matlab读取pcd文件,Read 3-D point cloud from PLY or PCD file

File name, specified as a character vector or a string scalar. The input file type must be a

PLY or a PCD format file.

The polygon (PLY) file format , also known as the Stanford triangle

format stores three-dimensional data from 3-D scanners. It is a format

for storing graphical objects that are described as a collection of

polygons. A PLY file consists of a header, followed by a list of vertices

and then, a list of polygons. The header specifies how many vertices

and polygons are in the file. It also states what properties are associated

with each vertex, such as (x,y,z)

coordinates, normals, and color. The file format has two sub-formats:

an ASCII representation and a binary version for compact storage and

for rapid saving and loading. The header of both ASCII and binary

files is ASCII text. Only the numeric data that follows the header

is different between the two versions. See The PLY Format for

details on the contents of a PLY file.

The point cloud data (PCD) file format also stores three-dimensional data. It was created by

the authors of the widely used point cloud library (PCL) to accommodate

additional point cloud data requirements. See The PCD (Point Cloud Data) file format.

Note

This function only supports PCD file formats saved in version 0.7

(PCD_V7). It also only supports the header entries with the

COUNT entry set to 1. It

does not support the COUNT entry set to a feature

descriptor.