writers.pcd

The PCD Writer supports writing to Point Cloud Data (PCD) formatted files, which are used by the Point Cloud Library (PCL).

By default, compression is not enabled, and the PCD writer will output ASCII formatted data. When compression is enabled, the output is PCD’s binary-compressed format.

Dynamic Plugin

This stage requires a dynamic plugin to operate

Note

The PCD Writer requires linkage of the PCL library.

Example

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

Options

filename
PCD file to write [Required]
compression
Level of PCD compression to use (ascii, binary, compressed) [Default: ascii]
xyz
Write only XYZ dimension? [Default: false]
subtract_minimum
Set origin to minimum of XYZ dimension? [Default: true]
offset_x, offset_y, offset_z
Offset to be subtracted from XYZ position [Default: 0.0]
scale_x, scale_y, scale_z
Scale to divide from XYZ dimension [Default: 1.0]