cristianrubioa/pcd2txt

Convert a .pcd file (point cloud data) into txt format (xyzi)

pcd2txt

Brief

C++ application to convert .pcd file (point cloud data) into txt format (xyzi).

Input file structure

• .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>

Output file structure

• 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

Dependency

• pcl (Point Cloud Library)

You can install pcl using:

sudo apt install libpcl-dev

Compile

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

Run the package

Stand in the "build" folder and run:

cd ~/pcd2txt/build
./pcd2txt <pcd file> -o <output dir>