Trying to understand cloudcompare pcd header

[mpataberta]

Pcd header from cloud compare
# .PCD v0.7 - Point Cloud Data file format
VERSION 0.7
FIELDS rgb x y z _
SIZE 4 4 4 4 1
TYPE F F F F U
COUNT 1 1 1 1 4
WIDTH 170210
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 170210
DATA binary

Pcd header from matlab
# .PCD v.7 - Point Cloud Data file format
VERSION .7
FIELDS x y z intensity
SIZE 4 4 4 4
TYPE F F F F
COUNT 1 1 1 1
WIDTH 170210
HEIGHT 1
POINTS 170210
DATA binary


In the cloudcompare what is the 5th field ‘_’ it is unsigned with count of 4

Can someone explain the pcd header from cloud compare.

[daniel]

Hi,

We should ask Luca Penasa about this (he's the plugin author).

If i believe https://github.com/cloudcompare/trunk/b ... /cc2sm.cpp, "_" is not a default filed name. Therefore It must correspond to a scalar field (or maybe several scalar fields?).

Can you save the same file as an ASCII file so as to see what is inside exactly? (you can add an header to help).