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.
Streamable Stage
This stage supports streaming operations
Example¶
[
{
"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”]
- precision
Decimal Precision for output of values. This can be overridden for individual dimensions using the order option. [Default: 3]
- order
Comma-separated list of dimension names in the desired output order. For example “X,Y,Z,Red,Green,Blue”. Dimension names can optionally be followed by a PDAL type (e.g., Unsigned32) and dimension-specific precision (used only with “ascii” compression). Ex: “X=Float:2, Y=Float:2, Z=Float:3, Intensity=Unsigned32” If no precision is specified the value provided with the precision option is used. The default dimension type is double precision float. [Default: none]
- keep_unspecified
If true, writes all dimensions. Dimensions specified with the order option precede those not specified. [Default: true]
- where
An expression that limits points passed to a writer Points that don’t pass the expression skip the stage but are available to chained writers in a pipeline. [Default: no filtering]