PointCloud란(pcd, ply)

정의

• PointCloud는 Lidar 센서로 부터 얻은 3차원의 점 데이터를 생성해주는 라이브러리다.

특징

• 데이터의 노이즈가 다소 포함되어 있기 때문에 데이터 전처리 과정이 필요하다.
• numpy 형태로 데이터를 return 한다.

ply 파일 data의 모습

ply #확장자
format ascii 1.0
comment PCL generated
element vertex 17228754 # point 총 갯수
property float x #point x축 값
property float y #point y축 값
property float z #point z축 값
property uchar red #rgb 컬러 값
property uchar green #rgb 컬러 값
property uchar blue #rgb 컬러 값
property float nx # ?
property float ny # ?
property float nz # ?
property float curvature
element camera 1
property float view_px
property float view_py
property float view_pz
property float x_axisx
property float x_axisy
property float x_axisz
property float y_axisx
property float y_axisy
property float y_axisz
property float z_axisx
property float z_axisy
property float z_axisz
property float focal
property float scalex
property float scaley
property float centerx
property float centery
property int viewportx
property int viewporty
property float k1
property float k2
end_header
7.4730458 2.747685 3.1333442 0 0 0 -0.70588231 0.058824688 -0.70588231 0
7.4725246 2.7473502 3.1338377 0 0 0 -0.70588231 0.058824688 -0.70588231 0
7.4865503 2.7541366 3.1203775 0 0 0 -0.70588231 0.058824688 -0.70588231 0
7.4796543 2.7416635 3.1262336 0 0 0 -0.70588231 0.058824688 -0.70588231 0
7.4813538 2.7422934 3.1245875 0 0 0 -0.70588231 0.058824688 -0.70588231 0
7.4783545 2.7338407 3.1268821 0 0 0 -0.70588231 0.058824688 -0.70588231 0
7.4801435 2.7131386 3.1233678 0 0 0 -0.70588231 0.058824688 -0.70588231 0
7.4808464 2.7104778 3.1224434 0 0 0 -0.70588231 0.058824688 -0.70588231 0
7.476223 2.7481174 3.1302025 0 0 0 -0.70588231 0.058824688 -0.70588231 0