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]