Parameters
Output PCD Format
PCD supports three file types:
- ASCII will cause the cloud data to be written to file using text and is useful for generating human-readable output, but has the disadvantage of producing larger file sizes.
- Binary is not human-readable, but has a more compact file size, exactly preserves floating point numbers, and can be read and written faster than both ASCII and Compressed Binary types. This is the default.
- Compressed Binary is useful for very large point cloud files when space is a concern.
ASCII Floating Point Precision
The number of decimal places to write from a floating point component when writing a PCD as ASCII. This option is only meaningful when Output PCD Format is set to ASCII. The default is 8. Note that setting the value lower may cause precision loss, while setting the value higher will make the file harder to read.
This option may be useful as a temporary measure to inspect data after a transformation before switching back to one of the two binary modes.