点云数据（头）文件格式 ply, pcd

最新推荐文章于 2024-03-23 09:32:02 发布

Enzo 想砸电脑

最新推荐文章于 2024-03-23 09:32:02 发布

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原文链接：https://blog.csdn.net/MyArrow/article/details/106720476?ops_request_misc=&request_id=&biz_id=102&utm_term=open3d%20颜色&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduweb~default-0-106720476

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1. PLY

PLY：Polygon File Format(多边形文件格式）
PLY文件：由多边形集合组成的图形对象（Graphical Objects）
两种存储模式：- ASCII模式 - Binary模式
典型的文件结构
- 组成元素：- 顶点列表、- 面列表

A.立方体描述1

ply
format ascii 1.0           { ascii/binary, format version number }
comment made by Greg Turk  { comments keyword specified, like all lines }
comment this file is a cube
element vertex 8           { define "vertex" element, 8 of them in file }
property float x           { vertex contains float "x" coordinate }
property float y           { y coordinate is also a vertex property }
property float z           { z coordinate, too }
element face 6             { there are 6 "face" elements in the file }
property list uchar int vertex_index { "vertex_indices" is a list of ints }
end_header                 { delimits the end of the header }
0 0 0                      { start of vertex list }
0 0 1
0 1 1
0 1 0
1 0 0
1 0 1
1 1 1
1 1 0
4 0 1 2 3                  { start of face list }
4 7 6 5 4
4 0 4 5 1
4 1 5 6 2
4 2 6 7 3
4 3 7 4 0

B. 立方体描述1

ply
format ascii 1.0
comment author: Greg Turk
comment object: another cube
element vertex 8
property float x
property float y
property float z
property uchar red                   { start of vertex color }
property uchar green
property uchar blue
element face 7
property list uchar int vertex_index  { number of vertices for each face }
element edge 5                        { five edges in object }
property int vertex1                  { index to first vertex of edge }
property int vertex2                  { index to second vertex }
property uchar red                    { start of edge color }
property uchar green
property uchar blue
end_header
0 0 0 255 0 0                         { start of vertex list }
0 0 1 255 0 0
0 1 1 255 0 0
0 1 0 255 0 0
1 0 0 0 0 255
1 0 1 0 0 255
1 1 1 0 0 255
1 1 0 0 0 255
3 0 1 2                           { start of face list, begin with a triangle }
3 0 2 3                           { another triangle }
4 7 6 5 4                         { now some quadrilaterals }
4 0 4 5 1
4 1 5 6 2
4 2 6 7 3
4 3 7 4 0
0 1 255 255 255                   { start of edge list, begin with white edge }
1 2 255 255 255
2 3 255 255 255
3 0 255 255 255
2 0 0 0 0                         { end with a single black line }

2. PCD

# .PCD v.7 - Point Cloud Data file format
VERSION .7  # 版本号 PCV_V7
FIELDS x y z rgb  # 每个点包含的数据
SIZE 4 4 4 4    # 每个域的字节数
TYPE F F F F    # 每个域的数据类型
COUNT 1 1 1 1   # 每个域的元素个数 
WIDTH 213       # 点云集中点的个数
HEIGHT 1        # 表示为无组织的数据集
VIEWPOINT 0 0 0 1 0 0 0
POINTS 213
DATA ascii
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0.81915 0.32 0 4.2108e+06
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0.944 0.29474 0 4.2108e+06
0.98111 0.24247 0 4.2108e+06
0.93655 0.26143 0 4.2108e+06
0.91631 0.27442 0 4.2108e+06
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Enzo 想砸电脑

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点云数据（头）文件格式 ply, pcd

原文链接1. PLYPLY：Polygon File Format(多边形文件格式）PLY文件：由多边形集合组成的图形对象（Graphical Objects）两种存储模式：- ASCII模式 - Binary模式典型的文件结构组成元素：- 顶点列表、- 面列表A.立方体描述1plyformat ascii 1.0 { ascii/binary, format version number }comment made by Greg Turk
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