from Point Cloud Data (PCD) formatted files, which are used by the Point Cloud Library (PCL).

Default Embedded Stage

This stage is enabled by default

Streamable Stage

This stage supports streaming operations

Example

[
    {
        "type":"readers.pcd",
        "filename":"inputfile.pcd"
    },
    {
        "type":"writers.text",
        "filename":"outputfile.txt"
    }
]

Options

filename

PCD file to read [Required]

count

Maximum number of points to read. [Default: unlimited]

override_srs

Spatial reference to apply to the data. Overrides any SRS in the input itself. Can be specified as a WKT, proj.4 or EPSG string. Can’t use with ‘default_srs’ [Default: none]

default_srs

Spatial reference to apply to the data if the input does not specify one. Can be specified as a WKT, proj.4 or EPSG string. Can’t use with ‘override_srs’ [Default: none]